US 11,794,739 B2
Vehicle driving assistance apparatus during vehicle cut in operations
Masaru Takano, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jun. 9, 2021, as Appl. No. 17/343,036.
Claims priority of application No. 2020-101496 (JP), filed on Jun. 11, 2020.
Prior Publication US 2021/0387621 A1, Dec. 16, 2021
Int. Cl. B60W 30/16 (2020.01); B60W 30/165 (2020.01)
CPC B60W 30/162 (2013.01) [B60W 30/165 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A vehicle driving assistance apparatus to be applied to a vehicle, the vehicle driving assistance apparatus comprising:
one or more sensors configured to:
acquire environment information about a surrounding of the vehicle; and
detect a vehicle speed of the vehicle; and
at least one machine readable medium storing instructions and at least one processor configured to execute the instructions to:
detect a leading vehicle to be followed by the vehicle, on a basis of the environment information;
detect a moving body in the surrounding of the vehicle, on a basis of the environment information; and
when detecting the leading vehicle to be followed by the vehicle, cause the vehicle to perform following travel in which the vehicle follows the leading vehicle;
wherein the at least one processor is configured to execute the instructions to set a cut-in detection region detecting entrance of the moving body between the vehicle and the leading vehicle when the vehicle is caused to perform the following travel; and
wherein the at least one processor is configured to execute the instructions to set a protruding region in the cut-in detection region in accordance with at least the vehicle speed detected by the vehicle speed detector in such a manner that a length of protrusion in a left right direction of the protruding region increases as the vehicle speed decreases.