US 12,466,429 B2
Traveling control apparatus for vehicle
Shinya Kudo, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Feb. 28, 2023, as Appl. No. 18/176,027.
Claims priority of application No. 2022-040731 (JP), filed on Mar. 15, 2022.
Prior Publication US 2023/0294731 A1, Sep. 21, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); B60W 40/06 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 30/18009 (2013.01); B60W 40/06 (2013.01); B60W 2552/00 (2020.02); B60W 2554/80 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A traveling control apparatus for a vehicle, the traveling control apparatus comprising:
a surrounding environment information acquisition device configured to acquire surrounding environment information on a surrounding environment of the vehicle;
a map information acquisition device configured to acquire road information on a road present near a traveling position of the vehicle; and
a traveling control unit configured to:
cause the vehicle to automatically travel along a target traveling route preliminarily set;
recognize, based on the surrounding environment information and the road information, an intersection located ahead of the vehicle on the target traveling route in which U-turn traveling control for performing a U-turn travel to an oncoming lane is scheduled to be performed; and
in response to recognizing the intersection, perform one or both of:
setting a traveling course, within a traveling lane of the vehicle before entering the intersection in which the U-turn travel is scheduled to be performed, that is shifted by a predetermined distance in a lateral direction away from the oncoming lane; and
setting a steering start point in the U-turn travel at a position farther ahead in the traveling direction of the vehicle than a steering start point used when performing left or right turning control to cross the oncoming lane and enter a cross road.