US 12,145,586 B2
Driving assist apparatus for vehicle
Ryuya Azuma, Tokyo (JP); Hikaru Yoshikawa, Tokyo (JP); Masahito Sekine, Tokyo (JP); Yuta Sato, Tokyo (JP); and Keisuke Motegi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Aug. 25, 2022, as Appl. No. 17/895,714.
Claims priority of application No. 2021-154820 (JP), filed on Sep. 22, 2021.
Prior Publication US 2023/0086053 A1, Mar. 23, 2023
Int. Cl. B60W 30/16 (2020.01); B60W 10/18 (2012.01); B60W 50/029 (2012.01); G06V 20/58 (2022.01)
CPC B60W 30/16 (2013.01) [B60W 10/18 (2013.01); B60W 50/029 (2013.01); G06V 20/58 (2022.01); B60W 2050/0292 (2013.01); B60W 2420/403 (2013.01); B60W 2554/80 (2020.02); B60W 2710/182 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A driving assist apparatus for a vehicle, the driving assist apparatus comprising:
a front-side-environment recognition camera configured to recognize a driving environment ahead of the vehicle;
a front-side-environment recognition sensor configured to recognize the driving environment ahead of the vehicle; and
a control device configured to:
determine that image recognition of the front-side-environment recognition camera for a leading vehicle for adaptive cruise control has deteriorated during execution of the adaptive cruise control;
in response to determining that the image recognition of the front-side-environment recognition camera for the leading vehicle has deteriorated, calculate a difference between a first distance and a second distance, the first distance being a distance from the vehicle to the leading vehicle obtained by the image recognition of the front-side-environment recognition camera before determining that the image recognition of the front-side-environment recognition camera for the leading vehicle has deteriorated, the second distance being the distance from the vehicle to the leading vehicle obtained by the front-side-environment recognition sensor after determining that the image recognition of the front-side-environment recognition camera for the leading vehicle has deteriorated;
calculate a third distance by adding or subtracting the difference to the second distance; and
using the third distance as a current distance from the vehicle to the leading vehicle, continue to execute the adaptive cruise control based on a distance from the vehicle to the leading vehicle to be obtained by the front-side-environment recognition sensor.