公开(公告)号：US20240042999A1

公开(公告)日：2024-02-08

申请号：US18225757

申请日：2023-07-25

申请人： SUBARU CORPORATION

发明人： Takuya IWASE ,  Kazuaki UEDA ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Takumi FUNABASHI ,  Kenta SOMEYA

IPC分类号： B60W30/095 ,  B60W50/06 ,  G06V20/58

CPC分类号： B60W30/095 ,  B60W50/06 ,  G06V20/58 ,  B60W2554/00 ,  B60W2530/10

摘要： A travel control apparatus for a vehicle includes a surrounding environment recognition device, a collision time calculator, a collision object estimator, and an after-collision travel range estimator. The surrounding environment recognition device includes a recognizer configured to recognize a surrounding environment of the vehicle, and a collision object recognizer configured to recognize an object that has a possibility to come into collision with the vehicle in the recognized surrounding environment. The collision time calculator is configured to calculate a predicted time to the collision between the vehicle and the object. The collision object estimator is configured to, based on the predicted time to the collision, estimate a travel route of the object and a collision position on the vehicle where the object collides with the vehicle. The after-collision travel range estimator is configured to estimate a travel range of the vehicle after the collision based on the estimated collision position.

公开(公告)号：US20230234579A1

公开(公告)日：2023-07-27

申请号：US18149317

申请日：2023-01-03

申请人： SUBARU CORPORATION

发明人： Shingo UGAJIN ,  Kazuaki UEDA ,  Takuya IWASE ,  Kazuo NOMOTO ,  Toshihiro HAYASHI ,  Hiroto KOBAYASHI ,  Kenta SOMEYA ,  Takumi FUNABASHI

IPC分类号： B60W30/095 ,  B60W40/02

CPC分类号： B60W30/0956 ,  B60W40/02 ,  B60W60/0016

摘要： A vehicle driving assist device comprises: an oncoming moving body recognizer configured to recognize an oncoming moving body; a risk determination region setting unit configured to set a risk determination region for calculating a risk degree that decreases as a distance outward from a center of the oncoming moving body in a width direction of the oncoming moving body increases; a risk degree calculator configured to calculate the risk degree for the oncoming moving body in accordance with an overlap state between the target traveling path of the vehicle and the risk determination region; and a preliminary collision avoidance controller configured to recognize the oncoming moving body as the obstacle in accordance with the risk degree, and perform preliminary collision avoidance control in response to the oncoming moving body recognized as the obstacle prior to the emergency collision avoidance control.

公开(公告)号：US20230311864A1

公开(公告)日：2023-10-05

申请号：US18124378

申请日：2023-03-21

申请人： SUBARU CORPORATION

发明人： Takuya IWASE ,  Kazuaki UEDA ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Takumi FUNABASHI ,  Kenta SOMEYA

IPC分类号： B60W30/095 ,  B60W30/09 ,  B60W40/09

CPC分类号： B60W30/0956 ,  B60W30/09 ,  B60W40/09 ,  B60W2554/404 ,  B60W2556/10

摘要： A drive assist apparatus for a vehicle includes one or more processors configured to: obtain a risk degree calculated for an oncoming moving body moving with a velocity component in a direction opposite to a traveling direction of the vehicle in the oncoming moving body on an oncoming lane adjoining a traveling lane of the vehicle, based on a light emission pattern of a light source unit provided in the oncoming moving body; perform, upon determining that the vehicle is highly likely to come into collision with an obstacle, emergency collision avoidance control for avoiding the collision; and recognize the oncoming moving body as the obstacle according to the risk degree and perform, prior to the emergency collision avoidance control, preliminary collision avoidance control for the oncoming moving body.

公开(公告)号：US20230234575A1

公开(公告)日：2023-07-27

申请号：US18150366

申请日：2023-01-05

申请人： SUBARU CORPORATION

发明人： Takuya IWASE ,  Kazuaki UEDA ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Takumi FUNABASHI ,  Kenta SOMEYA

IPC分类号： B60W30/09 ,  B60W30/095

CPC分类号： B60W30/09 ,  B60W30/0956 ,  B60W2552/53 ,  B60W2756/10 ,  B60W2554/80 ,  B60W2554/4044

摘要： A vehicle driving assist device includes a processor that functions as a receiver, an emergency collision avoidance controller, and a preliminary collision avoidance controller. The receiver receives, in relation to an oncoming moving body moving in an oncoming lane adjacent to a traveling lane of a vehicle and having a velocity component in a direction opposite to a traveling direction of the vehicle, a risk degree calculated based on a history of a distance from a lane marker defining the oncoming lane to the oncoming moving body, by communication with a device outside the vehicle. Upon determination that the vehicle is highly likely to collide with an obstacle, the emergency collision avoidance controller performs emergency collision avoidance control. The preliminary collision avoidance controller recognizes the oncoming moving body as the obstacle in accordance with the risk degree, and performs preliminary control prior to the emergency collision avoidance control.

公开(公告)号：US20230234573A1

公开(公告)日：2023-07-27

申请号：US18149308

申请日：2023-01-03

申请人： SUBARU CORPORATION

发明人： Takuya IWASE ,  Kazuaki UEDA ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Takumi FUNABASHI ,  Kenta SOMEYA

IPC分类号： B60W30/09 ,  B60W30/095

CPC分类号： B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W2554/80 ,  B60W2554/4041 ,  B60W2554/4044

摘要： A vehicle driving assist device includes an oncoming moving body recognizer configured to recognize an oncoming moving body; a lateral position distribution characteristics acquisition unit configured to acquire distribution characteristics of a lateral position of the oncoming moving body; a risk determination region setting unit configured to set, based on the distribution characteristics, a risk determination region for calculating a risk degree; a risk degree calculator configured to calculate the risk degree for the oncoming moving body; and a preliminary collision avoidance controller configured to recognize the oncoming moving body as the obstacle in accordance with the risk degree, and perform preliminary collision avoidance control in response to the oncoming moving body prior to the emergency collision avoidance control. The risk determination region setting unit is further configured to variably set the risk determination region so that the risk degree relatively increases as the distribution characteristics tend to disperse.

公开(公告)号：US20240042997A1

公开(公告)日：2024-02-08

申请号：US18225800

申请日：2023-07-25

申请人： SUBARU CORPORATION

发明人： Hiroto KOBAYASHI ,  Takuya IWASE ,  Kazuaki UEDA ,  Toshihiro HAYASHI ,  Shingo UGAJIN ,  Kazuo NOMOTO ,  Kenta SOMEYA ,  Takumi FUNABASHI

IPC分类号： B60W30/09 ,  B60T7/22 ,  B60T8/17 ,  B60W30/095 ,  B60W10/18 ,  B60W10/20 ,  B60W10/06

CPC分类号： B60W30/09 ,  B60T7/22 ,  B60T8/17 ,  B60W30/0956 ,  B60W10/18 ,  B60W10/20 ,  B60W10/06 ,  B60T2210/32 ,  B60T2201/022 ,  B60W2030/082

摘要： A travel control apparatus for a vehicle includes a surrounding environment recognition device, a collision time calculator, a collision object estimator, an after-collision travel range estimator, a collision detector, and a travel control unit. The surrounding environment recognition device includes a recognizer, a collision object recognizer that recognizes an object that has a possibility to come into collision with the vehicle, and a safety degree region setter that sets safety degree regions. The collision object estimator estimates a travel route of the object and a collision position on the vehicle. The after-collision travel range estimator estimates a travel range of the vehicle after the collision based on the estimated collision position. When the collision between the vehicle and the object is detected, the travel control unit performs travel control depending on a safety degree in one of the safety degree regions in front of the travel range after the collision.

公开(公告)号：US20230234574A1

公开(公告)日：2023-07-27

申请号：US18150344

申请日：2023-01-05

申请人： SUBARU CORPORATION

发明人： Takumi FUNABASHI ,  Kazuaki UEDA ,  Takuya IWASE ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Kenta SOMEYA

IPC分类号： B60W30/09 ,  B60W30/095 ,  G06V20/58 ,  G06V20/56

CPC分类号： B60W30/09 ,  B60W30/0956 ,  G06V20/58 ,  G06V20/588 ,  B60W2420/42 ,  B60W2552/53 ,  B60W2554/80 ,  B60W2556/10

摘要： A vehicle driving assist device includes a traveling environment recognizer, an obstacle recognizer, an emergency collision, an oncoming moving body recognizer, a lateral position calculator, a risk degree calculator, and a preliminary collision avoidance controller. The obstacle recognizer recognizes, based on information recognized by a traveling environment recognizer, an obstacle on a vehicle's traveling path. An emergency collision avoidance controller performs emergency collision avoidance control for avoiding a collision with the obstacle. An oncoming moving body recognizer recognizes, an oncoming moving body in an oncoming lane. A lateral position calculator calculates a distance from a lane marker defining the oncoming lane to a reference position of the oncoming moving body. A risk degree calculator calculates a risk degree for the oncoming moving body. A preliminary collision avoidance controller recognizes the oncoming moving body as the obstacle, and performs preliminary control before the emergency collision avoidance control.

公开(公告)号：US20230234572A1

公开(公告)日：2023-07-27

申请号：US18149281

申请日：2023-01-03

申请人： SUBARU CORPORATION

发明人： Takuya IWASE ,  Kazuaki UEDA ,  Shingo UGAJIN ,  Toshihiro HAYASHI ,  Kazuo NOMOTO ,  Hiroto KOBAYASHI ,  Takumi FUNABASHI ,  Kenta SOMEYA

IPC分类号： B60W30/09 ,  B60W30/095 ,  B60W40/107

CPC分类号： B60W30/09 ,  B60W30/0956 ,  B60W40/107 ,  B60W2520/105 ,  B60W2554/801

摘要： A vehicle driving assist device comprises a risk determination region setting unit configured to set a risk determination region for calculating a risk degree that decreases as a distance outward from a center of the oncoming moving body in a width direction of the oncoming moving body increases. The risk determination region setting unit is further configured to set the risk determination region such that the risk degree is zero at a distance in a vehicle width direction between the vehicle and the oncoming moving body matching an average distance. The average distance is calculated based on distances in the vehicle width direction between the vehicle and oncoming moving bodies acquired every time the vehicle passes by the oncoming moving bodies.