Granted Patent B2

US 12,325,422 · App. 17/508,000 · Granted Jun 10, 2025

Inventor: Shinya Kudo (Tokyo, JP)

Assignee: SUBARU CORPORATION

B60W30/18159B60W10/18B60W30/09B60W30/0956B60W40/04B60W50/14G06V20/58G06V20/584B60W2050/143B60W2050/146

Abstract

Claims (61)

1. A vehicle drive assist apparatus comprising:

a surrounding-condition-information acquiring unit comprising at least one of a sensor or camera configured to recognize a surrounding condition around a vehicle to acquire surrounding condition information;

a vehicle-state-information acquiring unit comprising a sensor configured to recognize an operational state of the vehicle to acquire vehicle state information;

a traveling control processor configured to execute traveling control of the vehicle in accordance with traffic lane designation;

a DDI detector configured to detect a diverging diamond interchange (DDI) in a region in front of the vehicle on a basis of the surrounding condition information and make a DDI determination as to whether the vehicle is entering the DDI or exiting from the DDI on a basis of the surrounding condition information and the vehicle state information, wherein a relative positional relationship in a lateral direction between an own-vehicle lane on which the vehicle is traveling and an oncoming-vehicle lane on which another vehicle is traveling in an opposite direction to the vehicle is reversed; and

a control switch configured to switch the traveling control executed by the traveling control processor on a basis of a result of the DDI determination made by the DDI detector,

wherein the surrounding-condition-information acquiring unit is configured to detect an object in front of the vehicle,

wherein the DDI detector is configured to determine that the vehicle is entering the DDI, in response to determining that the surrounding-condition-information acquiring unit detects i) a first deceleration and a turning on of a first turn signal lamp, ii) a curve having predetermined radius of curvature or greater, iii) a first turning yaw rate or steering angle being equal to or greater than a first predetermined value for at least a first given period of time, and iv) a second deceleration following the detected first turning yaw rate or steering angle and a turning on of a second turn signal lamp different than the detected first turn signal lamp; and

wherein the DDI detector is configured to determine that the vehicle is exiting from the DDI, in response to determining that the surrounding-condition-information acquiring unit detects i) a third deceleration and a turning on of a third turn signal lamp, ii) a second turning yaw rate or steering angle being equal to or greater than a second predetermined value for at least a second given period of time, and iii) an acceleration and a turning on of the third turn signal lamp,

wherein the control switch is configured to:

switch the traveling control executed by the traveling control processor to a left-hand basis control from a right-hand basis control or to the right-hand basis control from the left-hand basis control, in response to the vehicle entering the DDI being detected as the result of the DDI determination made by the DDI detector, wherein the right-hand basis control follows right-hand regulation and the left-hand basis control follows left-hand regulation, and

switch the traveling control executed by the traveling control processor to the right-hand basis control from the left-hand basis control or to the left-hand basis control from the right-hand basis control, in response to the vehicle exiting from the DDI being detected as the result of the DDI determination made by the DDI detector,

wherein, in the left-hand basis control, the traveling control processor is configured to:

determine whether the surrounding-condition-information acquiring unit detects a first mobile object, wherein the determination of whether the surrounding-condition-information acquiring unit detects the first mobile object comprises:

decomposing a velocity of the first mobile object into i) a velocity component along a length direction of the vehicle and ii) a velocity component along a width direction of the vehicle;

detecting whether the velocity component along the length direction is directed toward the vehicle and whether the velocity component along the width direction is moving from right to left in parallel with the width direction of the vehicle; and

in response to the velocity component along the length direction being directed toward the vehicle and the velocity component along the width direction being moving from right to left in parallel with the width direction of the vehicle, determining the surrounding-condition-information acquiring unit detects the first mobile object;

in response to determining that the surrounding-condition-information acquiring unit detects the first mobile object, determine that the first mobile object is an oncoming vehicle approaching the vehicle; and

in response to determining that the first mobile object does not exist and is not detected by the surrounding-condition-information acquiring unit, determine that there is no oncoming vehicle, and

wherein, in the right-hand basis control, the traveling control processor is configured to:

determine whether the surrounding-condition-information acquiring unit detects a second mobile object, wherein the determination of whether the surrounding-condition-information acquiring unit detects the second mobile object comprises:

decomposing a velocity of the second mobile object into i) a velocity component along the length direction of the vehicle and ii) a velocity component along the width direction of the vehicle;

detecting whether the velocity component along the length direction is directed toward the vehicle and whether the velocity component along the width direction is moving from left to right in parallel with the width direction of the vehicle; and

in response to the velocity component along the length direction being directed toward the vehicle and the velocity component along the width direction being moving from left to right in parallel with the width direction of the vehicle, determining the surrounding-condition-information acquiring unit detects the second mobile object;

in response to determining that the surrounding-condition-information acquiring unit detects the second mobile object, determine that the second mobile object is the oncoming vehicle approaching the vehicle; and

in response to determining that the surrounding-condition-information acquiring unit does not detect the second mobile object, determine that there is no oncoming vehicle.

2. The vehicle drive assist apparatus according to claim 1 , further comprising a notification device configured to display a warning, wherein

the traveling control processor is configured to cause the notification device to display a predetermined warning in response to i) determining that the surrounding-condition-information acquiring unit detects the first mobile object or ii) determining that the surrounding-condition-information acquiring unit detects the second mobile object.

3. The vehicle drive assist apparatus according to claim 2 , further comprising a brake control processor configured to control a brake mechanism to decelerate the vehicle, wherein

the traveling control processor is configured to decelerate the vehicle by causing the brake control processor to perform a braking operation in response to i) determining that the surrounding-condition-information acquiring unit detects the first mobile object or ii) determining that the surrounding-condition-information acquiring unit detects the second mobile object.

4. A vehicle drive assist apparatus comprising:

a surrounding-condition-information sensor configured to recognize a surrounding condition around the vehicle to acquire surrounding condition information;

a vehicle-state-information sensor configured to recognize an operational state of the vehicle to acquire vehicle state information; and

circuitry configured to:

execute traveling control of the vehicle in accordance with traffic lane designation;

detect a diverging diamond interchange (DDI) in a region in front of the vehicle on a basis of the surrounding condition information;

make a DDI determination as to whether the vehicle is entering the DDI or exiting from the DDI on a basis of the surrounding condition information and the vehicle state information, wherein a relative positional relationship in a lateral direction between an own-vehicle lane on which the vehicle is traveling and an oncoming-vehicle lane on which another vehicle is traveling in an opposite direction to the vehicle is reversed; and

switch the traveling control on a basis of a result of the DDI determination,

wherein the surrounding-condition-information sensor comprises a camera unit configured to detect an object in front of the vehicle,

wherein the circuitry is configured to determine that the vehicle is entering the DDI, in response to determining that the camera unit detects i) a first deceleration and a turning on of a first turn signal lamp, ii) a curve having predetermined radius of curvature or greater, iii) a first turning yaw rate or steering angle being equal to or greater than a first predetermined value for at least a first given period of time, and iv) a second deceleration following the detected first turning yaw rate or steering angle and a turning on of a second turn signal lamp different than the detected first turn signal lamp; and

wherein the circuitry is configured to determine that the vehicle is exiting from the DDI, in response to determining that the camera unit detects i) a third deceleration and a turning on of a third turn signal lamp, ii) a second turning yaw rate or steering angle being equal to or greater than a second predetermined value for at least a second given period of time, and iii) an acceleration and a turning on of the third turn signal lamp,

wherein the circuitry is configured to:

switch the traveling control to a left-hand basis control from a right-hand basis control or to the right-hand basis control from the left-hand basis control, in response to the vehicle entering the DDI being detected as the result of the DDI determination, wherein the right-hand basis control follows right-hand regulation and the left-hand basis control follows left-hand regulation, and

switch the traveling control to the right-hand basis control from the left-hand basis control or to the left-hand basis control from the right-hand basis control, in response to the vehicle exiting from the DDI being detected as the result of the DDI determination,

wherein, in the left-hand basis control, the circuitry is configured to:

determine whether the camera unit detects a first mobile object, wherein the determination of whether the camera unit detects the first mobile object comprises:

decomposing a velocity of the first mobile object into i) a velocity component along a length direction of the vehicle and ii) a velocity component along a width direction of the vehicle;

detecting whether the velocity component along the length direction is directed toward the vehicle and whether the velocity component along the width direction is moving from right to left in parallel with the width direction of the vehicle; and

in response to the velocity component along the length direction being directed toward the vehicle and the velocity component along the width direction being moving from right to left in parallel with the width direction of the vehicle, determining the surrounding-condition-information acquiring unit detects the first mobile object;

in response to determining that the camera unit detects the first mobile object, determine that the first mobile object is an oncoming vehicle approaching the vehicle; and

in response to determining that the first mobile object does not exist and is not detected by the camera unit, determine that there is no oncoming vehicle, and

wherein, in the right-hand basis control, the circuitry is configured to:

determine whether the camera unit detects a second mobile object, wherein the determination of whether the camera unit detects the second mobile object comprises:

decomposing a velocity of the second mobile object into i) a velocity component along the length direction of the vehicle and ii) a velocity component along the width direction of the vehicle;

detecting whether the velocity component along the length direction is directed toward the vehicle and whether the velocity component along the width direction is moving from left to right in parallel with the width direction of the vehicle; and

in response to the velocity component along the length direction being directed toward the vehicle and the velocity component along the width direction being moving from left to right in parallel with the width direction of the vehicle, determining the surrounding-condition-information acquiring unit detects the second mobile object;

in response to determining that the camera unit detects the second mobile object, determine that the second mobile object is the oncoming vehicle approaching the vehicle; and

in response to determining that the camera unit does not detect the second mobile object, determine that there is no oncoming vehicle.

5. The vehicle drive assist apparatus according to claim 4 , further comprising a notification device configured to display a warning, wherein

the circuitry is configured to cause the notification device to display a predetermined warning in response to i) determining that the camera unit detects the first mobile object or ii) determining that the camera unit detects the second mobile object.

6. The vehicle drive assist apparatus according to claim 4 , further comprising a brake control processor configured to control a brake mechanism to decelerate the vehicle, wherein the circuitry is configured to decelerate the vehicle by causing the brake control processor to perform a braking operation in response to i) determining that the camera unit detects the first mobile object or ii) determining that the camera unit detects the second mobile object.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (14)