Subaru Corporation

Wataru Munemura

Hiroaki Kuramochi

Seiya Sato

Hiroki Maniwa

Shigeki Mukai

Reo Harada

Shota Yasuda

A vehicle front recognition apparatus includes an imager that captures an image of an environment ahead of a vehicle on the road, an image analyzer that analyzes the image of the environment with artificial intelligence to segment the image areas of the image by classes to which objects captured in the image belong, and a road information acquirer that acquires high-precision map information ahead of the vehicle. The vehicle front recognition apparatus acquires dynamic information that is not included in the high-precision map information from the classes. The image analyzer includes a feeling-of-strangeness area extractor extracting a feeling-of-strangeness area using the classes from the image areas. The vehicle front recognition apparatus further includes a feeling-of-strangeness area verifier that verifies whether the vehicle can pass through the feeling-of-strangeness area and a notifier that notifies a driver when the vehicle cannot pass through the feeling-of-strangeness area.

Vehicle front recognition apparatus and vehicle control unit

A vehicle drive assist apparatus is to be applied to a vehicle. The vehicle drive assist apparatus includes an object recognizer, a risk area setter, and a risk level setter. The object recognizer is configured to recognize an object in front of the vehicle. The risk area setter is configured to, when small objects are around the object, set a risk area including the small objects. The risk level setter is configured to set a risk level for the risk area with respect to the vehicle based on distribution of height information items within the risk area.

Vehicle drive assist apparatus

A surrounding environment around a vehicle is recognized and surrounding environment information is acquired. Traveling control is performed on the vehicle based on the acquired surrounding environment information. When an obstacle expected to hinder traveling of the vehicle is recognized ahead of the vehicle and other vehicles traveling ahead of the vehicle are recognized in an adjacent lane adjacent to a traveling lane where the vehicle is traveling, a movement amount of the obstacle moved due to an effect of a first other vehicle among the other vehicles that travels at a position near the obstacle is detected. An estimated movement amount of the obstacle moved due to an effect of a second other vehicle among the other vehicles that follows the first other vehicle is calculated based on the detected movement amount. The traveling control is performed on the vehicle based on the estimated movement amount.

Vehicle traveling control apparatus

A vehicle drive assist apparatus for avoiding collision of a vehicle with a recognized object recognizes a surrounding environment around the vehicle; acquires feature information of a three-dimensional object in the surrounding environment; sets a traveling path of the vehicle based on the surrounding environment; recognizes an aerial object based on the feature information; identify a type of the aerial object based on the feature information; determines whether the aerial object has a possibility of hindering traveling of the vehicle; performs steering control based on a control signal; continues normal traveling control when the aerial object does not have the hindrance possibility; estimates a falling point of the aerial object when the aerial object has the hindrance possibility; when the falling point is on the traveling path of the vehicle, sets a new traveling path to steer around the falling point and executes traveling control along the new traveling path.

A surrounding environment recognition device recognizes a surrounding environment around a vehicle. A traveling control unit centrally controls a whole of the entire vehicle. An obstacle presumer presumes presence of an obstacle ahead of the vehicle based on a behavior distribution of preceding vehicles recognized by the surrounding environment recognition device, and estimates a position and an area where the obstacle is present when the presence of the obstacle is presumed. A traveling path calculator calculates candidates for traveling path areas along which the vehicle is expected to travel while avoiding collision with the presumed obstacle. A traveling path selector selects a traveling path area from among the calculated traveling path areas and sets the selected traveling path area. The traveling control unit controls the vehicle to travel along the set traveling path area.

A vehicle drive assist apparatus to be applied to a vehicle executes at least emergency braking control for avoiding collision of the vehicle with a recognized object. The vehicle drive assist apparatus includes a surrounding environment recognition device and a traveling control unit. The surrounding environment recognition device includes a recognizer that recognizes a surrounding environment around the vehicle, and a feature information acquirer that acquires feature information of a target object in the recognized surrounding environment. The traveling control unit centrally controls the entire vehicle. The traveling control unit includes a determiner that determines, based on the acquired feature information, whether the target object has a possibility of hindering traveling of the vehicle. The traveling control unit continues normal traveling control for the vehicle when the target object is determined to have no possibility of hindering the traveling of the vehicle.

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Tokyo, Japan

Wataru Munemura