Patent ID: 11904936
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 4:
5. A driving support device for a vehicle, comprising circuitry configured to:
recognize pairs of right and left lane separation lines ahead of the vehicle on traveling roads on which the vehicle is to travel;
set a target route along center lines of lanes on the traveling roads, each of center lines being defined with respective centers of each of the pairs of the right and left lane separation lines, the traveling roads including a current traveling road on which the vehicle travels;
perform steering control for driving the vehicle along the target route;
correct the target route when an intersecting road intersecting the current traveling road is present on the target route and an angle between a first center line and a second center line is less than or equal to a set angle, the first center line being a center line of the lane on the current traveling road before the intersecting road, the second center line being a center line of the intersecting road;
set a route correction section in the current traveling road before the intersecting road; and
when the vehicle reaches each of two or more correction positions in the route correction section, calculate a tangent arc tangent to the first center line and the second center line, and correct the target route on a basis of the calculated tangent arc,
wherein the circuitry is further configured to:
estimate a traveling trajectory on which the vehicle is currently traveling;
set a first forward gaze point on the estimated traveling trajectory, the first forward gaze point being set in front the vehicle;
determine an amount of displacement between the first forward gaze point and a point corresponding to the first forward gaze point on the target route, and perform feedback control based on the amount of displacement so that the vehicle travels on the target route; and

wherein the circuitry is further configured to:
when the vehicle is traveling in the route correction section, set a second forward gaze point to a point closer to the vehicle than the first forward gaze point to be set when the vehicle is traveling sections other than the route correction section; and
determine an amount of displacement between the second forward gaze point and a point corresponding to the second forward gaze point on the target route, and perform feedback control based on the amount of displacement so that the vehicle travels on the target route.