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

Claim 0:
1. A driving support device for a vehicle, comprising:
a lane separation line recognizer 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;
a target route setting unit configured to set a target route along center lines of lanes on the traveling roads, each of the 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;
a steering controller configured to perform steering control for driving the vehicle along the target route; and
a target route corrector configured to:
determine that an intersecting road intersecting the current traveling road is present on the target route;
in response to determining that the intersecting road is present, set the target route to be a first center line of the current traveling road and a second center line of the intersecting road that meets the first center line at a point of intersection, wherein the first center line and the second center line form an angle at a point of intersection;
determine that the angle between the first center line and the second center line is less than or equal to a set angle;
in response to determining that the angle is less than or equal to the set angle, set a route correction section in the current traveling road before the intersecting road, and set two or more correction positions within the route correction section;
when the vehicle reaches first one of the two or more correction positions in the route correction section, calculate a first tangent arc tangent to the first center line and the second center line based on a first current position of the vehicle, and correct the target route based on the first tangent arc; and
when the vehicle then reaches second one of the two or more correction positions in the route correction section, calculate a second tangent arc tangent to the first center line and the second center line based on a second current position of the vehicle, and correct the target route based on the second tangent arc.