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

Claim 1:
2. The driving support device for a vehicle according to claim 1,
wherein the steering controller 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 steering controller 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.