Patent ID: 11884322
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 2:
3. A drive assist apparatus to be applied to a vehicle, the drive assist apparatus comprising:
a surrounding situation sensor configured to recognize a surrounding situation of a first vehicle that is the vehicle to be applied with the drive assist apparatus;
a steering-wheel holding state sensor configured to recognize a steering-wheel holding state that is a state in which a driver who drives the first vehicle is holding a steering wheel of the first vehicle; and
circuitry configured to
determine the surrounding situation of the first vehicle on a basis of a result of recognition performed by the surrounding situation sensor,
determine the steering-wheel holding state on a basis of a result of recognition performed by the steering-wheel holding state sensor, and
perform a traveling control of the first vehicle on a basis of a result of determination of the surrounding situation or a result of determination of the steering-wheel holding state,

the circuitry being configured to execute a traveling control for emergency in a case where the result of the determination of the surrounding situation or the result of the determination of the steering-wheel holding state indicates that the first vehicle or the driver of the first vehicle is unable to maintain normal traveling,
wherein the circuitry is further configured to:
set a set traveling lane on which the first vehicle is to travel, on a basis of information of the surrounding situation of the first vehicle,
set a target traveling position at which the first vehicle is to travel within the set traveling lane set by the traveling lane setting processor,
determine, when the first vehicle is traveling on the set traveling lane, whether the first vehicle is to depart from the set traveling lane,
selectively execute each of:
a lane departure prevention control including a steering assist control to be executed in a case where the first vehicle is determined as being to depart from the set traveling lane; and
an emergency lane keeping control including a steering assist control to be executed in a case where a second vehicle is recognized and where the first vehicle is determined as being to depart from the set traveling lane, the second vehicle being a vehicle opposing the first vehicle or traveling in a rear-side region of the first vehicle in a direction same as a traveling direction of the first vehicle,

in a case where both the lane departure prevention control and the emergency lane keeping control are in an activated state, perform switching from the emergency lane keeping control to the lane departure prevention control at a timing when the second vehicle becomes no longer detected in a period in which the first vehicle is caused to travel along a lane line of the set traveling lane without crossing the lane line, and execute a first emergency lane keeping control, the first emergency lane keeping control being a control of performing a traveling control that causes a traveling position of the first vehicle to return from a position at which the first vehicle is prevented from crossing the lane line of the set traveling lane to the target traveling position, and
in a case where the lane departure prevention control is in a non-activated state and the emergency lane keeping control is in the activated state, execute a second emergency lane keeping control of ending the emergency lane keeping control, at a timing when the second vehicle becomes no longer detected in a period in which the first vehicle is caused to travel along the lane line of the set traveling lane without crossing the lane line and is thereafter caused to travel along a lane end within the set traveling lane.