Patent ID: 11858510
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. A vehicle drive assist apparatus comprising:
a stereo camera to be installed on a vehicle and configured to acquire image data on a traveling environment in front of the vehicle; and
at least one machine readable medium storing instructions and at least one processor configured to execute the instructions to:
recognize sides of dividing lines defining a travel lane as two approximate lines on a basis of the image data on the traveling environment acquired by the stereo camera, the sides of the dividing lines being adjacent to the travel lane, the two approximate lines being each in a linear form, and
set a target travel course in a middle between the two approximate lines and control a steering mechanism of the vehicle to cause the vehicle to travel along the target travel course, wherein,

when a static three-dimensional object has been continuously detected on or near one of the dividing lines on a basis of the image data on the traveling environment, the at least one processor is configured to set a virtual approximate line by correcting a lateral position of the approximate line of the one of the dividing lines on which the static three-dimensional object is placed in a direction apart from the static three-dimensional object toward a middle of the travel lane by a predetermined correction amount, and set the target travel course in a middle between the virtual approximate line and the approximate line of the other of the dividing lines, wherein
the at least one processor is further configured to execute instructions to:
construct a grid map in a predetermined region in front of the vehicle,
cast a vote for a grid area of the grid map corresponding to the static three-dimensional object having been detected,
detect whether the grid area for which the vote is casted protrudes from the one of the dividing lines toward the travel lane, and
variably change the predetermined correction amount of the lateral position of the approximate line of the one of the dividing lines.