US 12,168,463 B2
Driving assistance device and recording medium
Ikuo Goto, Tokyo (JP); and Daiki Shiwa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Feb. 18, 2022, as Appl. No. 17/675,740.
Claims priority of application No. 2021-039948 (JP), filed on Mar. 12, 2021.
Prior Publication US 2022/0289251 A1, Sep. 15, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/09 (2012.01); B60W 50/00 (2006.01)
CPC B60W 60/0059 (2020.02) [B60W 40/09 (2013.01); B60W 50/00 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 2050/0083 (2013.01); B60W 2540/043 (2020.02); B60W 2540/223 (2020.02); B60W 2540/227 (2020.02); B60W 2540/229 (2020.02); B60W 2540/30 (2013.01); B60W 2556/10 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A driving assistance device for a vehicle, the driving assistance device comprising:
a storage that stores information on an individual risk potential to be set for the vehicle by learning a risk to be sensed by a driver of the vehicle for each of one or more obstacles around the vehicle during manual driving;
a vehicle risk calculator that sets, for the vehicle, a vehicle risk map that reflects the individual risk potential of an occupant of the vehicle during autonomous driving of the vehicle;
driving condition setter that sets:
a target trajectory and a target vehicle speed based on information on the vehicle risk map and information on an obstacle risk map that reflects an obstacle risk potential to be set for the each of the one or more obstacles; and
a driving condition for the autonomous driving of the vehicle based on the target trajectory and the target vehicle speed; and
a vehicle control device that controls the autonomous driving of the vehicle based on the driving condition.