{
  "$type": "site.standard.document",
  "description": "A driving assistance apparatus for a vehicle includes: an environment information acquisitor that acquires environment information ahead of the vehicle; a vehicle position estimator that estimates a vehicle's position; a target route setter that sets a target route; and a controller that causes the…",
  "path": "/patents/1358580",
  "publishedAt": "2024-02-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18154",
    "SUBARU CORPORATION"
  ],
  "textContent": "A driving assistance apparatus for a vehicle includes: an environment information acquisitor that acquires environment information ahead of the vehicle; a vehicle position estimator that estimates a vehicle's position; a target route setter that sets a target route; and a controller that causes the vehicle to travel along the target route. The controller includes: an intersection determiner that determines whether an intersection is ahead of the vehicle; a right-left turn determiner that determines whether the vehicle turns right or left at the intersection; a route generator that generates correct and erroneous routes; a lateral position distance calculator that calculates a correct-route-side lateral position distance and an erroneous-route-side lateral position distance; a lateral position distance comparator that compares the lateral position distances; a control determination comparator that compares the correct-route-side lateral position distance with a threshold; and an intervention controller that returns a traveling direction to the correct route side.",
  "title": "DRIVING ASSISTANCE APPARATUS FOR VEHICLE"
}