{
  "$type": "site.standard.document",
  "description": "A vehicle drive assistance apparatus includes a surrounding environment information acquiring unit, a crossing-vehicle recognition unit, a contact estimation unit, a contact avoidance operation determination unit, and a front-vehicle recognition unit. The crossing-vehicle recognition unit…",
  "path": "/patents/1302602",
  "publishedAt": "2021-10-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "SUBARU CORPORATION"
  ],
  "textContent": "A vehicle drive assistance apparatus includes a surrounding environment information acquiring unit, a crossing-vehicle recognition unit, a contact estimation unit, a contact avoidance operation determination unit, and a front-vehicle recognition unit. The crossing-vehicle recognition unit recognizes a crossing vehicle based on the surrounding environment information acquired by the surrounding environment information acquiring unit. The contact estimation unit estimates a possible contact between an own vehicle and the crossing vehicle at an intersection by comparing an intersection entering time of the own vehicle with an intersection entering time of the crossing vehicle. When a front vehicle entering the intersection prior to the own vehicle is recognized by the front-vehicle recognition unit, the contact avoidance operation determination unit calculates an intersection entering timing of the front vehicle, and determines that the contact avoidance operation is not to be executed if the estimated intersection entering timing is a predetermined value or less.",
  "title": "VEHICLE DRIVE ASSISTANCE APPARATUS"
}