US 12,258,015 B2
Driving support apparatus, driving support method, and non-transitory computer-readable storage medium
Hiroshi Toyoda, Numazu (JP); Yuta Ikezawa, Susono (JP); and Kohei Tochigi, Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Jan. 18, 2023, as Appl. No. 18/098,431.
Claims priority of application No. 2022-007351 (JP), filed on Jan. 20, 2022.
Prior Publication US 2023/0227036 A1, Jul. 20, 2023
Int. Cl. B60W 30/14 (2006.01); B60W 10/18 (2012.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); B60W 50/16 (2020.01)
CPC B60W 30/146 (2013.01) [B60W 10/18 (2013.01); B60W 30/18154 (2013.01); B60W 50/16 (2013.01); B60W 2050/143 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2710/18 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A driving support apparatus, comprising:
a surrounding information acquisition device configured to acquire information relating to a road marking and an intersection present in a front area, which is an area including a road surface in front of a vehicle, as surrounding information;
a steering information acquisition device configured to acquire information including whether or not steering operation is being performed by a driver of the vehicle as steering information; and
a control unit including a storage device, the control unit being configured to:
store, in a case in which an intersection is detected based on the surrounding information, when a road arrow marking is detected on a traveling lane which is a lane on which the vehicle is traveling or on an adjacent lane which is a lane adjacent to the traveling lane, road arrow information which is information including the road arrow marking and permitted travel directions of a lane indicated by the road arrow marking, in the storage device in association with the detected intersection for each lane;
execute, when a predetermined first execution condition including an intersection being detected based on the surrounding information is satisfied, driving support control including at least one of pre-right/left-turn deceleration assist control of automatically applying a braking force to the vehicle so that a deceleration of the vehicle matches a target deceleration and thereby assisting in deceleration of the vehicle to a predetermined target vehicle speed before the vehicle performs one of a right turn or a left turn at the detected intersection, or pre-right/left-turn warning control of warning the driver and thereby prompting the driver to perform a deceleration operation before the vehicle performs one of a right turn or a left turn at the detected intersection; and
determine, when a precondition is satisfied, the precondition being satisfied in a case in which it is determined that an intersection is detected based on the surrounding information and that steering operation is being performed by the driver based on the steering information, whether or not the first execution condition is satisfied based on the steering operation being performed and traveling lane arrow information which is the road arrow information of the traveling lane or adjacent lane arrow information which is the road arrow information of the adjacent lane, each of the traveling lane arrow information and the adjacent lane arrow information being stored in the storage device.