US 12,333,818 B2
Road type determination apparatus and driving assistance apparatus
Takatoshi Tosa, Kariya (JP); Takayuki Kondoh, Kariya (JP); Shin Tanaka, Numazu (JP); Yuta Ikezawa, Susono (JP); and Kazuhiro Morimoto, Toyota (JP)
Assigned to DENSO CORPORATION, Aichi-pref. (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by DENSO CORPORATION, Aichi-pref. (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 8, 2021, as Appl. No. 17/496,842.
Application 17/496,842 is a continuation of application No. PCT/JP2020/016135, filed on Apr. 10, 2020.
Claims priority of application No. 2019-076643 (JP), filed on Apr. 12, 2019.
Prior Publication US 2022/0027640 A1, Jan. 27, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 40/06 (2012.01); G01C 21/34 (2006.01)
CPC G06V 20/56 (2022.01) [B60W 40/06 (2013.01); G01C 21/3476 (2013.01); B60W 2420/403 (2013.01); B60W 2552/20 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A road type determination apparatus comprising:
an image information acquiring unit that acquires image information in which an image of a travel road on which a vehicle is traveling is captured;
a scene determining unit that determines a traveling scene of the travel road based on the image information;
an ordinary road likelihood calculating unit that calculates an ordinary road likelihood that indicates that a type of the travel road of the vehicle is an ordinary road based on the traveling scene;
a limited-access road likelihood calculating unit that calculates a limited-access road likelihood that indicates that the type of the travel road of the vehicle is a limited-access road based on the traveling scene; and
a type determining unit that determines the type of the travel road of the vehicle to be either the ordinary road or the limited-access road, based on the ordinary road likelihood and the limited-access road likelihood, and determines the type of the travel road of the vehicle to be the limited-access road, in response to the limited-access road likelihood being equal to or greater than a predetermined first threshold and the ordinary road likelihood being less than a predetermined fourth threshold,
wherein
driving assistance of the vehicle is performed by a driving assisting unit based on the type of travel road of the vehicle determined by the type determining unit.