US 12,337,832 B2
Driving assistance apparatus
Hikaru Yoshikawa, Tokyo (JP); Masahito Sekine, Tokyo (JP); Yuta Sato, Tokyo (JP); Ryuya Azuma, Tokyo (JP); Keisuke Motegi, Tokyo (JP); and Yu Hasegawa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jul. 18, 2022, as Appl. No. 17/866,929.
Claims priority of application No. 2021-123499 (JP), filed on Jul. 28, 2021.
Prior Publication US 2023/0031826 A1, Feb. 2, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 50/14 (2020.01); G08G 1/01 (2006.01); G08G 1/0967 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 50/14 (2013.01); G08G 1/0112 (2013.01); G08G 1/096766 (2013.01); B60W 2552/53 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A driving assistance apparatus to be applied to a vehicle, the driving assistance apparatus comprising:
an outside recognition device configured to acquire traffic environment information around the vehicle;
a locator unit configured to store road map information and detect a position of the vehicle on a basis of a positioning signal; and
a driving control unit configured to:
control the vehicle based on the traffic environment information;
execute a first determination process to determine whether the vehicle is performing wrong-way driving in an oncoming lane based on the traffic environment information, the road map information, and the position of the vehicle;
in response to determining in the first determination process that the vehicle is performing the wrong-way driving in the oncoming lane, execute a second determination process to determine whether the vehicle is traveling in a section of the oncoming lane where such travel is permitted, based on the traffic environment information, and execute a third determination process to determine whether the vehicle is traveling in a same direction as a nearby vehicle based on the traffic environment information, the nearby vehicle being traveling surrounding the vehicle;
determine whether the vehicle is performing the wrong-way driving in the oncoming lane based on the second and third determination processes;
in response to determining in the second and third determination processes that the vehicle is not performing the wrong-way driving in the oncoming lane, discard a result of the first determination process and determine that the vehicle is not performing the wrong-way driving in the oncoming lane; and
in response to determining in the second and third determination processes that the vehicle is performing the wrong-way driving in the oncoming lane, hold the result of the first determination process.