| CPC B60W 30/18159 (2020.02) [B60W 50/14 (2013.01); B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2710/18 (2013.01); B60W 2720/106 (2013.01)] | 7 Claims |
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1. A driving support apparatus, comprising:
a surrounding sensor 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; and
a control unit including a storage device, the control unit being configured to execute, when a predetermined 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 a driver of the vehicle 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, wherein,
the control unit is 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, road arrow information which is information including the road arrow marking and permitted travel directions of the traveling lane indicated by the road arrow marking, in the storage device in association with the detected intersection;
determine whether a specific condition is satisfied, the specific condition being satisfied when, in a case in which a certain intersection is detected based on the surrounding information and a first road arrow marking and a second road arrow marking exist on the traveling lane toward the certain intersection, the number of types of directions other than a straight direction included in the permitted travel directions of the traveling lane indicated by the first road arrow marking, which is the road arrow marking detected at a certain first time point, is less than the number of types of directions other than a straight direction included in the permitted travel directions of the traveling lane indicated by the second road arrow marking, the second road arrow marking included in second road arrow information, which is the road arrow information already stored in the storage device in association with the certain intersection detected at the first time point;
perform an overwrite processing of overwriting and storing the second road arrow information with first road arrow information, which is road arrow information on the first road arrow marking, at the first time point, when the specific condition is not satisfied;
perform a retention processing of retaining the second road arrow information at the first time point, when the specific condition is satisfied; and
determine whether the predetermined execution condition is satisfied at the first time point based on the overwritten or retained road arrow information.
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