US-12623661-B2 - Driving support apparatus

US12623661B2US 12623661 B2US12623661 B2US 12623661B2US-12623661-B2

Abstract

A driving support apparatus comprises a camera, and a controller for executing a support control for supporting the vehicle turning at an intersection. The controller stores a prohibited direction in which a road arrow marked on a lane prohibits the vehicle from turning. The controller executes the support control when the controller detects the intersection and a turn direction is not the prohibited direction. The controller deletes the prohibited direction when the vehicle travels on a lane that is not a one-lane on one side and a travel distance after the vehicle passes through the road arrow is equal to or longer than a first delete distance, and deletes the prohibited direction when the vehicle travels on the one-lane on one side and the travel distance is equal to or longer than a second delete distance shorter than the first delete distance.

Inventors

Yuta Ikezawa

Assignees

TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date: 20260512
Application Date: 20230922
Priority Date: 20221116

Claims (3)

1 . A driving support apparatus comprising: a camera configured to acquire image data by capturing a scene in front of a vehicle; a blinker lever configured to specify an operating direction; and a controller configured to: store, to a storage area, a prohibited direction in which a road arrow marked on a lane on which the vehicle is traveling prohibits the vehicle from turning, when the controller detects the road arrow based on the image data; specify a turn direction based on the operating direction of the blinker lever; determine that a support condition is satisfied when both a first condition that the controller detects an intersection in front of the vehicle and a second condition that the turn direction in which the vehicle will turn right or left is not the prohibited direction are satisfied; delete the prohibited direction from the storage area when the vehicle travels on a lane that is not a one-lane on one side and a travel distance which the vehicle has traveled since the vehicle passes through the road arrow is equal to or longer than a first delete distance; delete the prohibited direction from the storage area when the vehicle travels on the one-lane on one side and the travel distance is equal to or longer than a second delete distance, wherein the second delete distance is shorter than the first delete distance, and wherein the lane that is one-lane on one side is a lane in which, on a lateral side of the vehicle, there is any one of a guardrail, a curb, or a road edge, and on another lateral side of the vehicle, there is an adjacent lane in which an oncoming vehicle travels toward the vehicle; determine whether the turn direction coincides with the prohibited direction stored within the storage area; and based on a determination that the turn direction does not coincide with the prohibited direction stored within the storage area, execute a support control for supporting the vehicle turning right or left at the intersection when the support condition is satisfied, wherein the controller is configured to execute, as the support control, a deceleration control for controlling a power train actuator and a brake actuator to decrease a speed of the vehicle to a predetermined support vehicle speed.
2 . The driving support apparatus according to claim 1 , wherein the controller is further configured to execute, as the support control, a display control for causing a display device of the vehicle to display a support screen including information on turning left or right.
3 . A driving support apparatus comprising: a camera configured to acquire image data by capturing a scene in front of a vehicle; and a controller that is configured to: specify an allowed direction in which the vehicle is allowed to travel on based on a road arrow in the captured scene; specify a direction that is not the allowed direction as a prohibited direction, based on the road arrow in the captured scene; store the allowed direction and the prohibited direction to the storage area; determine that a support condition is satisfied when both a first condition that the controller detects an intersection in front of the vehicle and a second condition that the turn direction in which the vehicle will turn right or left is not the prohibited direction are satisfied; delete the allowed direction and the prohibited direction from the storage area when the vehicle travels on a lane that is not a one-lane on one side and a travel distance which the vehicle has traveled since the vehicle passes through the road arrow is equal to or longer than a first delete distance; delete the prohibited direction from the storage area when the vehicle travels on a lane that is the one-lane on one side and the travel distance is equal to or longer than a second delete distance; delete the allowed direction from the storage area when the vehicle travels on the lane that is the one-lane on one side and the travel distance is equal to or longer than a third delete distance, wherein the second delete distance is shorter than the first delete distance, and the third delete distance is longer than the second delete distance, wherein the one-lane on one side is a lane in which, on a lateral side of the vehicle, there is any one of a guardrail, a curb, or a road edge, and on another lateral side of the vehicle, there is an adjacent lane in which an oncoming vehicle travels toward the vehicle; and execute a suppressed support control when the support condition is satisfied and the allowed direction is not stored, wherein the suppressed support control executes a power train actuator and a brake actuator.

Description

TECHNICAL FIELD The present disclosure relates to a driving support apparatus configured to execute a support control for supporting a right or left turn when a vehicle performs the right or left turn at an intersection. BACKGROUND Conventionally, a driving support apparatus configured to execute a support control for supporting a right or left turn has been known. Such a driving support apparatus specifies a prohibited direction of the right or left turn based on a road arrow marked on a lane on which the vehicle travels, and executes the support control when a turn direction in which the vehicle will turn right or left is not the prohibited direction. The road arrow indicates an allowed direction in which the vehicle is allowed to travel. The road arrow is marked in front of an intersection. Therefore, the driving support apparatus needs to store the specified prohibited direction. For example, the driving support apparatus described in Patent Document 1 (hereinafter, referred to as a “conventional apparatus”) stores information on the road arrow, and deletes the information on the road arrow when a travel distance which the vehicle has traveled since the road arrow was last detected becomes equal to or longer than a threshold distance. Patent Document 1: Japanese Patent Application Laid-Open No. 2021-86482 SUMMARY There are two intersections in a row. There is the road arrow that is applied to a front intersection and not to a back intersection. In particular, it is difficult to detect the intersection in a one-lane on one side, because, in the one-lane on one side, there are many “intersections where no traffic lights are installed” and “intersections where a width of an intersecting lane is narrow”. The intersecting lane is a lane intersecting the lane on which the vehicle travels. In a case where the front intersection is not detected and a distance from the road arrow to the back intersection is shorter than the threshold distance, the conventional apparatus does not delete the information on the road arrow applied only to the front intersection. Therefore, the conventional apparatus erroneously applies this road arrow to the back intersection. As a result, there is a possibility that the conventional apparatus cannot appropriately execute the support control when the vehicle turns right or left at the back intersection. The present disclosure has been made to address the above-described problem. That is, an object of the present disclosure is to provide a driving support apparatus capable of reducing a possibility that the support control cannot be appropriately executed when the vehicle travels on the one-lane on one side. A driving support apparatus (hereinafter, referred to as the “present disclosure apparatus”) according to the present disclosure comprises: a camera (22) configured to acquire image data by capturing a scene in front of a vehicle; anda controller (20) configured to execute a support control for supporting the vehicle turning right or left at an intersection when a support condition is satisfied. The controller is further configured to: store, to a storage area (28a), a prohibited direction in which a road arrow marked on a lane on which the vehicle is traveling prohibits the vehicle from turning (step 330), when the controller detects the road arrow based on the image data (step 315 “Yes”);determine that the support condition is satisfied when both a first condition that the controller detects the intersection in front of the vehicle and a second condition that a turn direction in which the vehicle will turn right or left is not the prohibited direction are satisfied (step 505 “Yes”, step 520 “No”);delete the prohibited direction from the storage area (step 430) when the vehicle travels on a lane that is not a one-lane on one side (step 420 “No”) and a travel distance which the vehicle has traveled since the vehicle passes through the road arrow is equal to or longer than a first delete distance (step 425 “Yes”); anddelete the prohibited direction from the storage area (step 430) when the vehicle travels on the one-lane on one side (step 420 “Yes”) and the travel distance is equal to or longer than a second delete distance shorter than the first delete distance (step 440 “Yes”). In the one-lane on one side, the possibility that the intersection is not detected is high. Therefore, the road arrow marked in front of the intersection which is not detected is likely to be erroneously applied to the next intersection. In a case where the vehicle travels on the one-lane on one side, the present disclosure apparatus deletes the prohibited direction from the storage area when the traveling distance after the vehicle passes the road arrow is equal to or longer than the “second delete distance shorter than the first delete distance”. Accordingly, the present disclosure apparatus can reduce the possibility that the road arrow is erroneously applied to the intersection when the vehicle travel