Granted Patent B2

US 12,623,661 · App. 18/472,813 · Granted May 12, 2026

Inventor: Yuta Ikezawa (Toyota, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B60W30/18159B60W50/14G06V20/588B60W2050/146B60W2420/403B60W2552/05B60W2552/53B60W2720/106

Abstract

Claims (29)

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.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)