Granted Patent B2

US 12,371,042 · App. 17/965,200 · Granted Jul 29, 2025

Inventors: Hiroaki Ito (Nisshin, JP); Yoshitaka Kijima (Toyota, JP)

Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA

B60W50/14B60W40/08B60W40/09B60W50/0098G06V20/597B60W30/18154B60W2040/0818B60W2050/143B60W2540/229

Abstract

Claims (38)

1. A driving assistance apparatus configured to provide driving assistance regarding a traffic light in front of a host vehicle to a driver of the host vehicle when the traffic light is in a passage prohibited state, the driving assistance apparatus comprising:

a processor programmed to:

access a detected amount of operation amount of an accelerator pedal operated by the driver;

access a detected operation amount of a brake pedal operated by the driver

access a detected steering amount of the driver;

access an illumination state of a direction indicator of the host vehicle;

access a driver-captured image from a driver monitor camera of the host vehicle;

determine whether the driver is in a careless driving state based on a driving operation of the driver; and

a driving assistance unit configured to suppress driving assistance regarding the traffic light when the careless driving state determination unit determines that the driver is not in the careless driving state even if the traffic light in front of the host vehicle is in the passage prohibited state,

determine that the driver is not in the careless driving state when at least one of an acceleration intention of the driver, a deceleration intention of the driver, a steering intention of the driver, and a right or left turn intention of the driver is estimated to be present based on the driving operation of the driver;

determine that the driver is in the careless driving state when none of the acceleration intention of the driver, the deceleration intention of the driver, the steering intention of the driver, and the right or left turn intention of the driver are estimated to be present;

compare, within a predetermined period of time including an approach determination timing at which the host vehicle has approached the traffic light, the detected operation amount of the accelerator pedal to an accelerator operation threshold value;

upon a determination that the detected operation amount of an accelerator pedal is equal to or greater than the accelerator operation threshold value, determine that the driver's acceleration intention with respect to the traffic light is present;

compare, within the predetermined time period, the detected operation amount of a brake pedal to a brake operation threshold value;

upon a determination that the detected operation amount of the brake pedal is equal to or greater than the brake operation threshold value, determine that the driver's deceleration intention with respect to the traffic light is present;

compare, within the predetermined time period, the detected steering amount of the driver to a steering threshold value;

upon a determination that the detected steering amount of the driver is equal to or greater than the steering threshold value, determine that the driver's steering intention with respect to the traffic light is present;

determine, within the predetermined period of time, whether the direction indicator has been operated into an illuminated state;

upon a determination that the direction indicator has been operated into an illuminated state, determine that the driver's right/left turn intention with respect to the traffic light is present; and

based on the accessed driver-captured image, determine whether the driver's gaze is directed toward the traffic light; and

upon a determination that the driver's gaze is directed toward the traffic light, determine that the driver is not in the careless driving state even if it is estimated that none of the driver's acceleration intention, the driver's deceleration intention, and the driver's right/left turn intention is present.

2. The driving assistance apparatus of claim 1 , wherein the processor is programmed to determine whether the driver is in an awake state based on the accessed driver-captured image, and

determine that the driver is in the careless driving state regardless of the driving operation of the driver when it is determined that the driver is not in the awake state.

3. The driving assistance apparatus according to claim 2 , wherein, upon a determination that the driver is not in the awake state, the processor is programmed to advance a timing of an alert to the driver in the driving assistance compared with when the it is determined that the driver is in the awake state.

4. The driving assistance apparatus according to claim 3 , wherein the processor is programmed to:

issue an alert by both audio output and image display as the driving assistance, in a case that the traffic light ahead of the host vehicle is in the passage prohibited state and it has been determined that the driver is in the careless driving state, and

issue an alert by audio output or image display as the driving assistance, in a case that it is not determined that the driver is in the careless driving state.

5. The driving assistance apparatus according to claim 2 , wherein the processor is programmed to:

issue an alert by both audio output and image display as the driving assistance, in a case that the traffic light ahead of the host vehicle is in the passage prohibited state and it has been determined that the driver is in the careless driving state, and

issue an alert by audio output or image display as the driving assistance, in a case that it is not determined that the driver is in the careless driving state.

6. The driving assistance apparatus according to claim 1 , wherein the processor is programmed to determine whether the driver is in an awake state based on the driver-captured image, and

upon a determination that the driver is not in the awake state, advance a timing of an alert to the driver in the driving assistance compared with when it is determined that the driver is in the awake state.

7. The driving assistance apparatus according to claim 6 , wherein the processor is programmed to:

issue an alert by both audio output and image display as the driving assistance, in a case that the traffic light ahead of the host vehicle is in the passage prohibited state and it has been determined that the driver is in the careless driving state, and

issue an alert by audio output or image display as the driving assistance, in a case that it is not determined that the driver is in the careless driving state.

8. The driving assistance apparatus according to claim 1 , wherein the processor is programmed to:

issue an alert by both audio output and image display as the driving assistance, in a case that the traffic light ahead of the host vehicle is in the passage prohibited state and it has been determined that the driver is in the careless driving state, and

issue an alert by audio output or image display as the driving assistance, in a case that it is not determined that the driver is in the careless driving state.

Assignments (1)

Continuity (1)

References Cited (18)