Driving assistance apparatus

Patent metadata

Field	Value
Publication number	US-12371042-B2
Application number	US-202217965200-A
Country	US
Kind code	B2
Filing date	Oct 13, 2022
Priority date	Nov 11, 2021
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

A driving assistance apparatus configured to provide driving assistance regarding a traffic light to a driver of a host vehicle when the traffic light in front of the host vehicle is in a passage prohibited state, wherein the driving assistance apparatus determines whether the driver is in a careless driving state, and suppresses driving assistance regarding the traffic light when the driver is determined to be in the careless driving state even when the traffic light in front of the host vehicle is in the passage prohibited state.

First claim

What is claimed is:

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.

Assignees

• Toyota Motor Co Ltd

Inventors

• Ito Hiroaki
• Kijima Yoshitaka

Classifications

• G06V20/597

  Recognising the driver's state or behaviour, e.g. attention or drowsiness · CPC title

• B60W40/08 Primary

  related to drivers or passengers · CPC title

• B60W2050/143

  Alarm means · CPC title

• B60W2040/0818

  Inactivity or incapacity of driver · CPC title

• B60W30/18154

  Approaching an intersection · CPC title