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VEHICULAR DRIVING ASSISTANCE APPARATUS

  • US 20130080047A1
  • Filed: 09/23/2011
  • Published: 03/28/2013
  • Est. Priority Date: 10/01/2010
  • Status: Abandoned Application
First Claim
Patent Images

1. A vehicular driving assistance apparatus mounted in a vehicle, the apparatus comprising:

  • a position and direction detection device to detect a present position and a heading direction of the vehicle serially;

    a map data storage device to store map data including road data containing data on one-way traffic attribute;

    a candidate extraction section to extract a present position candidate of the vehicle on an on-map road by matching a travel track of the vehicle on the on-map road based on a present position and a heading direction of the vehicle detected by the position and direction detection device and the map data stored in the map data storage device;

    a position specification section to specify a present position of the vehicle on an on-map road based on a present position candidate extracted by the candidate extraction section;

    an image capture device to capture serially an image in a heading direction of the vehicle;

    an image recognition section to detect from an image captured by the image capture device with image recognition a structural object peculiar to a branch point that is contained together with a joint point in a highway;

    a reverse run candidate clarification section to clarify whether a present position candidate of the vehicle is a revere run candidate that corresponds to a reverse run state of the vehicle or a normal run candidate that does not correspond to a reverse run state of the vehicle based on (i) a present position candidate extracted by the candidate extraction section, (ii) a heading direction of the vehicle detected by the position and direction detection device, and (iii) the road data containing the data on one-way traffic attribute; and

    a reverse run determination section to determine whether the vehicle is in a reverse run state based on a clarification result by the reverse run candidate clarification section and a detection result by the image recognition section in cases that the candidate extraction section extracts a plurality of present position candidates,the reverse run determination section determining that the vehicle is in the reverse run state in cases that(i) a reverse run candidate of the vehicle that is clarified to correspond to the reverse run state of the vehicle and a normal run candidate of the vehicle clarified not to correspond to the reverse run state of the vehicle coexist within the plurality of present position candidates extracted by the candidate extraction section, and(ii) the structural object peculiar to the branch point is detected by the image recognition section, the reverse run determination section not determining that the vehicle is in the reverse run state in cases that(i) the reverse run candidate and the normal run candidate coexist within the plurality of present position candidates extracted by the candidate extraction section, and(ii) the structural object peculiar to the branch point is not detected by the image recognition section.

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