Driving assistance apparatus, imaging apparatus, imaging system, driving assistance system, vehicle, and driving assistance method

A driving assistance apparatus includes a communication interface and a processor. The communication interface acquires information related to the position of a vehicle and road information related to a road. The processor determines whether the road is passable based on the acquired information.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to and the benefit of Japanese Patent Application No. 2016-128720 filed Jun. 29, 2016 and Japanese Patent Application No. 2017-087721 filed Apr. 26, 2017, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a driving assistance apparatus, an imaging apparatus, an imaging system, a driving assistance system, a vehicle, and a driving assistance method.

BACKGROUND

A known apparatus and system assist with driving of a vehicle on the road by providing information related to obstacles with which the vehicle may come into contact.

For example, when a vehicle drives on a narrow road, the conventional vehicle driving assistance apparatus determines whether the vehicle can pass by an object, such as a parked car, based on the width of the vehicle and the object width.

SUMMARY

A driving assistance apparatus of the present disclosure includes a communication interface and a processor. The communication interface acquires information related to the position of a vehicle and road information related to a road. The processor determines whether the road is passable based on the acquired information.

An imaging apparatus of the present disclosure includes a lens, an image sensor, and a driving assistance apparatus. The driving assistance apparatus includes a communication interface and a processor. The communication interface acquires information related to the position of a vehicle and road information related to a road. The processor determines whether the road is passable based on the information related of the vehicle to the position and the road information.

An imaging system of the present disclosure is for mounting in a vehicle and includes a position sensor, an imaging apparatus, and a driving assistance apparatus. The position sensor outputs information related to a position of the vehicle. The imaging apparatus captures an image of a road on which the vehicle is driving and outputs road information related to the road. The driving assistance apparatus includes a communication interface and a processor. The communication interface acquires the information related to the position of the vehicle and the road information. The processor determines whether the road is passable based on the information related to the position of the vehicle and the road information.

A driving assistance system of the present disclosure includes a plurality of driving assistance apparatuses mounted in a plurality of vehicles and an information processing apparatus external to the plurality of vehicles. Each of the driving assistance apparatus of the plurality of driving assistance apparatuses includes an information acquisition unit, a first processor, and a first communication unit. The information acquisition unit acquires information related to a position of the vehicle in which each of the driving assistance apparatuses is mounted and driving path information related to a road on which the vehicle is driving. The first processor generates first information indicating the position of the vehicle and generates second information based on the driving path information. The first communication unit transmits the first information to the information processing apparatus in response to control by the first processor, receives nearby road information related to a nearby road near the position of the vehicle as third information, and transmits the second information to the information processing apparatus. The first processor generates information related to whether the nearby road is passable based on the third information. The information processing apparatus includes a second communication unit, a storage, and a second processor. The second communication unit receives the first information and the second information from a vehicle and transmits the third information to the vehicle of the plurality of vehicles. The storage stores a plurality of positions and nearby road information corresponding to each of the plurality of positions as fourth information. The second processor acquires the first information from the second communication unit, and based on the position of the vehicle included in the first information, extracts the nearby road information related to the nearby road as the third information from the fourth information stored in the storage. The second processor updates the fourth information stored in the storage based on the first information and the second information received from the each driving assistance apparatus.

A vehicle of the present disclosure includes a driving assistance apparatus. The driving assistance apparatus includes a communication interface and a processor. The communication interface acquires information related to the position of the vehicle and road information related to a road. The processor determines whether the road is passable based on the information related to the position and the road information.

A driving assistance method of the present disclosure is for execution by a driving assistance apparatus. The driving assistance apparatus acquires information related to a position of a vehicle and road information related to a road. The driving assistance apparatus determines whether the road is passable based on the information related to the position and the road information.

DETAILED DESCRIPTION

With a known technique, it may be difficult for a vehicle to drive on a narrow road. The determination that the vehicle cannot pass by an object, for example, can only be made when the vehicle actually drives down a narrow road and encounters the object. Hence, it is hard to acquire information on narrow, hard to travel roads in advance to avoid entering or approaching such roads. When a vehicle proceeds down a narrow road and could come into contact with an oncoming car, for example, it is difficult to retreat to a suitable location for the vehicles to pass each other.

In light of these considerations, the present disclosure aims to provide a driving assistance apparatus, an imaging apparatus, an imaging system, a driving assistance system, a vehicle, and a driving assistance method that reduce the difficulty of driving on a narrow road.

A driving assistance apparatus, an imaging apparatus, an imaging system, a driving assistance system, a vehicle, and a driving assistance method according to embodiments of the present disclosure can reduce the difficulty of driving on a narrow road.

First Embodiment

A first embodiment of the present disclosure is now described with reference to the drawings.

As illustrated inFIG. 1, a driving assistance system1according to an embodiment includes a driving assistance apparatus20and an information processing apparatus50. A plurality of driving assistance apparatuses20are included in correspondence with the information processing apparatus50. Only one of the driving assistance apparatuses20is illustrated inFIG. 1. For example, hundreds to millions of driving assistance apparatuses20may exist in correspondence with the information processing apparatus50. In addition to the driving assistance apparatuses20and the information processing apparatus50, the driving assistance system1may include a camera10, which is an imaging apparatus, and a position sensor30as an information acquisition unit. Furthermore, the driving assistance system1may include a display apparatus40. An imaging system2includes the camera10, the driving assistance apparatus20, and the position sensor30. The imaging system2may also include the display apparatus40. The information processing apparatus50may be located on a cloud computing system of a provider.

The camera10, the driving assistance apparatus20, the position sensor30, and the display apparatus40are mounted in a vehicle4, as illustrated inFIG. 2. The camera10, the driving assistance apparatus20, the position sensor30, and the display apparatus40may be connected to each other over a network5in the vehicle4, such as communication cables or a control area network (CAN).

The “vehicle” in the present disclosure encompasses, but is not limited to, automobiles and industrial vehicles. For example, the term “vehicle” may include airplanes that travel down a runway. Examples of automobiles include, but are not limited to, passenger vehicles, trucks, buses, motorcycles, and trolley buses, and may include other vehicles that travel on the road. Industrial vehicles include industrial vehicles for agriculture and for construction. Industrial vehicles include, but are not limited to, forklifts and golf carts. Industrial vehicles for agriculture include, but are not limited to, tractors, cultivators, transplanters, binders, combines, and lawnmowers. Industrial vehicles for construction include, but are not limited to, bulldozers, scrapers, backhoes, cranes, dump cars, and road rollers. Power engines for the vehicle include, but are not limited to, internal-combustion engines including diesel engines, gasoline engines, and hydrogen engines, and electrical engines including motors. The term “vehicle” includes human-powered vehicles. The vehicle is not limited to the above-listed types. For example, automobiles may include industrial vehicles that can drive on the road, and the same vehicle may be included in multiple categories.

The camera10is installed to capture images of the driving path ahead of the vehicle4. In an embodiment, the camera10is located in the cabin of the vehicle4and can capture images of the outside of the vehicle4through the windshield of the vehicle4. In another embodiment, the camera10may be fixed to any of the front bumper, the fender grills, the side fenders, the light modules, and the hood (bonnet) of the vehicle4.

As illustrated inFIG. 1, the camera10includes an optical system11, an image sensor12, a signal processor13, an output unit14, and the like.

The optical system11is a lens that focuses light incident on the optical system11to form an image on the image sensor12. The optical system11may, for example, be configured by a fisheye lens or a super wide-angle lens. The optical system11may be configured by a single lens or by a plurality of lenses.

The image sensor12is an image sensor that captures an image formed by the optical system11. The image sensor12includes a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. The image sensor12can convert the image formed by the optical system11to an electric signal and acquire the electric signal.

The signal processor13is one or a plurality of processors that process the electric signal of the image acquired by the image sensor12. The processor in the signal processor13is, for example, a dedicated microprocessor formed to execute particular functions or a processor that executes particular functions by reading particular programs.

The signal processor13generates an image signal representing an image from the electric signal acquired by the image sensor12. The signal processor13may perform any process on the image, such as distortion correction, brightness adjustment, contrast adjustment, gamma correction, or the like.

The output unit14outputs the image signal generated by the signal processor13to the driving assistance apparatus20. The output unit14may include a physical connector, a wireless communication device, or the like. Examples of physical connectors include an electrical connector, an optical connector, and an electromagnetic connector. Examples of wireless communication devices include wireless communication devices that conform to standards such as Bluetooth® (Bluetooth is a registered trademark in Japan, other countries, or both) or IEEE802.11 and antennas. In an embodiment, the output unit14can connect to the network5of the vehicle4. The camera10can be connected to the driving assistance apparatus20, the display apparatus40, and the like through the network5. The camera10and the driving assistance apparatus20may also be connected directly, without going through the network5of the vehicle4.

The driving assistance apparatus20includes an input/output unit21(information acquisition unit), a first processor22(processor), a first memory23, a first communication unit24(communication unit), and the like.

Like the output unit14of the camera10, the input/output unit21may include a physical connector, a wireless communication device, or the like.

In an embodiment, the input/output unit21connects to the network5of the vehicle4and can receive the image signal outputted by the camera10and information related to the position detected by the position sensor30. The camera10captures images of the driving path on which the vehicle4is driving. The image signal outputted by the camera10indicates road information related to the road. Driving path information related to the road on which the vehicle4is driving is included in the road information indicated by the image signal outputted by the camera10. The driving path information is acquirable while the vehicle4is driving and is related to the road on which the vehicle4is driving. The driving path information is often acquired in real time. The driving path information in the present embodiment is a captured image of the road being driven on. The driving path information is used for generating the below-described second information. The input/output unit21can acquire the acquisition time at which the driving path information was acquired. The acquisition time may be acquired from the camera10. The acquisition time may also be acquired from a clock included in any apparatus, such as the driving assistance apparatus20.

The input/output unit21can output the information acquired, calculated, or generated by the first processor22to the display apparatus40.

The input/output unit21can output warning information from the first processor22.

The input/output unit21functions as an information acquisition unit of the driving assistance apparatus20. The input/output unit21can function as an output unit of the driving assistance apparatus20. The functional unit including the input/output unit21and the first communication unit24is referred to as a communication interface.

The first processor22controls the driving assistance apparatus20overall. The processing performed by the driving assistance apparatus20can be regarded as processing performed by the first processor22. The first processor22performs various calculations, judgments, and image processing. The first processor22can include a plurality of processors. The term “processor” encompasses universal processors that execute particular functions by reading particular programs and dedicated processors that are specialized for particular processing. Dedicated processors include application specific integrated circuits (ASICs) for specific applications. Processors also include programmable logic devices (PLDs). PLDs include field-programmable gate arrays (FPGAs). The first processor22may be either a system-on-a-chip (SoC) or a system in a package (SiP) with one processor or a plurality of processors that work together.

The first processor22generates first information indicating the position of the vehicle4based on information related to the position acquired from the position sensor30. The first information can be position coordinates, such as the longitude and latitude of the vehicle4.

The first processor22can transmit a signal to the signal processor13of the camera10to control activation and deactivation of the camera10. The first processor22generates second information based on the driving path information acquired from the camera10. The second information includes the road width of the road being driven on. The information that includes the road width is referred to as road width information. The second information includes information indicating whether an object that could obstruct passage is present on the road being driven on. When an object that could obstruct passage is present, the second information can include information on the width of the object (object width). The information including an indication of whether an object is present and the object width is referred to as object information. The first processor22can judge whether the object is moving. The object information can include information indicating whether the object is moving. The road width information may include a drivable road width yielded by subtracting the object width from the width of the road being driven on. In other words, the second information includes road width information and object information. The second information may include the acquisition time of the driving path information serving as a basis for the second information.

The first processor22can recognize the road and obstacles from the image captured by the camera10. The first processor22can detect a marker on the road (such as a lane marking) and judge the edges of the road. The first processor22can detect edges from the image and recognize an object using a method such as pattern matching. The first processor22estimates distance from the vertical position in the image and estimates the road width and the object width based on the estimated distance and the number of pixels in the horizontal direction. The first processor22may acquire the road width using sonar sensors provided on the sides of the vehicle4. The first processor22can acquire the road width information and the object information with any method, not just the aforementioned methods. For example, the first processor22may detect the road width and the object width based on parallax of two images captured by two cameras10. The camera10may therefore be a stereo camera.

The first processor22transmits and receives information to and from the external information processing apparatus50through the first communication unit24. The first processor22transmits the first information to the information processing apparatus50and receives road information as third information. Nearby road information related to the roads near the position of the vehicle4is included in the road information received by the first processor22through the first communication unit24. The nearby road information includes road width information and object information associated with a plurality of positions. The nearby road information corresponding to positions on the roads near the vehicle4is referred to as third information. As described below, the third information is based on information that is an aggregate of second information acquired by a plurality of vehicles and transmitted to the information processing apparatus50. The third information may include the acquisition time of the driving path information that served as a basis for the related second information. Apart from the road information and the object information, the third information may include information related to construction, traffic, or the like of the nearby roads. The “nearby roads” include the road being driven on and roads that branch off from the road being driven on. “Nearby” may include a fixed distance range centering on the position of the vehicle4. The fixed distance range may be set freely. The fixed distance range may be 100 m, 1 km, 10 km, or the like. The fixed distance range can change in accordance with the amount of information acquirable as the third information. “Nearby” may include only roads on which the vehicle4might drive.

Based on the third information, the first processor22generates information related to whether the nearby roads are passable. The first processor22can control images and characters displayed on the display apparatus40. The first processor22can cause the display apparatus40to display information related to whether the nearby roads are passable. The first processor22may itself judge whether a road is passable. The first processor22can cause the display apparatus40to display road information to assist the driver of the vehicle4in judging whether a road is passable.

Based on third information, the first processor22can activate the camera10and generate second information. When the first processor22judges from the third information that the road width of the road being driven on is less than a predetermined width, or judges that an object might be on the road, the first processor22activates the camera10and acquires an image of the driving path ahead. The first processor22may generate second information using the image from the camera10and transmit the second information along with the first information to the information processing apparatus50through the first communication unit24.

The first processor22may activate the camera10without referring to the third information. The first processor22may activate the camera10when judging that the road width has narrowed based on information other than the third information. For example, when the change per unit of time in the position information from the position sensor30decreases, the first processor22can judge that the vehicle4might be decelerating because the road width has decreased. In this case as well, the first processor22generates second information and transmits the second information to the information processing apparatus50. The first processor22may active the camera10and generate the first information when the first processor22receives a signal, related to a driving operation that is distinctive of a narrowed road width, from an electronic control unit (ECU)45of various apparatuses mounted in the vehicle4. Examples of such a driving operation include a braking operation and a steering operation by the driver of the vehicle4. The first processor22may deactivate the camera10and suspend generation of the second information when the road width of the road being driven on as acquired from the camera10becomes greater than a predetermined value.

The first memory23stores programs for various processing performed by the first processor22and data during calculations. The first memory23includes volatile memory and/or non-volatile memory. The first memory23may be a memory independent from the processor and/or a memory built into the processor. The first memory23stores information for judging whether a road is passable, such as information on the width of the respective vehicle4.

The first communication unit24is a communication unit that communicates with the information processing apparatus50over a network, such as the Internet. The first communication unit24includes means for communicating with the outside of the vehicle4. The first communication unit24includes a wireless communication device conforming to standards such as Bluetooth®, dedicated short range communications (DSRC®), IEEE802.11, global system for mobile communications (GSM®), long term evolution (LTE®), and/or worldwide interoperability for microwave access (WiMAX®) (DSRC, GSM, LTE, and WiMAX are registered trademarks in Japan, other countries, or both). The wireless communication device includes at least one antenna.

The first communication unit24transmits the first information to the information processing apparatus50in response to control by the first processor22and is capable of receiving the third information related to the nearby roads of the vehicle4. The first communication unit24can transmit the second information to the information processing apparatus50when, based on the third information, the road width is less than a predetermined size and the first processor22activates the camera10.

The position sensor30is a sensor that is mounted in the vehicle4and detects the position of the vehicle4. The position sensor30detects the absolute position. The latitude and longitude can be included in the absolute position. A global positioning system (GPS) receiver can be adopted as the position sensor30. A combination of a GPS receiver, a gyro sensor, a vehicle speed sensor, and the like may be used in the position sensor30. A sensor in a navigation system provided in the vehicle4may double as the position sensor30.

The display apparatus40displays information, such as warning information, that is outputted from the input/output unit21of the driving assistance apparatus20. A variety of flat panel displays may be used as the display apparatus40, such as a liquid crystal display (LCD), an organic electro-luminescence (EL) display, an inorganic EL display, a plasma display panel (PDP), a field emission display (FED), an electrophoretic display, or a twist ball display. The display apparatus40can be arranged in the dashboard, the instrument panel, or the like of the vehicle4. A head-up display (HUD) can also be used as the display apparatus40. When an HUD is used as the display apparatus40, images can be projected on the front windshield or on a combiner arranged in front of the driver's seat. A display apparatus of another system, such as a navigation system, may double as the display apparatus40.

The information processing apparatus50includes a second communication unit51, a second memory52, and a second processor53. The information processing apparatus50may be implemented by a single computer. The information processing apparatus50may be implemented by a plurality of computers dispersed on the cloud3.

The second communication unit51communicates with the driving assistance apparatus20mounted in a plurality of vehicles, including the vehicle4. The second communication unit51supports the various communication means included in the first communication unit24. The second communication unit51receives the first information and the second information from the vehicle4. The second communication unit51can transmit the third information to the vehicle4.

The second memory52is a storage that stores programs for various processing performed by the second processor53and data during calculations. The second memory52includes volatile memory and/or non-volatile memory. The second memory52may include a memory independent from the second processor53or a memory internal to the second processor53. The second memory52can include a mass-storage device that uses magnetic memory, optical memory, or the like. The magnetic memory may, for example, include a hard disk, magnetic tape, or the like. The optical memory may, for example, include a compact disc (CD), a digital versatile disc (DVD), a Blu-ray® (BD) Disc (Blu-ray is a registered trademark in Japan, other countries, or both), or the like. The second memory52may be a storage array device, such as a disk array device. The second memory52collects and stores positions on the road, along with the road width information and object information for the road corresponding to each position, from numerous vehicles including the vehicle4. The second memory52may also store construction information and traffic information associated with the position on the road. The road width information, object information, and information on construction, traffic, and the like associated with the position on the road and stored in the second memory52are referred to as fourth information. The fourth information is regional information for a wide range of positions.

The positions stored as the fourth information can be constrained to positions satisfying a predetermined condition, such as a position where the road width changes to exceed a predetermined value, a position with an obstacle, or a position determined to be difficult to pass based on construction information or traffic information. The positions stored as the fourth information may be arranged at predetermined intervals on the road.

The second processor53is a processor that controls the information processing apparatus50overall. The processing performed by the information processing apparatus50can be regarded as processing performed by the second processor53. The second processor53performs various calculations and judgments and operates the second memory52. The second processor53can include a plurality of processors. The term “processor” encompasses universal processors that execute particular functions by reading particular programs and dedicated processors that are specialized for particular processing. Dedicated processors include ASICs. Processors include PLDs. PLDs include FPGAs. The second processor53may be either an SoC or an SiP with one processor or a plurality of processors that work together.

The second processor53can acquire the first information of the vehicle4through the second communication unit51. When the first information of the vehicle4is acquired, the second processor53extracts information corresponding to a plurality of positions near the position of the vehicle4as the third information from the fourth information stored in the second memory52. The second processor53transmits the third information to the first communication unit24of the driving assistance apparatus20in the vehicle4through the second communication unit51.

The second processor53can acquire the second information of the vehicle4through the second communication unit51. When the second information is acquired, the second processor53updates the fourth information in accordance with the second information and the first information acquired simultaneously with the second information. For example, the second processor53updates the road width information for a particular position to the latest information in accordance with the second information. As another example, the second processor53stores object information indicating the presence of an object that could obstruct passage at a particular position in accordance with the second information. The second processor53may acquire information on construction, traffic, and the like from various information sources and add such information the fourth information in association with the position on the road.

Next, a concrete example of operations of the driving assistance system1is described with reference toFIG. 3andFIG. 4. In the following explanation, the processing performed by the driving assistance apparatus20can be replaced by processing performed by the first processor22. The processing performed by the information processing apparatus50can be replaced by processing performed by the second processor53.

FIG. 3illustrates the vehicle4in a state of driving on a road61. The vehicle4drives from the position indicated by (1) inFIG. 3to the positions indicated by (2), (3), and (4) sequentially. The road61becomes narrow at a certain position. Also, an object62is at rest on the road61.

When the vehicle4is at position (1), the driving assistance apparatus20transmits the first information to the information processing apparatus50. Based on the position information in the first information, the information processing apparatus50transmits third information that includes road width information of positions near the vehicle4to the driving assistance apparatus20of the vehicle4. The information processing apparatus50may judge the travel direction of the vehicle4based on a change in the position information included in the first information and extract only information of nearby positions ahead of the vehicle4from the fourth information. Instead of being determined by the information processing apparatus50, the travel direction may be included in the first information from the driving assistance apparatus20.

At position (1), the third information includes road width information that is greater than a predetermined value, such as 5 m. The third information includes information of a position ahead of the vehicle4and a road width that is narrower than the predetermined value. The road width ahead of the vehicle4is greater than the width of the vehicle4stored in the first memory23. Therefore, the driving assistance apparatus20judges that the road61is passable. In judging whether the road is passable, the driving assistance apparatus20may take into account a safety margin. At this time, the camera10of the vehicle4is not yet activated. The vehicle4drives on the road61without operating the camera10. The driving assistance apparatus20may display an indication that the road width becomes narrow ahead on the display apparatus40.

When the vehicle4is at position (2), the first processor22recognizes that the point at which the width of the road61narrows is nearby based on the third information and causes the camera10to start acquiring images. When the vehicle4is at position (3), the driving assistance apparatus20detects the road width based on an image acquired from the camera10. Along with the first information, the driving assistance apparatus20transmits the detected road width information as the second information to the information processing apparatus50.

The driving assistance apparatus20may continuously transmit the second information to the information processing apparatus50without receiving the third information from the information processing apparatus50while the camera10is activated. Alternatively, the driving assistance apparatus20may receive the third information from the information processing apparatus50while the camera10is activated and transmit the second information only when the width of the road being driven on as included in the third information differs from the width of the road being driven on as detected using the image from the camera10. The information processing apparatus50updates the fourth information included in the second memory52based on the received second information. The fourth information is thus maintained up to date.

When the vehicle4is at position (3), the driving assistance apparatus20can detect an object62ahead based on an image from the camera10. The driving assistance apparatus20recognizes the width of the object62and subtracts the width of the object62from the width of the road61to calculate the passable width of the road61. The width of the road61, the width of the object62, the passable road width, and information indicating that the object62is at rest are transmitted to the information processing apparatus50as second information.

When the vehicle4is at position (4), the driving assistance apparatus20deactivates the camera10and suspends transmission of the second information when the width of the road61exceeds a predetermined value for a predetermined time period after passing by the object62.

Next, with reference toFIG. 4, another example of operations of the driving assistance system1is described. InFIG. 4, a first vehicle4aand a second vehicle4bare different vehicles. The first vehicle4ais driving on a driving path71. The driving path71branches at an intersection72into a left-turn path73, a straight path74, and a right-turn path75. The second vehicle4bhas been driving on the straight path74before the first vehicle4areaches the intersection72. The second vehicle4bhas met a heavy-duty vehicle76and retreated to a retreat space74aon the straight path74. A construction site is located ahead on the right-turn path75.

The second vehicle4bthat met the heavy-duty vehicle76receives a braking operation and a steering operation for retreating to the retreat space74a. The driving assistance apparatus20of the second vehicle4bacquires a signal related to these operations from the ECU45and activates the camera10. Based on an image from the camera10, the driving assistance apparatus20of the second vehicle4bacquires the road width of the straight path74, the width of the heavy-duty vehicle76, and the passable road width. In this case, the passable road width is assumed to be narrower than the width of the first vehicle4aand the second vehicle4b. The second vehicle4bdesignates the following information as second information: an indication that the heavy-duty vehicle76is present on the straight path74, an indication that the heavy-duty vehicle76is moving, the road width of the straight path74, the width of the heavy-duty vehicle76, the passable road width, and the acquisition time at which the heavy-duty vehicle76was detected. The second vehicle4btransmits first information, which is position information, and the aforementioned second information to the information processing apparatus50.

The information processing apparatus50receives first information and second information from the second vehicle4band updates the fourth information stored in the second memory52. The information processing apparatus50acquires information, from an external information source, indicating construction in progress on the right-turn path75. The information processing apparatus50may acquire construction information and information on the passable road width from another vehicle that traveled earlier on the right-turn path75. The construction information is associated with position information of the construction in progress on the right-turn path and is then stored in the second memory52as fourth information.

The driving assistance apparatus20of the first vehicle4athat drives on the driving path71transmits the first information to the information processing apparatus50just before the intersection72and acquires the third information from the information processing apparatus50. In association with a position on the straight path74, the third information includes object information indicating the presence of the moving heavy-duty vehicle76, road information including the passable road width, and information on the acquisition time when the heavy-duty vehicle was detected. The driving assistance apparatus20can judge, based on the width of the first vehicle4astored in the first memory23, that the heavy-duty vehicle76might obstruct driving of the respective vehicle. In association with a position on the right-turn path75, the third information also includes information indicating construction in progress and the passable road width. The third information may include nearby road information associated with other positions on the left-turn path73, the straight path74, and the right-turn path75.

The driving assistance apparatus20of the first vehicle4acauses the display apparatus40to display warning information through the input/output unit21based on the third information. A display screen77inFIG. 4depicts an image displayed by the display apparatus40. The display apparatus40may include a display A for the left-turn path73, a display B for the straight path74, and a display C for the right-turn path75.

The display A indicates the absence of an object that obstructs passage on the left-turn path73. The display B indicates that a moving object (the heavy-duty vehicle76) that obstructs passage is present on the straight path74and indicates the acquisition time of the moving object. In this case, the driver of the first vehicle4acould look at the display B and judge whether to proceed on the straight path74. If a long time has elapsed from the acquisition time, the driver could judge that the moving object has already turned at the intersection72and is no longer on the straight path74. If a short time has elapsed from the acquisition time, the driver could judge that the moving object is still on the straight path74. Such a judgment may be made by the driving assistance apparatus20instead of by the driver. In this case, the display B could display “straight travel impossible”, “straight travel possible”, or the like. When it is determined that the moving object is still on the straight path74, the driving assistance apparatus20may indicate, on the display B, the predicted position at which the moving object will be met if the vehicle proceeds straight at the intersection72. The display C indicates the existence of a construction site on the right-turn path75.

In this way, the driving assistance system1aggregates second information acquired from a plurality of vehicles4on the information processing apparatus50. The driving assistance apparatus20of each vehicle4acquires nearby road information from the information processing apparatus50regarding the road in the direction the respective vehicle4is going to drive. The nearby road information includes road width information, object information, construction information, traffic information, and the like as third information. In this way, a road that is not easily passable or the like can be avoided before the vehicle4reaches the point that is not easily passable.

Next, an example of processing executed by the driving assistance apparatus20and the information processing apparatus50of the driving assistance system1according to an embodiment is described with reference to the flowcharts inFIG. 5throughFIG. 8.

As illustrated inFIG. 5, the driving assistance apparatus20transmits first information including the current position information to the information processing apparatus50while the camera10is deactivated (step S101). In response to transmission of the first information in step S101, the driving assistance apparatus20receives third information including positions on nearby roads and road width information from the information processing apparatus50(step S102).

The driving assistance apparatus20judges whether an object that could obstruct passage is present in the driving direction of the vehicle4based on the received third information (step S103). When an object that could obstruct passage is present (step S103: Y), the driving assistance apparatus20executes processing to output warning information (step S104). Details of the processing to output warning information are illustrated inFIG. 6.

In the processing to output warning information, the driving assistance apparatus20first judges whether warning information related to the object has already been outputted (step S201). This is to avoid displaying the same warning information multiple times. When warning information regarding the object has not yet been output, the driving assistance apparatus20judges whether the object is moving or at rest (step S202). Information on whether the object is moving is included in the third information.

When the object that could obstruct passage is at rest in step S202(S202: N), the driving assistance apparatus20judges whether the road is passable for the vehicle4based on the passable road width included in the third information (step S203). The passable road width can be included in the third information as road width information. When the passable road width is narrower than the width of the vehicle4stored in the first memory23, the driving assistance apparatus20can judge that the road is not passable. The driving assistance apparatus20causes the display apparatus40to display whether the road being driven on is passable (step S204).

When the road on which the vehicle4is driving branches into a plurality of roads ahead, the driving assistance apparatus20acquires the third information for each of the branched roads. The driving assistance apparatus20can judge whether each of the branched roads is passable.

When the object that could obstruct passage is moving in step S202(S202: Y), the driving assistance apparatus20causes the display apparatus40to display information on the presence of the object, the passable width, and the like along with information acquisition time for the object (step S205). After the display of warning information in step S204and step S205, the processing to output warning information inFIG. 6ends.

Returning toFIG. 5, when no obstacle is present in the driving direction in step S103(step S103: N), or after the processing to output warning information (step S104), the driving assistance apparatus20judges whether the road width of the road being driven on is narrow (step S105). Information on the road width of the road being driven on is included in the third information. When the width of the road being driven on is less than a predetermined value, the driving assistance apparatus20starts road width detection processing (step S106). Details of the road width detection processing are illustrated inFIG. 7.

In the road width detection processing, the driving assistance apparatus20activates the camera10(step S301). The driving assistance apparatus20detects road width information of the road being driven on from an image acquired from the camera10(step S302).

Subsequently, the driving assistance apparatus20compares the road width information with information acquired as third information to judge whether information requires updating (step S303). When information requires updating (step S303: Y), the driving assistance apparatus20transmits the position and the road width information to the information processing apparatus50as second information (step S304). When no information requires updating (step S303: N), the driving assistance apparatus20proceeds directly to step S305.

The driving assistance apparatus20repeats the processing from steps S302to S305while the road width does not become wider than a predetermined value for a predetermined time period or longer (step S305: N). When the road width is wider than a predetermined value for a predetermined time period or longer, the driving assistance apparatus20deactivates the camera10and suspends acquisition of road width information during driving (step S306).

Returning toFIG. 5, when the road width of the road being driven on is not narrower than a predetermined value in step S105(step S105: N), or when the road width detection processing (S106) ends, the driving assistance apparatus20proceeds to the following step S107. As long as an end instruction is not received in step S107(step S107: N), the driving assistance apparatus20repeatedly executes the processing in steps S101to S107. When a predetermined end instruction is received (step S107: Y), the driving assistance apparatus20ends processing. The predetermined end processing refers, for example, to when the power to the driving assistance apparatus20is cut off or when the vehicle4stops driving.

The driving assistance apparatus20inFIG. 7has been described as acquiring only road width information using an image from the camera10, which is driving path information. In step S302ofFIG. 7, the driving assistance apparatus20can also acquire object information. In step S303, the driving assistance apparatus20can also judge whether the object information includes information to be updated. When the object information includes information to be updated, the driving assistance apparatus20transmits the acquired object information to the information processing apparatus50.

The driving assistance apparatus20may be configured to execute the processing illustrated inFIG. 5throughFIG. 7by reading a program stored on a non-transitory computer readable medium. Examples of the non-transitory computer readable medium include, but are not limited to, a magnetic storage medium, an optical storage medium, a magneto-optical storage medium, and a semiconductor storage medium. Examples of the magnetic storage medium include a magnetic disk, a hard disk, and magnetic tape. Examples of the optical storage medium include optical discs such as CDs, DVDs, and BDs. Examples of the semiconductor storage medium include read only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory.

As illustrated inFIG. 8, the information processing apparatus50receives information from a plurality of vehicles (step S401). The information processing apparatus50judges whether the acquired information includes second information (step S402). When the received information does not include second information (step S402: N), the information processing apparatus50receives only first information from the driving assistance apparatus20indicating the position. For the position included in the first information, the information processing apparatus50extracts third information from the fourth information stored in the second memory52, including road width information associated with the position and with positions on nearby roads (step S403). The information processing apparatus50transmits the third information to the driving assistance apparatus20that transmitted the first information (step S404).

When the received information includes second information in step S402(step S402: Y), the information processing apparatus50updates the information on the position and the road width in the fourth information stored in the second memory52(step S405). In the second memory52, the information processing apparatus50stores information indicating the position included in the first information in association with the road width information included in the second information. The information processing apparatus50can store object information in the second memory52.

After step S404or step S405, the information processing apparatus50repeats the processing in steps S401to S406as long as an end instruction is not received (step406: N). The information processing apparatus50can operate continuously. When an end instruction is received (step S406: Y), the information processing apparatus50ends the processing. Examples of the end instruction for the information processing apparatus50include suspension of power to the information processing apparatus50.

In the first embodiment, the information processing apparatus50can receive a position and information associated with the position from numerous driving assistance apparatuses20mounted in numerous vehicles4and aggregate this information. The driving assistance apparatus20can acquire nearby road information for the position of the vehicle4and nearby positions from the information processing apparatus50and can judge whether the road on which the vehicle4is about to drive is passable. Consequently, the driving assistance system1of the present disclosure contributes to smooth road traffic. Furthermore, the imaging system2of the first embodiment does not need to operate the camera10and perform image recognition processing continuously. The camera10and the computer resources of the driving assistance apparatus20can thus be used effectively. The driving assistance apparatus20can judge with high certainty whether the road that the vehicle4is about to enter is passable. Furthermore, the driving assistance apparatus20can judge whether the road being driven on is passable ahead, before reaching a point that is not easily passable.

Second Embodiment

A second embodiment of the present disclosure is now described with reference to the drawings.

As illustrated inFIG. 9, a driving assistance system200according to the second embodiment includes a camera10, a driving assistance apparatus20, a display apparatus40, and so forth, like the driving assistance system1according to the first embodiment. Unlike the driving assistance system1according to the first embodiment, the driving assistance system200according to the second embodiment need not include the position sensor30and the information processing apparatus50. As in the first embodiment, the camera10, the driving assistance apparatus20, the position sensor30, and the display apparatus40can be mounted in a vehicle4, as illustrated inFIG. 2. The camera10, the driving assistance apparatus20, the position sensor30, and the display apparatus40, along with below-described constituent elements thereof, are similar in terms of hardware to the constituent elements of the first embodiment, and the same reference signs as in the first embodiment are used. As described below, however, these constituent elements differ from the first embodiment in the content of acquired or stored information, the content of information processing that is executed, and the content and output method of information that is outputted.

The driving assistance apparatus20includes an input/output unit21(information acquisition unit), a first processor22(processor), a first memory23, and the like.

The first processor22can acquire driving history for the road on which the vehicle4is driving. The driving history includes positions along the road on which the vehicle4has driven and driving path information of each position. The driving path information is information related to a road. The driving path information can, for example, include a road width W1, an object width W2, a passable width W3, a steering angle, an image captured by the camera10, and the like. The road width W1 is the width of the road. The object width W2 is the width of an object on the road, such as another vehicle, an obstacle, or a telephone pole. The passable width W3 is the width of the road that is passable. The steering angle is the angle of the steering wheel.

Specifically, the first processor22can acquire the road width W1 based on the number of pixels in the horizontal direction among pixels representing the road in an image captured by the camera10and inputted by the input/output unit21. The first processor22can acquire the road width W1 using sonar sensors provided on the sides of the vehicle4. The first processor22is not restricted to these methods and can acquire the road width W1 with any method.

The first processor22can acquire the object width W2 by detecting an object based on the parallax of two images captured by two cameras10. The first processor22is not restricted to this method and can acquire the object width W2 with any method.

The first processor22can calculate the passable width W3 based on the acquired road width W1 and object width W2. For example, the first processor22can calculate the passable width W3 by subtracting the object width W2 from the road width W1, i.e. as W1-W2. The first processor22can also calculate the passable width W3 by subtracting the object width W2 and a margin W4 from the road width W1, i.e. W1−(W2+W4).

The first processor22can determine whether the road width W1 acquired as described above is less than a predetermined threshold W1th. When it is determined that the road width W1 is less than the predetermined threshold W1th, the first processor22determines that the vehicle4has started to drive on a narrow road. As described above, the first processor22can then acquire the road width W1, the object width W2, and the passable width W3 and store these in the first memory23at predetermined intervals (such as 2 m intervals) for the road on which the vehicle4is driving. When the first processor22determines that the vehicle4has started to drive on a narrow road, the first processor22starts to store images acquired by the camera10in the first memory23in association with the position P at which each image was captured.

In the following example, the vehicle4is driving on a road such as the one illustrated inFIG. 10. First, it is assumed that the vehicle4is driving to the left, on paper, on the road at the bottom ofFIG. 10(see (1) ofFIG. 10). In this case, the first processor22acquires the road width W1 at position A as 10.0 m. Furthermore, the first processor22determines whether the road width W1 is less than the predetermined threshold W1th of 5.0 m. At position A, the road width W1 is equal to or greater than the threshold W1th. In this case, the first processor22continues to acquire the road width W1 during driving.

After the vehicle4passes position A and turns right (see (2) ofFIG. 10), the first processor22acquires the road width W1 of 4.0 m at position B where the vehicle4is driving. The first processor22then determines whether the road width W1 of 4.0 m is less than the predetermined threshold W1th of 5.0 m. At position B, the road width W1 is less than the threshold W1th. In this case, the first processor22subsequently acquires the road width W1, the object width W2, and the passable width W3 at predetermined intervals, as described above. The first processor22also starts to store the images captured by the camera10in the first memory23.

As illustrated inFIG. 11, the first processor22can store the road width W1, the object width W2, and the passable width W3 at the position P of the vehicle4in the first memory23in association with the position P. The position of the vehicle4is, for example, represented as a driving distance x from the position where the road width W1 was determined to be less than the predetermined threshold. The method of representing the position of the vehicle4is not limited to this case. For example, the vehicle4may include a GPS receiver, and the position of the vehicle4may be represented as coordinates for identifying the position specified by the GPS receiver.

When it is determined that the road width W1 is less than the predetermined threshold W1th, the first processor22starts to record images captured by the camera10at positions P in the first memory23as driving path information in association with the positions P.

The steering angle of the steering wheel of the vehicle4is measured by a steering angle sensor or the like and inputted to an ECU for controlling the vehicle4. The first processor22can acquire the steering angle from the ECU. The first processor22can then store the steering angle along with the road width W1, the object width W2, and the passable width W3 in the first memory23in association with the position P of the vehicle4.

When it is determined that the vehicle4has stopped driving on a narrow road, the first processor22ends the processing to store the driving path information, i.e. the road width W1, the object width W2, the passable width W3, the steering angle, the image, and the like, in the first memory23. The first processor22can infer that the vehicle4has started to drive on a wide road when, for example, a road width W1 equal to or greater than the predetermined threshold W1th is acquired consecutively a predetermined number of times (N times) or more. The first processor22can thus determine that the vehicle4has stopped driving on a narrow road.

The end of processing to store driving path information is now described with reference again to the example inFIG. 10. The first processor22acquires 8.0 m as the road width W1 and 0 m as the object width W2 at position D where the vehicle4is driving. The first processor22acquires 8.0 m as the passable width W3, since the road width W1 is 8.0 m and the object width W2 is 0 m. The first processor22then determines that the road width W1 of 8.0 m is equal to or greater than the predetermined threshold W1th of 5.0 m. Subsequently, when it is consecutively determined that the road width W1 is equal to or greater than the threshold W1th a predetermined number of times or greater, the first processor22ends the processing to acquire the object width W2 and the passable width W3 and the processing to store images. If N>3, however, then the first processor22acquires 8.0 m as the road width W1 at subsequent positions E, F and acquires 4.0 m, which is shorter than the threshold W1th, as the road width W1 at the next position G in this example. The first processor22therefore continues the processing to store the driving path information.

When the vehicle4starts to drive on a narrow road, the first processor22can detect an oncoming vehicle104ahead of the vehicle4. Specifically, the first processor22can detect the oncoming vehicle104based on an image captured by the camera10and inputted by the input/output unit21. The first processor22can use pattern matching or the like to detect a vehicle4captured in an image. The first processor22can detect an oncoming vehicle104based on two images that are captured by two cameras10and have parallax. The first processor22is not restricted to these methods and can detect the oncoming vehicle104with any method.

When no oncoming vehicle104is detected, the first processor22continues to acquire the road width W1, the object width W2, and the passable width W3 and to store these in the first memory23.

When the oncoming vehicle104is detected, the first processor22can determine whether the vehicle4and the oncoming vehicle104can pass each other. Specifically, the first processor22can calculate a width W5 of the oncoming vehicle104based on an image captured by the camera10. The first processor22can determine whether the vehicle4and the oncoming vehicle104can pass each other based on the passable width W3, the width W5 of the oncoming vehicle104, and a width W6 of the vehicle4. For example, the first processor22determines whether a passing width, which is the sum of the width W5 of the oncoming vehicle104and the width W6 of the vehicle4, is less than the passable width W3. When the sum is less than the passable width W3, the first processor22determines that the vehicle4and the oncoming vehicle104can pass each other. When the sum is equal to or greater than the passable width W3, the first processor22determines that the vehicle4and the oncoming vehicle104cannot pass each other.

When it is determined that the vehicle4and the oncoming vehicle104cannot pass each other, the first processor22can extract a passable width W3 that is equal to or greater than the passing width from the driving history stored in the first memory23.

When a passable width W3 that is equal to or greater than the passing width is extracted, the first processor22can determine whether positions P equal to or greater than the passing width are continuous along a length equal to or greater than the total length of the vehicle4. When positions equal to or greater than the passing width are continuous along a length equal to or greater than the total length of the vehicle4, the first processor22can extract a region including the continuous positions as a passable region. This passable region corresponds to a region in actual space such as an intersection, a T junction, or a retreat space.

The first processor22can output a first passable position Pp1 included in the passable region to the display apparatus40through the input/output unit21and cause the display apparatus40to display the first passable position Pp1. While the vehicle4backs up from the current position to the first passable position Pp1, the vehicle4passes through each position P stored in the first memory23. At this time, the first processor22can extract the steering angle stored in association with each position P. The first processor22can output the extracted steering angle to the display apparatus40through the input/output unit21. In this case, the display apparatus40displays the outputted steering angle. The first processor22can output the steering angle to the ECU of the vehicle4through the input/output unit21. When the vehicle4backs up and reaches each position P, for example, this configuration allows the ECU to assist with driving based on the steering angle at each position outputted by the input/output unit21.

As illustrated inFIG. 11, the first memory23can store the position P of the vehicle4and the driving path information of the position P in association as the driving history. The road width W1, the object width W2, and the passable width W3 at a position P are included in the driving path information, as described above. While not illustrated inFIG. 11, the first memory23can store an image captured at a position P as the driving path information. The steering angle of the steering wheel of the vehicle4at a position P may be included in the driving path information. In the example illustrated inFIG. 11, the first memory23stores 4.0 m as the road width W1, 1.0 m as the object width W2, 3.0 m as the passable width W3, and 0° as the steering angle at a position where the vehicle4has driven 2 m from a reference position.

The display apparatus40can display first position information, outputted by the driving assistance apparatus20, on a display panel33. The first position information includes the current position of the vehicle4, the first passable position Pp1, a driving distance L1 from the current position to the first passable position Pp1, and the like. A display processor32can display the steering angle at each position P until the first passable position Pp1 on the display panel33.

The remaining structure and effects of the second embodiment are similar to those of the first embodiment. Hence, the same or corresponding constituent elements are labeled with the same reference signs, and a description thereof is omitted.

Next, a driving assistance method of the driving assistance system200of the second embodiment is described with reference toFIG. 12.

First, while the vehicle4is driving, the first processor22of the driving assistance apparatus20acquires the road width W1 of the road on which the vehicle4is driving based on an image captured by the camera10(step S501).

When the road width W1 is acquired, the first processor22determines whether the road width W1 is less than the predetermined threshold W1th (step S502).

When it is determined that the road width W1 is less than the predetermined threshold W1th (step S502: Y), the first memory23starts to store images captured by the camera10in association with the position P where each image was captured (step S503). When it is determined that the road width W1 is equal to or greater than the predetermined threshold W1th (step S502: N), the first processor22returns to step S501and acquires the road width W1 again.

When it is determined that the road width W1 is less than the predetermined threshold W1th, the first processor22starts to acquire the road width W1, the object width W2, and the passable width W3 at predetermined intervals for the road on which the vehicle4is driving and to store these values in the first memory23(step S504).

When the road width W1, the object width W2, and the passable width W3 start to be stored in step S504, the first processor22performs processing to detect an oncoming vehicle104and determines whether an oncoming vehicle104is detected (step S505).

When an oncoming vehicle104is not detected in step S505(step S505: N), the first processor22repeats the processing in step S504and step S505. When an oncoming vehicle104is detected in step S505(step S505: Y), the first processor22determines whether the vehicle4and the oncoming vehicle104can pass each other (step S506).

When it is determined that the vehicle4and the oncoming vehicle104can pass each other (step S506: Y), the first processor22returns to step S504and repeats the processing. At this time, the first processor22may output an indication that passing is possible to the display apparatus40. The display apparatus40may display the indication that passing is possible. After referring to this display of the display apparatus40, the driver of the vehicle4drives so as to pass the oncoming vehicle104and continue ahead.

When it is determined in step S506that the vehicle4and the oncoming vehicle104cannot pass each other (step S506: N), the first processor22extracts a passable width W3 that is equal to or greater than the passing width from the driving history stored in the first memory23. The first processor22extracts the positions P stored in association with the passable width W3. Furthermore, when the positions P are continuous along a length equal to or greater than the total length of the vehicle4, the first processor22extracts the first passable position Pp1 included in the passable region that includes the continuous positions P. The first processor22then causes the display apparatus40to display the first passable position Pp1 (step S507).

Here, the first processor22can output images, to the display apparatus40, that were captured while the vehicle4drove forward from the first passable position Pp1 to the current position and were stored in the first memory23. The first processor22can then cause the display apparatus40to display these images. When each position P is reached after the vehicle4starts backing up, the first processor22can read the steering angle stored in the first memory23in association with each position P, output the steering angle to the display apparatus40, and cause the display apparatus40to display the steering angle.

The driving assistance apparatus20may be configured to execute the processing illustrated inFIG. 12by reading a program stored on a non-transitory computer readable medium.

When the vehicle4is driving in the second embodiment, the first memory23stores the position of the vehicle4and the driving path information of the position in association as driving history, and the first processor22can detect an oncoming vehicle104, as described above. The first processor22can extract the first passable position Pp1 based on the driving history in the first memory23when the oncoming vehicle104is detected. Hence, when the oncoming vehicle104is encountered on a narrow road and the vehicle4backs up, the driving assistance apparatus20can display the first passable position Pp1 to the driver based on the conditions of the road on which the vehicle4has actually driven. This allows the driver to identify, at an early stage, the position at which the vehicle4and the oncoming vehicle104can definitely pass each other and to maneuver the vehicle4in reverse at ease.

The second embodiment allows the driving assistance apparatus20to extract the first passable position Pp1 based on the width of the oncoming vehicle104and the width and length of the vehicle4. Consequently, the driver can identify the position at which the oncoming vehicle104and the vehicle4can definitely pass each other. For example, this avoids a situation in which the width or length of the vehicle4does not fit into a retreat area, preventing passing and forcing the driving assistance apparatus20to search again for a passable position. The driver can therefore efficiently move the vehicle4to the first passable position Pp1.

The driving assistance apparatus20of the second embodiment can store images captured when the vehicle4is driving on a narrow road. When the vehicle4detects an oncoming vehicle104and then backs up, the driving assistance apparatus20can display an image representing the nearby conditions from the current position to the first passable position Pp1. This allows the driver to drive more safely by backing up after grasping the nearby conditions.

The driving assistance apparatus20of the second embodiment can display steering angle information representing the steering angle at each position of the vehicle4while the vehicle4is driving. When the vehicle4detects the oncoming vehicle104and backs up to the first passable position Pp1, the driver can therefore learn where and how much to turn the steering wheel. This allows the driver to drive more safely.

The first processor22of the second embodiment ends processing to store the road width W1, the object width W2, the passable width W3, the steering angle, the image, and the like in the first memory23when a road width W1 equal to or greater than the predetermined threshold W1th is acquired consecutively a predetermined number of times or greater. It can be inferred in this case that the vehicle4has stopped driving on a narrow road. In other words, it can be inferred that the vehicle4is driving on a wide road. Hence, the driving assistance apparatus20does not store information for driving assistance while passing an oncoming vehicle104. The storage space of the first memory23can therefore be saved.

Third Embodiment

Next, a third embodiment of the present disclosure is described with reference to the drawings.

As illustrated inFIG. 13, a driving assistance system300according to the third embodiment includes a camera10, a driving assistance apparatus20, a display apparatus40, and so forth, like the driving assistance system200according to the second embodiment.

The driving assistance apparatus20of the third embodiment includes an input/output unit21(information acquisition unit), a first processor22, a first memory23, and so forth, like the driving assistance apparatus20of the second embodiment. The driving assistance apparatus20of the third embodiment includes a first communication unit24(communication unit), unlike the driving assistance apparatus20of the second embodiment.

Over a vehicle-to-vehicle communication network, the first communication unit24can transmit and receive information to and from a first communication unit124of a driving assistance apparatus120provided in an oncoming vehicle104.

Specifically, the first communication unit24can receive passing information from the first communication unit124of the oncoming vehicle104. The passing information includes the current position of the oncoming vehicle104and a second passable position Pp2, which is extracted by a first processor122of the oncoming vehicle104and indicates a passable position in the case of the oncoming vehicle104backing up. The first communication unit24can transmit passing information that includes a first passable position Pp1, which is a passable position in the case of the vehicle4backing up, to the first communication unit124of the oncoming vehicle104.

The first processor22of the third embodiment includes similar functions as the first processor22of the second embodiment.

Furthermore, when the first processor22of the third embodiment detects the oncoming vehicle104and determines that passing is not possible, the first processor22can determine the course of action of the vehicle4, i.e. whether to proceed or back up. In other words, the first processor22of the third embodiment can determine whether the vehicle4and the oncoming vehicle104are to pass each other at the first passable position Pp1 or the second passable position Pp2.

Specifically, the first processor22compares a driving distance L1 and a driving distance L2. The driving distance L1 is the distance from the current position of the vehicle4to the first passable position Pp1. The driving distance L2 is the distance from the current position of the oncoming vehicle104to the second passable position Pp2. The first processor22determines whether the driving distance L1 is equal to or greater than the driving distance L2. When the driving distance L1 is determined to be equal to or greater than the driving distance L2, the first processor22outputs information to the display apparatus40indicating that the vehicle4should proceed and the oncoming vehicle104should back up. When the driving distance L1 is determined to be less than the driving distance L2, the first processor22outputs information to the display apparatus40indicating that the vehicle4should back up and the oncoming vehicle104should proceed.

The remaining structure and effects of the third embodiment are similar to those of the second embodiment. Hence, the same or corresponding constituent elements are labeled with the same reference signs, and a description thereof is omitted.

Next, a driving assistance method of the driving assistance system300of the third embodiment is described with reference toFIG. 14.

First, while the vehicle4is driving, the first processor22of the driving assistance apparatus20acquires a road width W1 of the road on which the vehicle4is driving based on an image captured by the camera10(step S601).

When the road width W1 is acquired in step S601, the first processor22determines whether the road width W1 is less than a predetermined threshold W1 th (step S602).

When it is determined in step S602that the road width W1 is less than the predetermined threshold W1th (step S602: Y), the first memory23starts to store the images captured by the camera10in association with the position P where each image was captured (step S603). When it is determined in step S602that the road width W1 is equal to or greater than the predetermined threshold W1th (step S602: N), the first processor22returns to step S601and acquires the road width W1 again.

When it is determined in step S602that the road width W1 is less than the predetermined threshold W1th (step S602: N), the first processor22acquires the road width W1, an object width W2, and a passable width W3 at predetermined intervals (such as 2 m intervals) for the road on which the vehicle4is driving. The first processor22stores the acquired road width W1, object width W2, and passable width W3 in the first memory23(step S604).

When the road width W1, the object width W2, and the passable width W3 are acquired in step S604, the first processor22performs processing to detect an oncoming vehicle104and determines whether an oncoming vehicle104is detected (step S605).

When an oncoming vehicle104is not detected in step S605(step S605: N), the first processor22repeats the processing in step S604and step S605. When an oncoming vehicle104is detected in step S605(step S605: Y), the first processor22determines whether the vehicle4and the oncoming vehicle104can pass each other (step S606).

When it is determined that the vehicle4and the oncoming vehicle104can pass each other (step S606: Y), the first processor22returns to step S604and repeats the processing. At this time, the input/output unit21may output an indication that passing is possible to the display apparatus40, and the display apparatus40may display this indication. When it is determined in step S606that the vehicle4and the oncoming vehicle104cannot pass each other (step S606: N), the first processor22extracts the first passable position Pp1 for the case of the vehicle4backing up from the driving history stored in the first memory23. The first processor22then calculates the driving distance L1 from the current position to the first passable position Pp1 (step S607).

When it is determined in step S606that the vehicle4and the oncoming vehicle104cannot pass each other, the first communication unit24issues a request, to the driving assistance apparatus120of the oncoming vehicle104, for passing information that includes the current position of the oncoming vehicle104and the second passable position Pp2. The first communication unit24then receives the passing information transmitted by the oncoming vehicle104in response to the request (step S608). In response to a request from the driving assistance apparatus120, the first communication unit24transmits passing information that includes the current position of the vehicle4and the first passable position Pp1 extracted in step S606(step S608).

When the passing information is received from the oncoming vehicle104in step S608, the first processor22determines whether the driving distance L1 is longer than the driving distance L2 (step S609).

When the driving distance L1 is determined to be longer than the driving distance L2 in step S609(step S609: Y), the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S610). When the information is displayed by the display apparatus40in step S610, the processing returns to step S604and is repeated.

Conversely, when the driving distance L1 is determined to be equal to or less than the driving distance L2 in step S609(step S609: N), the first processor22determines whether the driving distance L1 is less than the driving distance L2 (step S611).

When the driving distance L1 is determined to be less than the driving distance L2 in step S611(step S611: Y), the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S612).

When the information is displayed by the display apparatus40in step S612, the first processor22outputs the first passable position Pp1 to the display apparatus40through the input/output unit21. The display apparatus40then displays the first passable position Pp1 (step S613).

When the driving distance L1 is not less than the driving distance L2 in step S611(step S611: N), i.e. when the driving distance L1 and the driving distance L2 are determined to be equal, the first communication unit24receives a passable width W32 at the second passable position Pp2 from the oncoming vehicle104. The first processor22then determines whether a passable width W31 at the first passable position Pp1 is longer than the passable width W32 (step S614).

When the passable width W31 is determined to be longer than the passable width W32 in step S614(step S614: Y), the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S612).

When the passable width W31 is determined to be less than the passable width W32 in step S614(step S614: N), the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21, and the display apparatus40displays the information (step S610).

When the passable width W31 and the passable width W32 are determined to be equal in step S614, the first processor22may determine the course of action of the vehicle4in accordance with whether a first statistical value is longer than a second statistical value. The first statistical value is a statistical value (mean, median, or the like) of the passable width W3 at each position P along the driving path from the current position of the vehicle4to the first passable position Pp1. The second statistical value is a statistical value of the passable width W3 at each position P along the driving path from the current position of the oncoming vehicle104to the second passable position Pp2.

When the first statistical value and the second statistical value are determined to be equal, the first processor22may determine the course of action of the vehicle4based on the passable width W31 at the passable position Pp1 and the passable width W32 at the passable position Pp2.

The first processor22may instead determine the course of action by any method other than the above methods.

By the input/output unit21transmitting the passing information of the vehicle4to the driving assistance apparatus120in step S608, the first processor22and the driving assistance apparatus120of the oncoming vehicle104can determine the course of action based on the driving distance L1 and the driving distance L2.

The driving assistance apparatus20may be configured to execute the processing illustrated inFIG. 14by reading a program stored on a non-transitory computer readable medium.

As described above, when an oncoming vehicle104is detected on a narrow road and the vehicle4backs up, the driving assistance apparatus20of the third embodiment can extract the first passable position Pp1 based on conditions of the road on which the vehicle4has actually driven. This achieves similar effects to those of the second embodiment, i.e. allowing the driver to identify, at an early stage, the position at which the vehicle4and the oncoming vehicle104can definitely pass each other and to maneuver the vehicle4in reverse at ease.

When the vehicle4detects the oncoming vehicle104, the driving assistance apparatus20of the third embodiment can determine whether the vehicle4should back up and the oncoming vehicle104proceed, or whether the vehicle4should proceed and the oncoming vehicle104back up, based on the driving distances L1, L2. To make this determination, the driving assistance apparatus20can determine which is smaller: the driving distance L1 that the vehicle4would traverse by backing up, or the driving distance L2 that the oncoming vehicle104would traverse by backing up. The driving assistance apparatus20can thereby cause the display apparatus40to display the method of movement requiring less backing up. Therefore, the vehicle4and the oncoming vehicle104can move to the first passable position Pp1 or the second passable position Pp2 and pass each other smoothly.

Fourth Embodiment

Next, a fourth embodiment of the present disclosure is described with reference to the drawings.

As illustrated inFIG. 15, a driving assistance system400according to the fourth embodiment includes a camera10, a driving assistance apparatus20, a display apparatus40, and so forth, like the driving assistance system200according to the second embodiment.

The driving assistance apparatus20of the fourth embodiment includes an input/output unit21(information acquisition unit), a first processor22, a first memory23, a first communication unit24, and so forth, like the driving assistance apparatus20of the second embodiment.

Over a vehicle-to-vehicle communication network, the first communication unit24can transmit and receive information to and from a first communication unit124of a driving assistance apparatus120provided in an oncoming vehicle104.

Over a vehicle-to-vehicle communication network, the first communication unit24can transmit and receive information to and from a first communication unit224of a driving assistance apparatus220provided in a following vehicle204.

The first processor22can determine whether a following vehicle204that travels in the same direction as the vehicle4is present behind the vehicle4. Any method may be used to determine the presence of the following vehicle204, such as making a determination based on an image captured by the camera10photographing the area behind the vehicle4.

When the first processor22determines that the vehicle4and the oncoming vehicle104cannot pass each other, and that a following vehicle204is present, the first communication unit24issues a request to the driving assistance apparatus220of the following vehicle204for transmission of passing information. The first communication unit24receives the passing information transmitted by the driving assistance apparatus220in response to the request. The passing information includes the current position of the following vehicle204and a third passable position Pp3 for the case of the following vehicle204backing up. The third passable position Pp3 is detected by the driving assistance apparatus220.

The first processor22can determine the course of action based on the passing information received from the driving assistance apparatus120of the oncoming vehicle104and the passing information received from the driving assistance apparatus220of the following vehicle204. In other words, the first processor22can determine whether the vehicle4and the oncoming vehicle104are to pass each other at the first passable position Pp1 and the third passable position Pp3, or at the second passable position Pp2.

Specifically, the first processor22calculates a driving distance L2 from the current position of the oncoming vehicle104, included in the passing information received from the driving assistance apparatus120, to the second passable position Pp2. The first processor22calculates a driving distance L3 from the current position of the following vehicle204to the third passable position Pp3. The first processor22then determines whether the vehicle4is to proceed or back up based on the driving distance L1 from the current position of the vehicle4to the first passable position Pp1, the driving distance L2, and the driving distance L3.

For example, the first processor22determines whether the sum of the driving distance L1 and the driving distance L3 is equal to or greater than the driving distance L2. When it is determined that the sum of the driving distance L1 and the driving distance L3 is equal to or greater than the driving distance L2, the first processor22outputs information, to the display apparatus40, indicating that the vehicle4and the following vehicle204are to proceed, and the oncoming vehicle104is to back up. When it is determined that the sum of the driving distance L1 and the driving distance L3 is less than the driving distance L2, the first processor22outputs information, to the display apparatus40, indicating that the vehicle4and the following vehicle204are to back up, and the oncoming vehicle104is to proceed. The algorithm that the first processor22uses to determine the course of action based on the driving distances L1, L2, and L3 is not limited to this example. The first processor22may make the determination using any algorithm.

The remaining structure and effects of the fourth embodiment are similar to those of the third embodiment. Hence, the same or corresponding constituent elements are labeled with the same reference signs, and a description thereof is omitted.

Next, a driving assistance method of the driving assistance system400of the fourth embodiment is described with reference toFIG. 16.

First, while the vehicle4is driving, the first processor22of the driving assistance apparatus20acquires a road width W1 of the road on which the vehicle4is driving based on an image captured by the camera10(step S701).

When the road width W1 is acquired in step S701, the first processor22determines whether the road width W1 is less than a predetermined threshold W1 th (step S702).

When it is determined in step S702that the road width W1 is less than the predetermined threshold W1th (step S702: Y), the first memory23starts to store images captured by the camera10(step S703).

When images start to be stored in the first memory23in step S703, the first processor22acquires the road width W1, an object width W2, and a passable width W3 at predetermined intervals (such as 2 m intervals) for the road on which the vehicle4is driving and stores these values in the first memory23(step S704).

When the road width W1, the object width W2, and the passable width W3 are acquired in step S704, the first processor22performs processing to detect an oncoming vehicle104and determines whether an oncoming vehicle104is detected (step S705).

When an oncoming vehicle104is not detected in step S705, the first processor22repeats the processing in step S704and step S705. When an oncoming vehicle104is detected in step S705, the first processor22determines whether the vehicle4and the oncoming vehicle104can pass each other (step S706).

When it is determined that the vehicle4and the oncoming vehicle104can pass each other (step S706: Y), the first processor22returns to step S704and repeats the processing. At this time, the first processor22may output information indicating that passing is possible to the display apparatus40through the input/output unit21, and the display apparatus40may display this information.

When it is determined in step S706that the vehicle4and the oncoming vehicle104cannot pass each other (step S706: N), the first processor22extracts the first passable position Pp1 for the case of the vehicle4backing up from the driving history stored in the first memory23. The first processor22then calculates the driving distance L1 from the current position to the first passable position Pp1 (step S707).

When it is determined in step S706that the vehicle4and the oncoming vehicle104cannot pass each other, the first communication unit24issues a request, to the driving assistance apparatus120of the oncoming vehicle104, for passing information and receives the passing information (step S708).

When it is determined in step S706that the vehicle4and the oncoming vehicle104cannot pass each other, the first processor22determines whether a following vehicle204is present (step S709).

When it is determined in step S709that the following vehicle204is present (step S709: Y), the first communication unit24issues a request to the driving assistance apparatus220of the following vehicle204for passing information including the third passable position Pp3 and receives the passing information (step S710).

When the passing information is received from the driving assistance apparatus220in step S710, the first processor22determines whether the sum of the driving distance L1 and the driving distance L3 is longer than the driving distance L2 (step S711). The driving distance L3 is the distance from the current position of the following vehicle204to the third passable position Pp3.

When the sum of the driving distance L1 and the driving distance L3 is determined to be longer than the driving distance L2 in step S711(step S711: Y), the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21. The display apparatus40then displays the information indicating that the vehicle4is to proceed (step S712). The first communication unit24transmits information indicating that the vehicle4is to proceed to the driving assistance apparatus120and the driving assistance apparatus220(step S712). When the indication that the vehicle4is to proceed is displayed and transmitted in step S712, the first processor22returns to step S704and repeats the processing.

Conversely, when the sum of the driving distance L1 and the driving distance L3 is determined to be equal to or less than the driving distance in step S711(step S711: N), the first processor22determines whether the driving distance L1 is less than the driving distance L2 (step S713).

When the sum of the driving distance L1 and the driving distance L3 is determined to be less than the driving distance L2 in step S713(step S713: Y), the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40displays the information (step S714). The first communication unit24transmits information indicating that the vehicle4is to back up to the driving assistance apparatus120and the driving assistance apparatus220(step S714).

When the indication that the vehicle4is to back up is displayed by the display apparatus40and transmitted by the first communication unit24in step S714, the first processor22extracts the first passable position Pp1. The first processor22then outputs the extracted first passable position Pp1 to the display apparatus40through the input/output unit21, and the display apparatus40displays the first passable position Pp1 (step S715).

When the sum of the driving distance L1 and the driving distance L3 is not less than the driving distance L2 in step S713, i.e. when the sum of the driving distance L1 and the driving distance L3 is determined to be equal to the driving distance L2 (step S713: N), the first communication unit24receives a passable width W32. The first processor22determines whether a passable width W31 at the first passable position Pp1 is longer than the passable width W32 (step S716).

When the passable width W31 is determined to be longer than the passable width W32 in step S716(step S716: Y), the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S714).

When the passable width W31 is determined to be less than the passable width W32 in step S716(step S716: N), the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21, and the display apparatus40displays the information (step S712).

When the passable width W31 and the passable width W32 are determined to be equal in step S716, the first processor22may determine the course of action in accordance with whether a first statistical value is longer than a second statistical value. The first processor22may determine the course of action based on the number of following vehicles behind each of the vehicle4and the oncoming vehicle104.

The first processor22may determine the course of action in step S716based on the number of following vehicles or a statistical value of the passable width W3. The first processor22may instead determine the course of action by any method other than the above methods.

When a following vehicle204is determined not to be present in step S709(step S709: N), the first processor22determines whether the driving distance L1 is longer than the driving distance L2 (step S717).

When the driving distance L1 is determined to be longer than the driving distance L2 in step S717, the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S718). When information indicating that the vehicle4is to proceed is displayed by the display apparatus40in step S718, the first processor22returns to step S704and repeats the processing.

Conversely, when the driving distance L1 is determined to be equal to or less than the driving distance L2 in step S717, the first processor22determines whether the driving distance L1 is less than the driving distance L2 (step S719).

When the driving distance L1 is determined to be less than the driving distance L2 in step S719, the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S720).

When the driving distance L1 is not less than the driving distance L2 in step S719, i.e. when the driving distance L1 is determined to be equal to the driving distance L2, the first communication unit24receives a passable width W32 at the second passable position Pp2 from the oncoming vehicle104. The first processor22then determines whether a passable width W31 at the first passable position Pp1 is longer than the passable width W32 (step S721).

When the passable width W31 is determined to be longer than the passable width W32 in step S721, the first processor22outputs information indicating that the vehicle4is to back up to the display apparatus40through the input/output unit21. The display apparatus40then displays the information (step S720).

When the passable width W31 is determined to be less than the passable width W32 in step S721, the first processor22outputs information indicating that the vehicle4is to proceed to the display apparatus40through the input/output unit21, and the display apparatus40displays the information (step S718).

When the indication that the vehicle4is to back up is displayed by the display apparatus40in step S720, the first processor22extracts the first passable position Pp1. The first processor22then outputs the extracted first passable position Pp1 to the display apparatus40through the input/output unit21, and the display apparatus40displays the first passable position Pp1 (step S715).

When the passable width W31 and the passable width W32 are determined to be equal in step S721, the first processor22may determine the course of action in accordance with whether a first statistical value is longer than a second statistical value. The first processor22may determine the course of action based on whether a vehicle is following the oncoming vehicle104. The first processor22may instead determine the course of action by any method other than the above methods.

The driving assistance apparatus20may be configured to execute the processing illustrated inFIG. 16by reading a program stored on a non-transitory computer readable medium.

As described above, when an oncoming vehicle104is encountered on a narrow road and the vehicle4backs up, the driving assistance apparatus20of the fourth embodiment can extract the first passable position Pp1 based on conditions of the road on which the vehicle4has actually driven. This achieves similar effects to those of the second embodiment by allowing the driver to identify, at an early stage, the position at which the vehicle4and the oncoming vehicle104can definitely pass each other and to maneuver the vehicle4in reverse at ease.

When the vehicle4detects the oncoming vehicle104and the following vehicle204, the driving assistance apparatus20of the fourth embodiment can determine whether the vehicle4and the following vehicle204should back up, or whether the oncoming vehicle104should back up, based on the driving distances L1, L2, and L3. The present embodiment can therefore identify the method that reduces the total displacement of the vehicle4, the oncoming vehicle104, and the following vehicle204, allowing these vehicles to pass each other smoothly.

Fifth Embodiment

Next, a fifth embodiment of the present disclosure is described with reference to the drawings.

A driving assistance system500according to the fifth embodiment includes a camera10, a driving assistance apparatus20, a display apparatus40, and so forth, like the driving assistance system200according to the second embodiment illustrated inFIG. 9.

The driving assistance apparatus20of the second embodiment acquires the road width W1, object width W2, and the like acquired during driving of the vehicle4and stores these, along with images captured by the camera10, in the first memory23as driving path information. When an oncoming vehicle104is detected, the driving assistance apparatus20of the second embodiment extracts the first passable position Pp1 based on driving history that includes the driving path information and each position where an image pertaining to the driving path information was captured. However, the driving history stored in the first memory23by the driving assistance apparatus20of the fifth embodiment includes (i) driving path information that only includes images captured by the camera10during driving of the vehicle4and (ii) the positions at which the images were captured. When an oncoming vehicle104is detected, the driving assistance apparatus20of the fifth embodiment may acquire the road width W1, object width W2, passable width W3, and the like based on the images stored in the first memory23and extract the first passable position Pp1.

As described above, when an oncoming vehicle104is encountered on a narrow road and the vehicle4backs up, the driving assistance apparatus20of the fifth embodiment can extract the first passable position Pp1 based on conditions of the road on which the vehicle4has actually driven. This achieves similar effects to those of the second embodiment by allowing the driver to identify, at an early stage, the position at which the vehicle4and the oncoming vehicle104can definitely pass each other and to maneuver the vehicle4in reverse at ease.

During driving, the driving assistance apparatus20of the fifth embodiment acquires only images captured by the camera10during driving, without acquiring the road width W1, object width W2, and the like, and stores the images in the first memory23. The first processor22acquires the road width W1, object width W2, and the like based on images stored in the first memory23. Consequently, when the first processor22does not detect the oncoming vehicle104while the vehicle4is driving on a narrow road, the first processor22need not execute processing to acquire the road width W1, object width W2, and the like. This can reduce the processing load of the first processor22.

The above embodiments have been described as representative examples. It will be apparent to those of ordinary skill in the art, however, that numerous modifications and substitutions may be made within the spirit and scope of the present disclosure. Therefore, the present disclosure should not be interpreted as being restricted to the above embodiments and examples. A variety of changes or modifications may be made without departing from the scope of the appended claims. For example, a plurality of the structural blocks described in the embodiments and examples may be combined into one, or one structural block may be divided into multiple parts.

The driving assistance apparatus20according to the first embodiment acquires nearby road information from the information processing apparatus50of the cloud3and generates information related to whether the nearby roads are passable. In the second to fifth embodiments, on the other hand, the driving assistance apparatus20calculates a region where the vehicle and an oncoming vehicle can pass each other based on the driving history stored in memory and information received from other vehicles. The processing of the first embodiment and the processing of the second embodiment may be executed by the same driving assistance apparatus20mounted in the same vehicle4. In other words, the driving assistance apparatus20can be configured to assist with driving based on both information acquired from the external information processing apparatus50and information acquired by the respective vehicle4or other vehicles during driving.

In the third and fourth embodiments, the first communication unit24of the vehicle4transmits and receives information to and from the first communication unit124of an oncoming vehicle104and the first communication unit224of a following vehicle204over a vehicle-to-vehicle communication network, but this configuration is not limiting. The first communication unit24may, for example, transmit and receive information to and from the first communication unit124and the first communication unit224through a communication base station.

In the third and fourth embodiments, the first processor22determines whether the passing width that is the sum of the width W5 of the oncoming vehicle104and the width W6 of the vehicle4is less than the passable width W3 during the process to determine whether passing is possible. However, this configuration is not limiting. The first processor22may determine whether the sum of the width W5 of the oncoming vehicle104, the width W6 of the vehicle4, and the width required between the vehicle4and the oncoming vehicle104is less than the passable width W3.

In the third and fourth embodiments, the first communication unit24of the vehicle4receives the passing information of the oncoming vehicle104outputted by the first communication unit124of the oncoming vehicle104, but this configuration is not limiting. The first communication unit24may, for example, receive the driving distance L2 calculated by the driving assistance apparatus120of the oncoming vehicle104. In the fourth embodiment as well, the first communication unit24may receive the driving distance L3 calculated by the driving assistance apparatus220of the following vehicle204instead of the passing information of the following vehicle204.

In the third and fourth embodiments, the display apparatus40displays the first passable position Pp1 after displaying an indication that the vehicle4is to back up, but this configuration is not limiting. The first processor22may, for example, output the information indicating that the vehicle4is to back up and the first passable position Pp1 simultaneously. The display apparatus40may then display these simultaneously.

When two or more following vehicles204are following the vehicle4, or when a following vehicle204is following the oncoming vehicle104, the first processor22in the fourth embodiment may determine the course of action based on information regarding the following vehicles204.

In the above embodiments, the camera10and the driving assistance apparatus20are configured as separate components, but the camera10may be provided with the first processor22and the first memory23included in the driving assistance apparatus20.

In the second to fifth embodiments, the road width W1, the object width W2, and the passable width W3 at a position P are included in the driving path information stored by the first memory23, but this configuration is not limiting. The first memory23may, for example, store only the road width W1 and the object width W2 as the driving path information. In this case, after detecting an oncoming vehicle104, the first processor22calculates the passable width W3 based on the road width W1 and the object width W2 stored in the first memory23and determines whether passing is possible.

In the above embodiments, the camera10outputs captured images of the road being driven on to the driving assistance apparatus20as driving path information. The driving assistance apparatus20generates road width information and object information using image recognition on the driving path information captured by the camera10. However, embodiments of the present disclosure are not limited to this configuration. The signal processor13of the camera10may generate road width information and object information by image processing and transmit such information to the driving assistance apparatus20. In this case, the road width information and object information outputted by the camera10become the driving path information. The camera10may process images and then transmit intermediate information that is at a stage before generation of the road width information and object information to the driving assistance apparatus20as the driving path information.

REFERENCE SIGNS LIST