| 摘要 |
<p>A driving assistance apparatus (1) provides driving assistance for a host vehicle (2) on the basis of traffic light cycle information related to a color cycle of a traffic light at an intersection (71) at which a service is to be provided. If the driving assistance apparatus (1) cannot acquire the signal cycle information the driving assistance apparatus (1) estimates traffic light cycle information on the basis of surrounding information of the intersection (71) which is infrastructure data and provides driving assistance on the basis of the estimated traffic light cycle information. By doing so the driving assistance apparatus (1) can appropriately provide driving assistance even if traffic light cycle information cannot be acquired.</p> |
