Abstract: The wrong-way driving determination method includes acquiring a backward image of the vehicle, recognizing a target included in the backward image, and determining the wrong-way driving of the vehicle based on the recognition information of the target. Here, determining the wrong-way driving includes determining whether or not the recognition information of the target includes the recognition information of the guide display surface of the traffic sign. When it is determined that the recognition information of the guide display surface is included in the recognition information of the target, it is determined that the vehicle is traveling in the wrong direction.

Abstract: Provided is an in-vehicle sensor system capable of maintaining an equivalent level of precision (accuracy) of data to be output before and after replacement of a surrounding sensor.

Abstract: A lane departure prevention apparatus includes a driving support ECU configured to perform a lane departure prevention control. The driving support ECU performs the lane departure prevention control with vibrating a steering wheel when determining that a control performing condition becomes satisfied and a traveling lane is straight. The control performing condition becomes satisfied when a vehicle has a high probability of departing from the traveling lane. The driving support ECU performs the lane departure control without vibrating the steering wheel at least in a case where the vehicle has a high probability of departing from the traveling lane toward an outer side of the curved lane.

Abstract: A driving assistance apparatus of a vehicle includes a first sensor, a second sensor and a control unit. The first sensor obtains a position of an object with respect to the first sensor. The second sensor obtains a position of an object with respect to the vehicle. The control unit assists driving of the vehicle utilizing first vehicle relative position for an object detected by the first sensor which indicates a position of that object with respect to the vehicle. The control unit obtains the first vehicle relative position based on a correction angle formed between a reference axis of the vehicle and a reference axis of the first sensor. The correction angle is obtained based on a position of a target with respect to the first sensor obtained by the first sensor, and a position of the target with respect to the vehicle obtained by the second sensor.

Abstract: A lane departure prevention apparatus includes a driving support ECU configured to perform a lane departure prevention control. The driving support ECU performs the lane departure prevention control with vibrating a steering wheel when determining that a control performing condition becomes satisfied and a traveling lane is straight. The control performing condition becomes satisfied when a vehicle has a high probability of departing from the traveling lane. The driving support ECU performs the lane departure control without vibrating the steering wheel at least in a case where the vehicle has a high probability of departing from the traveling lane toward an outer side of the curved lane.