Road type determination apparatus and driving assistance apparatus

A driving assistance apparatus that performs driving assistance of a vehicle based on a type of a travel road of the vehicle determined by a road type determination apparatus,

• the road type determination apparatus comprising:
• an image information acquiring unit that acquires image information in which an image of a travel road on which a vehicle is traveling is captured;
• a scene determining unit that determines a traveling scene of the travel road based on the image information;
• an ordinary road likelihood calculating unit that calculates an ordinary road likelihood that indicates that a type of the travel road of the vehicle is an ordinary road based on the traveling scene;
• a limited-access road likelihood calculating unit that calculates a limited-access road likelihood that indicates that the type of the travel road of the vehicle is a limited-access road based on the traveling scene;
• and
• a type determining unit that determines the type of the travel road of the vehicle based on the ordinary road likelihood and the limited-access road likelihood,
• the driving assistance apparatus being configured to:
• permit performance of driving assistance to make the vehicle automatically change traffic lanes in response to the travel road of the vehicle being determined to be a limited-access road;
• and
• prohibit performance of driving assistance to make the vehicle automatically change traffic lanes in response to the travel road of the vehicle not being determined to be the limited-access road.