US Patent 10186150 Scene determination device, travel assistance apparatus, and scene determination method

A scene determination device includes a determination configured to, when determining a driving action of a subject vehicle traveling on a route, determine a scene which the subject vehicle encounters. The determination processor extracts a plurality of events which the subject vehicle traveling on a first route encounters, on the basis of relationships between the first route on which the subject vehicle travels and second routes having points of intersections with the first route and determines the scene using a relationship between each of the extracted events and the subject vehicle.