On the Lock Screen, Proactive Siri can suggest apps. If my iPhone detects I'm in the car, it correctly shows a Maps icon in the lower left corner on the lock screen.
Under iOS 9, you could swipe up to open that app.
How do you open the app in iOS 10? Swiping up doesn't work. Note: I am using a Force Touch enabled phone, but for completion's I'm also wondering how this works on a non-force touch phone.