The purpose of the present invention is to make it possible to switch from lane maintaining control to a preceding vehicle following control at a more appropriate timing. There is provided a travel control apparatus. A recognition unit is configured to recognize a division line of a road on which a self-vehicle is traveling. A control unit is configured to execute, based on a recognition result of the division line by the recognition unit, first control to perform lane keeping of the self-vehicle, wherein in a case in which the recognition result ceases to be satisfied a predetermined condition, the control unit will switch, at a first timing after the division line recognized by the recognition unit has been complemented and the first control has been continued, control to be executed from the first control to second control to follow a preceding vehicle of the self-vehicle, and even in a case in which the recognition result ceases to be satisfied the predetermined condition, if the predetermined condition ceases to be satisfied due to a recognition result of a width of a travel lane of the self-vehicle, the control unit will switch the control to be executed from the first control to the second control at a second timing earlier than the first timing.

    本发明的目的在于能够在更适当的时机进行从车道维持控制向前方车辆跟随控制的切换。本发明提供一种行驶控制装置。其中,识别单元识别本车辆行驶的道路的划分线。控制单元执行基于识别单元对划分线的识别结果来进行本车辆的车道维持的第一控制。控制单元在识别结果不满足规定条件的情况下,在对由识别单元识别出的划分线进行补充并继续进行第一控制后的第一时机,将执行的控制从第一控制切换为进行本车辆对前方车辆的跟随的第二控制,另一方面,控制单元在识别结果不满足规定条件的情况下、也且是当因本车辆的行驶车道的宽度的识别结果而不满足规定条件时,在比第一时机提前的第二时机从第一控制切换为第二控制。


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    Titel :

    TRAVEL CONTROL APPARATUS, VEHICLE, TRAVEL CONTROL METHOD, AND STORAGE MEDIUM


    Weitere Titelangaben:

    行驶控制装置、车辆、行驶控制方法以及存储介质


    Beteiligte:
    KATO DAICHI (Autor:in)

    Erscheinungsdatum :

    2021-09-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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