There is provided a travel control apparatus. A control unit executes, based on a recognition result of the division line by a recognition unit, first control to perform lane keeping of the self-vehicle. In a case in which the recognition result ceases to be satisfied a predetermined condition, the control unit will switch, at a first timing. 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.
TRAVEL CONTROL APPARATUS, VEHICLE, TRAVEL CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
2021-09-16
Patent
Electronic Resource
English
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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