TRAVEL CONTROL APPARATUS FOR VEHICLE

摘要

A travel control apparatus for a vehicle includes a frontward environment recognition unit, a map information storage unit, a vehicle position information obtaining unit, a traveling road information obtaining unit, a rut information detector, a first course setting unit, a second course setting unit, and a target course setting unit. A target course over a road surface on which a vehicle is to travel is set as a first course on the basis of map information, the target course over the road surface on which the vehicle is to travel is set as a second course or a third course on the basis of rut information, the first course is compared with the second and third courses, and the target course over the road surface on which the vehicle is to travel is set on the basis of traveling road information and the rut information.

主权项

1. A travel control apparatus for a vehicle, the travel control apparatus comprising:
a frontward environment recognition unit that obtains frontward environment information by recognizing a frontward environment of the vehicle on the basis of image information; a map information storage unit that stores map information; a vehicle position information obtaining unit that obtains position information indicating a position of the vehicle; a traveling road information obtaining unit that obtains traveling road information relating to a traveling road of the vehicle on the basis of the map information and the position information of the vehicle; a rut information detector that detects a rut on a road surface on the basis of the frontward environment information, and obtains information relating to the rut; a first course setting unit that sets a target course over a road surface on which the vehicle is to travel as a first course on the basis of the map information; a second course setting unit that sets the target course over the road surface on which the vehicle is to travel as a second course on the basis of the rut information; and a target course setting unit that compares the first course with the second course, and sets the target course over the road surface on which the vehicle is to travel on the basis of the traveling road information and the rut information.