Vehicle Travel Control Apparatus

摘要

A vehicle travel control apparatus that can stop a subject vehicle at an optimum position, and at a subsequent restart time, suitably avoid an obstacle without imposing a burden on a driver is provided.;The vehicle travel control apparatus allows a subject vehicle to travel on the basis of a predetermined set speed, controls the travel of the subject vehicle according to a situation around the subject vehicle, calculates a subject vehicle travel side virtual lane on which the subject vehicle can travel on a subject vehicle travel side, an oncoming vehicle travel side virtual lane on which the subject vehicle can travel on an oncoming vehicle travel side, and a residual road width of a subject vehicle travel road on the basis of a road width, the subject vehicle travel side virtual lane, and the oncoming vehicle travel side virtual lane, and stops, when a point at which the calculated residual road width is smaller than a given value is present, the travel of the subject vehicle at a position in front of the point.

主权项

1. A vehicle travel control apparatus that travels on the basis of a predetermined set speed, and controls a travel of a subject vehicle according to a situation around the subject vehicle, the travel control apparatus comprising:
a road width detection unit that detects a road width of a subject vehicle travel road in front of the subject vehicle; an obstacle detection unit that detects a position of an obstacle on the subject vehicle travel road; an oncoming vehicle detection unit that detects a position of an oncoming vehicle on the subject vehicle travel road; a width detection unit that detects widths of the detected obstacle and the detected oncoming vehicle in a direction of the road width; a subject vehicle travel side virtual lane calculation unit that calculates a subject vehicle travel side virtual lane on which the subject vehicle can travel on the subject vehicle travel side, on the basis of the road width, the position and the width of the obstacle, and the subject vehicle speed; an oncoming vehicle travel side virtual lane calculation unit that calculates an oncoming vehicle travel side virtual lane on which the subject vehicle can travel on the oncoming vehicle travel side, on the basis of the road width, the position and the width of the obstacle, the subject vehicle speed, and the position, the width, and the speed of the oncoming vehicle; and a residual road width calculation unit that calculates the residual road width of the subject vehicle travel road on the basis of the road width, the subject vehicle travel side virtual lane, and the oncoming vehicle travel side virtual lane, wherein when a point at which the calculated residual road width is smaller than a given value is present, a travel of the subject vehicle stops at a position in front of the point.