TRAVEL CONTROL APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a travel control apparatus capable of easily performing control for automated travel of a vehicle.SOLUTION: An image processing unit 32 processes a plurality of captured images taken at different positions by an imaging unit during the travel of a vehicle, and derives a target following line that serves as a target for vehicle travel. A travel control unit controls the travel of the vehicle so that the vehicle travels along the target following line. A standard area setting portion 40 of the image processing unit 32 sets a plurality of standard areas each consisting of a plurality of pixel values and arranged in a straight line in the captured images. On a captured image newly taken at a different position from the captured image for which the standard area has been set, a reference area tracking unit 44 calculates the position information on the captured image of a reference area determined to be the same area as the standard area on actual space. An unevenness detecting unit 48 detects the unevenness of the surface of the ground on actual space on the basis of a plurality of pieces of position information of the reference area. A target following line generating unit 50 generates a target following line on the basis of the unevenness detected.