Vehicle control apparatus
First Claim
1. A vehicle control apparatus comprising:
- a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle;
a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle;
a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle;
an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route;
an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and
a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle.
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Reexamination
Accused Products
Abstract
In a vehicle control apparatus, a preceding vehicle ahead of an own vehicle is detected. A movement trajectory of a target preceding vehicle is acquired. Based on the movement trajectory of the target preceding vehicle, a target route on which the own vehicle is to travel is set. Travelling control of the own vehicle is performed so as to follow the target preceding vehicle on the target route. An obstacle ahead of the own vehicle is detected. The target route is changed so as to extend a separation distance between the detected obstacle and a parallel portion of the target route that is parallel to the obstacle, based on a separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle.
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Citations
17 Claims
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1. A vehicle control apparatus comprising:
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a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle; a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle; a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle; an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route; an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A vehicle control apparatus comprising:
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a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle; a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle; a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle; an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route; an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle, wherein the own vehicle control unit stops travelling control of the own vehicle when the own vehicle deviates from an own traffic lane that is a traffic lane in which the own vehicle is traveling when the own vehicle travels on the changed target route.
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17. A vehicle control apparatus comprising:
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a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle; a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle; a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle; an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route; an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle, wherein the own vehicle control unit stops travelling control of the own vehicle when the second separation distance between the obstacle and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle is less than a predetermined threshold.
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Specification