Vehicular control apparatus
First Claim
1. A vehicular control apparatus comprising:
- at least one electronic control unit including a processor, programmed to;
recognize a first preceding vehicle running in front of a vehicle in a driving lane in which the vehicle is running,calculate a first target acceleration of the vehicle based on a recognition result of the recognized first preceding vehicle,recognize a second preceding vehicle running in front of the vehicle in a lane located adjacent to the driving lane,calculate a second target acceleration of the vehicle based on a recognition result of the recognized second preceding vehicle,acquire lane change information indicating a direction in which the vehicle carries out a lane change,select the smaller of the first target acceleration and the second target acceleration as a target acceleration of the vehicle in a lane change period at a time when the second preceding vehicle exists in an adjacent lane, the adjacent lane being located adjacent to the driving lane in the direction indicated by the lane change information as viewed from the driving lane, wherein the lane change period is a period from departure of the vehicle from a running position in the driving lane to arrival of the vehicle in a running position in the adjacent lane, andcontrol a speed of the vehicle in the lane change period by using the selected target acceleration; and
at least one actuator configured to control the speed of the vehicle by receiving a signal from the at least one electronic control unit.
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Accused Products
Abstract
A vehicular control apparatus includes at least one electronic control unit. The at least one electronic control unit is configured to recognize a first preceding vehicle in a driving lane and to calculate a first target acceleration of the vehicle. The at least one electronic control unit is also configured to recognize a second preceding vehicle in an adjacent lane, and to calculate a second target acceleration of the vehicle. The at least one electronic control unit is configured to acquire lane change information of the vehicle, and to select the smaller of the first target acceleration and the second target acceleration as a target acceleration of the vehicle. The at least one electronic control unit is configured to control a speed of the vehicle in a lane change period by using the selected target acceleration.
23 Citations
10 Claims
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1. A vehicular control apparatus comprising:
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at least one electronic control unit including a processor, programmed to; recognize a first preceding vehicle running in front of a vehicle in a driving lane in which the vehicle is running, calculate a first target acceleration of the vehicle based on a recognition result of the recognized first preceding vehicle, recognize a second preceding vehicle running in front of the vehicle in a lane located adjacent to the driving lane, calculate a second target acceleration of the vehicle based on a recognition result of the recognized second preceding vehicle, acquire lane change information indicating a direction in which the vehicle carries out a lane change, select the smaller of the first target acceleration and the second target acceleration as a target acceleration of the vehicle in a lane change period at a time when the second preceding vehicle exists in an adjacent lane, the adjacent lane being located adjacent to the driving lane in the direction indicated by the lane change information as viewed from the driving lane, wherein the lane change period is a period from departure of the vehicle from a running position in the driving lane to arrival of the vehicle in a running position in the adjacent lane, and control a speed of the vehicle in the lane change period by using the selected target acceleration; and at least one actuator configured to control the speed of the vehicle by receiving a signal from the at least one electronic control unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification