VEHICLE CRUISE CONTROL DEVICE
First Claim
1. A vehicle cruise control device comprising:
- an external world information acquisition unit configured to acquire at least information about a situation in front of the vehicle; and
a control unit configured to obtain a target trajectory of a vehicle based on a traveling route specification target included in information acquired by the external world information acquisition unit, and perform traveling trajectory control so as to cause the vehicle to travel along the target trajectory,wherein an area where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on the traveling route specification target is assumed to be a particular area, andwherein, when the vehicle travels the particular area, the control unit obtains an interim target trajectory for the particular area based on a traveling route specification target in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and executes interim traveling trajectory control so that the vehicle travels along the interim target trajectory.
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Accused Products
Abstract
A vehicle cruise control device is provided that obtains a target trajectory of a vehicle based on white lines 102 and 104 as traveling route specification targets contained in information acquired by a device that acquires at least information in front of the vehicle, and performs traveling trajectory control so as to cause the vehicle to travel along the target trajectory. When the vehicle travels a particular area 110 where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on white lines, an interim target trajectory 116 is obtained for the particular area, based on the white lines 102 and 104 in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and interim traveling trajectory control is executed so that the vehicle travels along the interim target trajectory.
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Citations
20 Claims
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1. A vehicle cruise control device comprising:
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an external world information acquisition unit configured to acquire at least information about a situation in front of the vehicle; and a control unit configured to obtain a target trajectory of a vehicle based on a traveling route specification target included in information acquired by the external world information acquisition unit, and perform traveling trajectory control so as to cause the vehicle to travel along the target trajectory, wherein an area where a traveling route branches into a plurality of traveling routes and a target trajectory cannot be obtained based on the traveling route specification target is assumed to be a particular area, and wherein, when the vehicle travels the particular area, the control unit obtains an interim target trajectory for the particular area based on a traveling route specification target in an area adjacent to the particular area and a traveling route that the vehicle is to travel after traveling the particular area, and executes interim traveling trajectory control so that the vehicle travels along the interim target trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification