Travel control apparatus for vehicle
First Claim
1. A travel control apparatus for a vehicle, the apparatus comprising:
- a travel controller configured to;
acquire travel environment information relating to a travel environment in which the vehicle travels, wherein the vehicle is in an automatic driving mode;
acquire travel information relating to the vehicle; and
perform an overtaking control when an overtaking target vehicle is detected in front of the vehicle in a travel lane on the basis of the travel environment information and the travel information, the overtaking control allows the vehicle traveling to overtake the overtaking target vehicle, the overtaking control includes a first phase in which the vehicle performs a first lane change from the travel lane to an overtaking lane, a second phase in which the vehicle passes the overtaking target vehicle via the overtaking lane, and a third phase in which the vehicle performs a second lane change from the overtaking lane back to the travel lane,wherein, when a first failure is detected in acquiring the travel environment information and a second failure is detected in a steering system of the vehicle during the overtaking control, the travel controller;
determines a phase of the overtaking control at a time of detecting the first failure and the second failure, andactivates a substitute control corresponding to the determined phase of the overtaking control, the substitute control being performed in accordance with the travel environment information obtained most recently before detecting the first failure of the travel environment information, information relating to the overtaking target vehicle, and the travel information.
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Accused Products
Abstract
A travel control apparatus for a vehicle includes: a travel environment information acquisition unit that acquires travel environment information on a travel environment where the vehicle travels; a travel information detector that detects travel information on the vehicle; and an overtaking controller that detects an overtaking target vehicle ahead of the vehicle in an identical travel lane on the basis of the travel environment information and the travel information, and overtakes the overtaking target vehicle using automatic driving control. When failures are detected in relation to the travel environment information acquisition and in a steering system of the vehicle during the overtaking control, the overtaking controller modifies the overtaking control by activating required substitute control in accordance with the travel environment information obtained most recently before detecting the travel environment information acquisition failure, information on the overtaking target vehicle, the travel information, and conditions during the overtaking control.
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Citations
20 Claims
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1. A travel control apparatus for a vehicle, the apparatus comprising:
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a travel controller configured to; acquire travel environment information relating to a travel environment in which the vehicle travels, wherein the vehicle is in an automatic driving mode; acquire travel information relating to the vehicle; and perform an overtaking control when an overtaking target vehicle is detected in front of the vehicle in a travel lane on the basis of the travel environment information and the travel information, the overtaking control allows the vehicle traveling to overtake the overtaking target vehicle, the overtaking control includes a first phase in which the vehicle performs a first lane change from the travel lane to an overtaking lane, a second phase in which the vehicle passes the overtaking target vehicle via the overtaking lane, and a third phase in which the vehicle performs a second lane change from the overtaking lane back to the travel lane, wherein, when a first failure is detected in acquiring the travel environment information and a second failure is detected in a steering system of the vehicle during the overtaking control, the travel controller; determines a phase of the overtaking control at a time of detecting the first failure and the second failure, and activates a substitute control corresponding to the determined phase of the overtaking control, the substitute control being performed in accordance with the travel environment information obtained most recently before detecting the first failure of the travel environment information, information relating to the overtaking target vehicle, and the travel information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A travel control apparatus for a vehicle, the apparatus comprising:
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a travel controller configured to; acquire travel environment information relating to a travel environment in which the vehicle travels, wherein the vehicle is in an automatic driving mode; acquire travel information relating to the vehicle; and perform an overtaking control when an overtaking target vehicle is detected in front of the vehicle in a travel lane on the basis of the travel environment information and the travel information, the overtaking control allows the vehicle traveling to overtake the overtaking target vehicle, wherein, when a first failure is detected in acquiring the travel environment information and a second failure is detected in a steering system of the vehicle during a first lane change from the travel lane to an overtaking lane after detecting the overtaking target vehicle, the travel controller cancels the first lane change from the travel lane to the overtaking lane, and, when a steering angle is not substantially zero, executes yaw brake control to reduce a yaw rate of the vehicle using a brake force. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification