Patent ID: 11938935
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 5:
6. A vehicle driving control apparatus to be applied to a vehicle, the vehicle driving control apparatus comprising:
a first sensor configured to obtain surrounding environment information on an environment around the vehicle, the vehicle;
a second sensor configured to obtain vehicle situation information on a situation of the vehicle;
circuitry configured to
receive at least roadmap information from an external device,
set a target velocity value of the vehicle to be used for performing driving control,
adjust a velocity value of the vehicle by considering one or more surrounding vehicles around the vehicle, based on a plurality of items of information including the surrounding environment information, the vehicle situation information, and the roadmap information, and
perform driving control based on the adjusted velocity value of the vehicle, wherein

in a case where:
a leading vehicle ahead of the vehicle is recognized;
the velocity value of the vehicle exceeds a speed limit value of a driving road of the vehicle or a predetermined velocity value, the predetermined velocity value being determined by adding or subtracting a certain value to or from the speed limit value;
a driver set velocity value set by a driver who drives the vehicle is higher than or equal to a velocity value of the leading vehicle; and
a following vehicle behind the vehicle has not been recognized for a predetermined time or longer,

the circuitry is configured to set a temporary velocity value as the velocity value of the vehicle and perform driving control by using the temporary velocity value, the temporary velocity value being lower than the velocity value of the leading vehicle by a preset value.