Patent ID: 9216739
Filing Date: 2015-12-22
Classification: B60T,B60W,Y02T

Abstract:
1. A vehicle travel control apparatus that travels on the basis of a predetermined set speed, and controls a travel of a subject vehicle according to a situation around the subject vehicle, the travel control apparatus comprising: a road width detection unit that detects a road width of a subject vehicle travel road in front of the subject vehicle; an obstacle detection unit that detects a position of an obstacle on the subject vehicle travel road; an oncoming vehicle detection unit that detects a position of an oncoming vehicle on the subject vehicle travel road; a width detection unit that detects widths of the detected obstacle and the detected oncoming vehicle in a direction of the road width; a subject vehicle travel side virtual lane calculation unit that calculates a subject vehicle travel side virtual lane on which the subject vehicle can travel on the subject vehicle travel side, on the basis of the road width, the position and the width of the obstacle, and the subject vehicle speed; an oncoming vehicle travel side virtual lane calculation unit that calculates an oncoming vehicle travel side virtual lane on which the subject vehicle can travel on the oncoming vehicle travel side, on the basis of the road width, the position and the width of the obstacle, the subject vehicle speed, and the position and the width of the oncoming vehicle, and the speed of the oncoming vehicle; and a residual road width calculation unit that calculates the residual road width of the subject vehicle travel road on the basis of the road width, the subject vehicle travel side virtual lane, and the oncoming vehicle travel side virtual lane, wherein when a point at which the calculated residual road width is smaller than a given value is present, a travel of the subject vehicle stops at a position in front of the point.