Subaru Corporation

Yasuhiro Sekijima

Keisuke Kuwahara

Masatoshi Hoshina

Akiyuki Abe

Satoshi Terayama

A vehicle travel support device includes: a guide route setting unit; a travel environment information acquisition unit; a target traveling path setting unit; an inter-vehicle distance keep control unit; a lateral movement amount calculation unit; an obstacle avoidance action detection unit; and a preceding vehicle following controller. The guide route setting unit sets a guide route for a host vehicle. The travel environment information acquisition unit acquires travel environment information. The target traveling path setting unit sets a target traveling path. The inter-vehicle distance keep control unit causes the host vehicle to travel to keep a set distance from a preceding vehicle. The lateral movement amount calculation unit calculates a lateral movement amount of the preceding vehicle. The obstacle avoidance action detection unit detects an obstacle avoidance action of the preceding vehicle. The preceding vehicle following controller sets the target traveling path to a traveling path of the preceding vehicle.

Vehicle travel support device

An automatic driving control apparatus includes a controller. Upon execution of an automatic driving control of a vehicle, the controller determines, on the basis of a result of positioning and map information, presence or absence of a tollgate within a predetermined distance from the vehicle. The controller makes a transition to a tollgate passing mode, on a condition that the presence of the tollgate is determined within the predetermined distance and an increase in width of the road is further recognized on the basis of a result of recognition of an outside environment. In the tollgate passing mode, the controller sets a first target path on the basis of position information, of the tollgate, that is recognized on the basis of the result of the recognition of the outside environment. The first target path is a target path along which the vehicle is to pass through the tollgate.

Automatic driving control apparatus

An automatic driving control apparatus includes a controller. Upon execution of automatic driving control, the controller determines, on the basis of positioning and map information, presence of a tollgate within a predetermined distance from a vehicle. The controller makes a transition to a tollgate passing mode, on a condition that the presence of the tollgate is determined within the predetermined distance and an increase in width of the road is recognized on the basis of the recognition of the outside environment. The controller causes the vehicle to approach the tollgate, on the basis of one or both of the map information and position information of an object recognized on the basis of the recognition of the outside environment, in a first period of time during which the tollgate passing mode is set and a position of the tollgate is unrecognizable on the basis of the recognition of the outside environment.

A vehicle traveling control apparatus that performs an automatic driving control based on traveling environment information and traveling information includes a steering holding state detector, a target parameter setting unit, a target parameter correcting unit, and an acceleration and deceleration controller. The steering holding state detector detects a steering wheel holding state of a driver. The target parameter setting unit recognizes a curve ahead of the own vehicle based on the traveling environment information. The target parameter setting unit sets a target parameter that is based on one or both of a target vehicle speed and an allowable lateral acceleration rate of the own vehicle in passing through the curve. The target parameter correcting unit corrects the target parameter depending on the steering wheel holding state. The acceleration and deceleration controller sets a target acceleration rate of the own vehicle based on the target parameter, and controls acceleration and deceleration.

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Tokyo, Japan

Yasuhiro Sekijima