Traveling control apparatus for controlling vehicle travel based on target path generated from recognition results of division lines
A vehicle control apparatus includes a microprocessor and a first and second exterior environment detection units configured to detect an exterior environment situation in a predetermined region around the subject vehicle respectively. The microprocessor is configured to perform: recognizing a pair of left and right first division lines defining a current lane on which the subject vehicle is traveling based on a detection value of the first exterior environment detection unit and a pair of left and right second division lines defining the current lane based on a detection value of the second exterior environment detection unit; electing each of left and right division lines having short distances from the subject vehicle from the pair of left and right first division line and the pair of left and right second division line recognized in the recognizing; and generating the target path based on the left and right division lines selected in the selecting.
1 . A traveling control apparatus comprising:
an actuator for traveling;
a microprocessor and a memory coupled to the microprocessor; and
first and second cameras mounted on a subject vehicle and installed so as to respectively capture images of a same region in front of the subject vehicle in a traveling direction, wherein
the first and second cameras each capture a forward space of the subject vehicle including a left division line and a right division line defining a current lane on which the subject vehicle is traveling, and wherein
the microprocessor is configured to perform:
applying an image-recognition process using a first algorithm to a captured image of the first camera to acquire a first recognition result including the left and right division lines, and applying an image-recognition process using a second algorithm different from the first algorithm to a captured image of the second camera to acquire a second recognition result including the left and right division lines;
calculating a first deviation amount, the first deviation amount being a difference, in a vehicle width direction, between a position of the left division line included in the first recognition result and a position of the left division line included in the second recognition result;
calculating a second deviation amount, the second deviation amount being a difference, in the vehicle width direction, between a position of the right division line included in the first recognition result and a position of the right division line included in the second recognition result;
determining that there is a possibility that the subject vehicle departs from the current lane when either the first deviation amount or the second deviation amount is equal to or greater than a predetermined threshold;
when it is determined that the possibility exists, outputting a command to an output device configured to request an occupant to perform a driving operation; and
when it is determined that the possibility does not exist:
selecting, from among the left division lines respectively included in the first and second recognition results, a left division line located further to the right in the vehicle width direction;
selecting, from among the right division lines respectively included in the first and second recognition results, a right division line located further to the left in the vehicle width direction;
generating a target path so as to pass through a center between the selected left and right division lines; and
controlling the actuator so that the subject vehicle travels along the target path.
2 . The traveling control apparatus according to claim 1 , wherein
the first camera and the second camera are different in manufacturer, type, or performance.