Vehicle traveling control apparatus
A vehicle traveling control apparatus for controlling following travel in which a host vehicle travels to follow a preceding vehicle traveling ahead, includes: a preceding vehicle biased travel determination unit calculating a lateral position inside a lane of the preceding vehicle, and determining whether the preceding vehicle biasedly travels while deviating from a setting range at a lane center; and a control target point setting unit setting, as a control target point of the following travel, a setting position in a vehicle width direction of the preceding vehicle in a case where it is determined that the preceding vehicle does not biasedly travel, and a position shifted as much as a predetermined shift amount from the setting position in a direction opposite to a direction in which the preceding vehicle deviates from the setting range in a case where it is determined that the preceding vehicle biasedly travels.
1. A vehicle traveling control system comprising:
one or more sensors configured to acquire external environment information of a host vehicle, the host vehicle traveling in a traveling lane following a preceding vehicle; and
a vehicle traveling control apparatus configured to:
determine whether the preceding vehicle deviates from a lane center of the traveling lane based on the external environment information;
responsive to determining that the preceding vehicle does not deviate from the lane center, set a mid-point of a width of the preceding vehicle as a control target point;
responsive to determining that the preceding vehicle deviates from the lane center:
1) calculate a shift amount based on a difference between the width of the preceding vehicle and a width of the host vehicle, wherein the shift amount increases according to an increase in the difference between the width of the preceding vehicle and the width of the host vehicle; and
2) set, as the control target point, a position shifted from the mid-point of the preceding vehicle by the calculated shift amount in a direction opposite a direction in which the preceding vehicle deviates from the lane center; and
execute a following travel control of the host vehicle for following the preceding vehicle based on the control target point.
2. The vehicle traveling control system according to claim 1 , wherein determining whether the preceding vehicle deviates from the lane center of the traveling lane comprising:
calculating a lateral position of the preceding vehicle within the traveling lane; and
determining whether the lateral position of the preceding vehicle deviates from a predetermined range set along a center of the traveling lane within the traveling lane.
3. The vehicle traveling control system according to claim 1 , wherein the shift amount is calculated based further on a deviation amount that the mid-point of the preceding vehicle deviates from the lane center of the traveling lane.
4. The vehicle traveling control system according to claim 1 , wherein the vehicle traveling control apparatus is configured to determine that the width of the preceding vehicle is equal to or larger than the width of the host vehicle based on the external environment information, and
wherein the mid-point of the width of the preceding vehicle is set as the control target point based on determining that the width of the preceding vehicle is equal to or larger than the width of the host vehicle regardless the determination that the preceding vehicle deviates from the center of the traveling lane.
5. The vehicle traveling control system according to claim 2 , wherein the vehicle traveling control apparatus is configured to determine that the width of the preceding vehicle is equal to or larger than the width of the host vehicle based on the external environment information, and
wherein the mid-point of the width of the preceding vehicle is set as the control target point based on determining that the width of the preceding vehicle is equal to or larger than the width of the host vehicle regardless the determination that the preceding vehicle deviates from the center of the traveling lane.
6. The vehicle traveling control system according to claim 3 , wherein the vehicle traveling control apparatus is configured to determine that the width of the preceding vehicle is equal to or larger than the width of the host vehicle based on the external environment information, and
wherein the mid-point of the width of the preceding vehicle is set as the control target point based on determining that the width of the preceding vehicle is equal to or larger than the width of the host vehicle regardless the determination that the preceding vehicle deviates from the center of the traveling lane.
7. The vehicle traveling control system according to claim 2 , wherein when one side of the traveling lane is not recognized while the host vehicle travels in the traveling lane following the preceding vehicle, the vehicle traveling control apparatus estimates the lateral position of the preceding vehicle based on a lane width of the traveling lane recognized immediately before the recognition of the one side of the traveling lane ended.
8. The vehicle traveling control system according to claim 1 , wherein when the traveling lane is not recognized while the host vehicle travels in the traveling lane following the preceding vehicle, the lateral position of the preceding vehicle in the traveling lane is estimated based on map information of traveling lane on which the preceding vehicle and the host vehicle are traveling.