Travel control apparatus for vehicle
View Patent ↗A travel control apparatus for a vehicle includes a travel environment information acquisition unit, a travel information detection unit, and a control unit. The acquisition unit acquires travel environment information of the vehicle, which is on a traveling environment of the vehicle. The detection unit detects travel information of the vehicle. The control unit performs self-driving control, on the basis the information. The control unit detects a relative distance between an oncoming vehicle and the vehicle, and performs turn control to cause the vehicle to make a turn while crossing ahead of the oncoming vehicle, in a case where the relative distance is not smaller than a preset threshold value. When the vehicle makes the turn, in a case where a traction control for preventing tire slippage by decreasing a drive torque is operated, the control unit increasingly corrects the preset threshold value in accordance with at least a tire grip state.
1. A travel control apparatus for a vehicle comprising:
a control unit that:
acquires, from one or more sensors, environment information surrounding the vehicle;
performs self-driving control based on the environment information and travel information of the vehicle;
determines that a distance between an oncoming vehicle and the vehicle is equal to or greater than a threshold distance;
responsive to determining that the distance between an oncoming vehicle and the vehicle is equal to or greater than the threshold distance, performs turn control to cause the vehicle to make a turn while crossing ahead of the oncoming vehicle;
when a traction control for preventing tire slippage is operated when the vehicle makes the turn, 1) increasingly adjusts the threshold distance in accordance with at least a tire grip state and 2) sets a value of a drive torque to prevent the traction control to further operate, the value of the drive torque being at which the traction control does not operate according to at least the tire grip state;
when the distance between the oncoming vehicle and the vehicle is equal to or greater than the adjusted threshold distance, performs the turn of the vehicle at the self-driving request drive torque so that the traction control does not operate during the turn; and
when the distance between the oncoming vehicle and the vehicle is smaller than the adjusted threshold distance, 1) determines whether or not the vehicle is located at a safe position on a lane and 2) when the vehicle is determined to be located at the safe position of the lane, allows the vehicle to await to make the turn.
2. The travel control apparatus for a vehicle according to claim 1 ,
wherein the tire grip state is determined, on a basis of a road surface friction coefficient between a tire and a road surface.