Vehicle travel control apparatus
In a vehicle travel control apparatus configured to determine a target acceleration of an own vehicle based on an inter-vehicle distance to a predicted cutting-in vehicle predicted to cut in between the own vehicle and a following target vehicle as well as an inter-vehicle distance to the following target vehicle, it is necessary to notify a driver of the presence of the predicted cutting-in vehicle at an appropriate timing. A cutting-in probability, which is a probability that the predicted cutting-in vehicle carries out the cutting in, is acquired, and information on the predicted cutting-in vehicle is notified to the driver from a time point when a state where the cutting-in probability is higher than a start probability threshold has continued for a predetermined period to a time point when a state where the cutting-in probability is lower than an end probability threshold has continued for a predetermined period.
1. A vehicle travel control apparatus, comprising:
following target vehicle detection means for detecting a following target vehicle traveling ahead of an own vehicle;
predicted cutting-in vehicle detection means for detecting a predicted cutting-in vehicle predicted to carry out cutting-in of merging between the own vehicle and the following target vehicle;
first acceleration acquisition means for acquiring, as a first acceleration, an acceleration of the own vehicle required to cause an inter-vehicle distance between the own vehicle and the following target vehicle to be a first inter-vehicle distance;
second acceleration acquisition means for acquiring, as a second acceleration, an acceleration of the own vehicle required to cause an inter-vehicle distance between the own vehicle and the predicted cutting-in vehicle to be a second inter-vehicle distance;
target acceleration acquisition means for acquiring a target acceleration of the own vehicle based on the first acceleration and the second acceleration;
travel control means for controlling a driving force and a braking force of the own vehicle, the travel control means configured to autonomously control the driving force and the braking force based on the target acceleration to cause an actual acceleration of the own vehicle to approach the target acceleration;
cutting-in probability acquisition means for acquiring a cutting-in probability, which is a probability that the predicted cutting-in vehicle carries out the cutting-in; and
information notification means for notifying a driver of the own vehicle of the cutting-in of the predicted cutting-in vehicle from a first time point to a second time point, wherein the first time point occurs when the cutting-in probability has been higher than a predetermined start probability threshold for a first fixed predetermined period of time to limit display inversion phenomena, and the second time point occurs when the cutting-in probability has been lower than a predetermined end probability threshold for a second fixed predetermined period of time to limit display inversion phenomena.
2. A vehicle travel control apparatus according to claim 1 , wherein the information notification means is configured to:
acquire a smoothed probability acquired by smoothing a change in the cutting-in probability with respect to time;
determine that the notification start condition is satisfied when the smoothed probability transitions from a state where the smoothed probability is lower than the start probability threshold to a state where the smoothed probability is higher than the start probability threshold; and
determine that the notification end condition is satisfied when the smoothed probability transitions from a state where the smoothed probability is higher than the end probability threshold to a state where the smoothed probability is lower than the end probability threshold.
3. A vehicle travel control apparatus according to claim 1 , wherein the information notification means is configured to:
determine a merging direction of the predicted cutting-in vehicle based on a movement direction of the predicted cutting-in vehicle in a vehicle width direction of the own vehicle with respect to the own vehicle when the notification start condition is satisfied; and
notify the driver of the merging direction when the intention of the cutting-in of the predicted cutting-in vehicle is notified to the driver.
4. A vehicle travel control apparatus according to claim 2 , wherein the information notification means is configured to:
determine a merging direction of the predicted cutting-in vehicle based on a movement direction of the predicted cutting-in vehicle in a vehicle width direction of the own vehicle with respect to the own vehicle when the notification start condition is satisfied; and
notify the driver of the merging direction when the intention of the cutting-in of the predicted cutting-in vehicle is notified to the driver.