Traveling control apparatus
A traveling control apparatus includes a computer device configured to perform control that causes a first vehicle to travel at a set constant vehicle speed or to travel following a second vehicle traveling in front of the first vehicle. The computer device is configured to set a third vehicle traveling on a merging lane merging with a traveling lane of the first vehicle and having an intention to enter a traveling lane of the first vehicle as a target to follow, and, when the third vehicle is set as the target to follow, perform a merge-to-follow process in which an inter-vehicular distance is allowable which is shorter than a target inter-vehicular distance set in the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle.
1. A traveling control apparatus comprising a computer device configured to perform control that causes a first vehicle to travel at a set constant vehicle speed or to travel following a second vehicle traveling in front of the first vehicle, the computer device configured to:
set a third vehicle detected on a merging lane as a target to follow, the merging lane merging with a traveling lane of the first vehicle; and
perform, when the third vehicle is set as the target to follow, a merge-to-follow process in which an inter-vehicular distance is allowable which is shorter than a target inter-vehicular distance set in the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle,
wherein, when an acceleration rate of the third vehicle set as the target to follow is less than a predetermined threshold and a lap rate between the third vehicle and the first vehicle is zero, the computer device is configured to:
invalidate a target acceleration rate determined with setting the third vehicle as the target to follow; and
perform the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle.
2. The traveling control apparatus according to claim 1 , wherein, when a side face of the third vehicle set as the target to follow is recognized and a rear face of the third vehicle set as the target to follow is not recognized, the computer device is configured to limit an upper limit of the target acceleration rate to an acceleration rate corresponding to throttle-off in the merge-to-follow process.
3. The traveling control apparatus according to claim 2 , wherein, when the rear face of the third vehicle set as the target to follow is recognized and it is determined based on a relative speed and an inter-vehicular distance between the third vehicle and the first vehicle that deceleration is to be made, the computer device is configured to change the target inter-vehicular distance to a smaller value in the merge-to-follow process.
4. The traveling control apparatus according to claim 2 , wherein the computer device is configured to set, when determining that traffic congestion has been generated, the target acceleration rate by changing a setting of the target inter-vehicular distance to a setting for the traffic congestion in the merge-to-follow process.
5. The traveling control apparatus according to claim 1 , wherein, when the rear face of the third vehicle set as the target to follow is recognized and it is determined based on a relative speed and an inter-vehicular distance between the third vehicle and the first vehicle that deceleration is to be made, the computer device is configured to change the target inter-vehicular distance to a smaller value in the merge-to-follow process.
6. The traveling control apparatus according to claim 5 , wherein the computer device is configured to set, when determining that traffic congestion has been generated, the target acceleration rate by changing a setting of the target inter-vehicular distance to a setting for the traffic congestion in the merge-to-follow process.
7. The traveling control apparatus according to claim 1 , wherein the computer device is configured to set, when determining that traffic congestion has been generated, the target acceleration rate by changing a setting of the target inter-vehicular distance to a setting for the traffic congestion in the merge-to-follow process.
8. A traveling control apparatus comprising a computer device configured to perform control that causes a first vehicle to travel at a set constant vehicle speed or to travel following a second vehicle traveling in front of the first vehicle, the computer device configured to:
set a third vehicle detected on a merging lane as a target to follow, the merging lane merging with a traveling lane of the first vehicle; and
perform, when the third vehicle is set as the target to follow, a merge-to-follow process in which an inter-vehicular distance is allowable which is shorter than a target inter-vehicular distance set in the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle travels, wherein
the computer device is configured to limit an upper limit of a target acceleration rate to an acceleration rate corresponding to throttle-off in the merge-to-follow process when a side face of the third vehicle set as the target to follow is recognized and a rear face of the third vehicle set as the target to follow is not recognized, and
the computer device is configured to change the target inter-vehicular distance to a smaller value in the merge-to-follow process when the rear face of the third vehicle set as the target to follow is recognized and it is determined based on a relative speed and an inter-vehicular distance between the third vehicle and the first vehicle that deceleration is to be made.