Vehicle control apparatus and vehicle control program product
In a vehicle control apparatus, an acquiring unit acquires factor information that causes acceleration or deceleration of the own vehicle while the own vehicle is subjected to the acceleration/deceleration control. A setting unit sets, based on the factor information, a maximum level of deceleration and/or a maximum level of acceleration. The maximum level of deceleration represents a maximum rate of reduction in a speed of the own vehicle during deceleration of the own vehicle. The maximum level of acceleration represents a maximum rate of increase in the speed of the own vehicle during acceleration of the own vehicle. A control unit is operative to perform (i) deceleration control of the own vehicle using the maximum level of deceleration as an upper limit for the deceleration control, and/or (ii) acceleration control of the own vehicle using the maximum level of acceleration as an upper limit for the acceleration control.
1 . A vehicle control apparatus for executing acceleration/deceleration control of an own vehicle traveling in a lane as an own lane, the vehicle control apparatus comprising:
an acquiring unit configured to acquire factor information indicative of one or more factors that cause acceleration or deceleration of the own vehicle while the own vehicle is subjected to the acceleration/deceleration control;
a setting unit configured to set, based on the factor information, at least one of a maximum level of deceleration and a maximum level of acceleration, the maximum level of deceleration representing a maximum rate of reduction in a speed of the own vehicle during deceleration of the own vehicle, the maximum level of acceleration representing a maximum rate of increase in the speed of the own vehicle during acceleration of the own vehicle; and
an acceleration/deceleration control unit configured to comprise at least one of:
a first function of performing deceleration control of the own vehicle using the maximum level of deceleration as an upper limit for the deceleration control; and
a second function of performing acceleration control of the own vehicle using the maximum level of acceleration as an upper limit for the acceleration control,
wherein the acceleration/deceleration control unit is configured to:
execute, as the acceleration/deceleration control, tracking control that causes the own vehicle to track, as a target preceding vehicle, a vehicle traveling ahead of the own vehicle in the own lane;
determine, when the own vehicle makes a lane change from the own lane to a lane adjacent to the own lane, whether a forward adjacent vehicle is traveling in a forward adjacent area of the own vehicle in the adjacent lane; and
switch, upon determination that the forward adjacent vehicle is traveling in the forward adjacent area of the own vehicle in the adjacent lane, the target preceding vehicle of the tracking control from the vehicle traveling ahead of the own vehicle in the own lane to the forward adjacent vehicle;
wherein the factor information includes information indicative of whether the forward adjacent vehicle is traveling in the forward adjacent area of the own vehicle in the adjacent lane,
wherein the setting unit is configured to set, upon determination that the forward adjacent vehicle is traveling in the forward adjacent area of the own vehicle in the adjacent lane under execution of the tracking control, at least one of:
the maximum level of deceleration with respect to the forward adjacent vehicle as the target preceding vehicle of the tracking control; and
the maximum level of acceleration with respect to the forward adjacent vehicle as the target preceding vehicle of the tracking control.
2 . The vehicle control apparatus according to claim 1 , wherein:
the acquiring unit is configured to acquire, as the factor information, information indicative of whether a forward adjacent vehicle is traveling in a forward adjacent area of the own vehicle on an adjacent lane that is adjacent to the own lane; and
the setting unit is configured to set, upon determination that the forward adjacent vehicle is traveling in the forward adjacent area of the own vehicle in the adjacent lane under execution of the acceleration/deceleration control, at least one of:
the maximum level of deceleration with respect to the forward adjacent vehicle; and
the maximum level of acceleration with respect to the forward adjacent vehicle.
3 . The vehicle control apparatus according to claim 2 , wherein:
the setting unit is configured to set, on condition that an occurrence of a lane-change command for lane-change of the own vehicle from the own lane to the adjacent lane, at least one of the maximum level of deceleration with respect to the forward adjacent vehicle and the maximum level of acceleration with respect to the forward adjacent vehicle.
4 . The vehicle control apparatus according to claim 2 , wherein:
the setting unit is configured to set the maximum level of deceleration when the own vehicle makes a lane change to be smaller than the maximum level of deceleration when the own vehicle does not make a lane change.
5 . The vehicle control apparatus according to claim 2 , further comprising:
a rearward-adjacent vehicle determiner configured to determine whether a rearward adjacent vehicle is traveling in a rearward adjacent area of the own vehicle in the adjacent lane,
wherein:
the setting unit is configured to set the maximum level of deceleration upon determination that the rearward adjacent vehicle is traveling in the rearward adjacent area of the own vehicle in the adjacent lane to be smaller than the maximum level of deceleration upon determination that the rearward adjacent vehicle is not traveling in the rearward adjacent area of the own vehicle in the adjacent lane.
6 . The vehicle control apparatus according to claim 2 , wherein:
the acceleration/deceleration control unit is configured to:
calculate, when performing deceleration of the own vehicle with respect to a directly forward vehicle traveling ahead of the own vehicle in the own lane, a first level of deceleration with respect to the directly forward vehicle;
calculate, when performing deceleration of the own vehicle with respect to the forward adjacent vehicle, a second level of deceleration with respect to the forward adjacent vehicle; and
execute the acceleration/deceleration control based on a larger one of the first level of deceleration and the second level of deceleration.
7 . The vehicle control apparatus according to claim 2 , wherein:
the acceleration/deceleration control unit is configured to:
calculate, when performing acceleration of the own vehicle with respect to a directly forward vehicle traveling ahead of the own vehicle in the own lane, a first level of acceleration with respect to the directly forward vehicle;
calculate, when performing acceleration of the own vehicle with respect to the forward adjacent vehicle, a second level of acceleration with respect to the forward adjacent vehicle; and
execute the acceleration/deceleration control based on a smaller one of the first level of acceleration and the second level of acceleration.
8 . The vehicle control apparatus according to claim 2 , wherein:
the acceleration/deceleration control unit is configured to:
set a target speed for the own vehicle; and
execute the acceleration/deceleration control based on the target speed;
the acquiring unit is configured to acquire, as the factor information, at least one of first information on a road shape in a forward direction of the own vehicle, second information on one or more intersections in the forward direction of the own vehicle, and third information on one or more traffic signs in the forward direction of the own vehicle; and
the setting unit is configured to set, under execution of the acceleration/deceleration control, the maximum level of acceleration of the own vehicle based on a difference of a real speed of the own vehicle from the target speed and a traffic information.
9 . The vehicle control apparatus according to claim 1 , wherein:
the acquiring unit is configured to acquire, as the factor information, at least one of first information on a road shape in a forward direction of the own vehicle, second information on one or more intersections in the forward direction of the own vehicle, and third information on one or more traffic signs in the forward direction of the own vehicle; and
the setting unit is configured to set at least one of the maximum level of deceleration and the maximum level of acceleration based on a traffic information.
10 . The vehicle control apparatus according to claim 1 , further comprising:
a rearward vehicle determiner configured to determine whether a rearward vehicle is traveling behind the own vehicle in the own lane,
wherein:
the setting unit is configured to set the maximum level of deceleration upon determination that the rearward vehicle is traveling behind the own vehicle in the own lane to be smaller than the maximum level of deceleration upon determination that the rearward vehicle is not traveling behind the own vehicle in the own lane.
11 . A processor-readable vehicle control program product for causing a processor to execute acceleration/deceleration control of an own vehicle traveling in a lane as an own lane, the processor-readable vehicle control program product comprising:
a non-transitory storage medium; and
a set of computer-program instructions stored in the non-transitory storage medium,
the computer-program instructions causing a processor to execute the following steps of:
acquiring factor information indicative of one or more factors that cause acceleration or deceleration of the own vehicle while the own vehicle is subjected to the acceleration/deceleration control;
setting, based on the factor information, at least one of a maximum level of deceleration and a maximum level of acceleration, the maximum level of deceleration representing a maximum rate of reduction in a speed of the own vehicle during deceleration of the own vehicle, the maximum level of acceleration representing a maximum rate of increase in the speed of the own vehicle during acceleration of the own vehicle;
performing at least one of:
deceleration control of the own vehicle using the maximum level of deceleration as an upper limit for the deceleration control; and
acceleration control of the own vehicle using the maximum level of acceleration as an upper limit for the acceleration control;
executing tracking control that causes the own vehicle to track, as a target preceding vehicle, a vehicle traveling ahead of the own vehicle in the own lane;
determining, when the own vehicle makes a lane change from the own lane to a lane adjacent to the own lane, whether a forward adjacent vehicle is traveling in a forward adjacent area of the own vehicle in the adjacent lane; and
switching, upon determination that the forward adjacent vehicle is traveling in the forward adjacent area of the own vehicle in the adjacent lane, the target preceding vehicle of the tracking control from the vehicle traveling ahead of the own vehicle in the own lane to the forward adjacent vehicle.