Driving control apparatus for vehicle
An ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's own driving lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle, an LKA function for maintaining cruise in the vehicle's own driving lane by following control to a target path, a function for performing automated lane change to a neighboring lane when there is no other vehicle in a predetermined range in the neighboring lane, an override function for stopping the automated lane change function by a driver's operation intervention, and a function for performing fallback control of the automated lane change function, with notifying the driver of stopping the automated lane change function and operation takeover.
1. A driving control apparatus for a vehicle, comprising:
an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's lane and neighboring lanes and other vehicles in the respective lanes and a function for obtaining the vehicle's moving state;
a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part; and
a vehicle control part for performing speed control and steering control for causing the vehicle to follow the target path, and having:
an ACC function for performing constant speed cruise according to the target speed when there is no preceding other vehicle in the vehicle's lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle;
an LKA function for maintaining cruise in the vehicle's lane by following control to the target path;
a function for performing automated lane change to a neighboring lane when there is no other vehicle in a predetermined range in the neighboring lane;
an override function for stopping the automated lane change function by a driver's operation intervention; and
a function for performing fallback control of the automated lane change function, with notifying the driver of stopping the automated lane change function and operation takeover, at a time of deviation of a system operational design domain during operation of the automated lane change function,
characterized in that override threshold values serving as a determination criterion of the operation intervention for stopping the automated lane change function at the time of deviation of the system operational design domain are configured to be altered to a value greater than during normal operation within the system operational design domain.
2. The driving control apparatus for the vehicle according to claim 1 , wherein the deviation of the system operational design domain is determined on the basis that any of vehicle states obtained by the environmental condition estimating part, traffic environments including cutting-in and sudden braking of other vehicles, environmental conditions including a road surface change, and road conditions including disappearance of a lane marking, reduction in a number of lanes, and a lane merging section and a lane diversion section obtained by the environmental condition estimating part using map information and positioning means deviates from the system operational design domain.
3. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values include an accelerator override threshold value serving as a determination criterion of accelerator operation intervention and/or a brake override threshold value serving as a determination criterion of brake operation intervention.
4. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values include a steering override threshold value serving as a determination criterion of steering operation intervention.
5. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values at the time of deviation of the system operational design domain are configured to be kept from the notification of stopping the automated lane change function and operation takeover to end of the fallback control.