Driving control apparatus for vehicle
In a driving control apparatus for a vehicle having an ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's 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 driving lane by following control to a target path, an override function for stopping the ACC function and the LKA function by a driver's operation intervention, and a function for notifying the driver of stopping the LKA function and the ACC function and operation takeover and performing fallback control of the LKA function and the ACC function at the time of system limit of the LKA function, override threshold values serving as a determination criterion of the operation intervention for stopping the LKA function and the ACC function at the time of system limit of the LKA function are configured to be altered to a value greater than during normal operation when the LKA function is within the system limit.
1. A driving control apparatus for a vehicle, comprising:
an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane and other vehicles driving in the driving lane 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 configured to perform speed control for keeping a preset target speed or target inter-vehicle distance with a preceding other vehicle 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 driving lane and performing following cruise by maintaining the predetermined inter-vehicle distance when there is a preceding other vehicle;
an LKA function for maintaining cruise in the vehicle's driving lane by following control to the target path;
an override function for stopping the ACC function and the LKA function by a driver's operation intervention; and
at a time of system limit of the LKA function, a function for notifying the driver of stopping the LKA function and the ACC function and operation takeover and performing fallback control of the LKA function and the ACC function, the fallback control including gradually decreasing the LKA function and the ACC function,
wherein at the time of system limit of the LKA function, override threshold values serving as a determination criterion of the driver's operation intervention for stopping the LKA function and the ACC function are set to second values respectively greater than first values during normal operation when the LKA function is within the system limit.
2. The driving control apparatus for the vehicle according to claim 1 , wherein the system limit of the LKA function is determined on the basis that curvature of a curve or lateral acceleration exceeds a set limit value.
3. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values include ACC override threshold values composed of 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 LKA override threshold values composed of an additive steering override threshold value and/or a subtractive 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 second values of the override threshold values at the time of system limit of the LKA function are respectively maintained from the notification of stopping the ACC function and the LKA function and operation takeover to end of the fallback control, and when the fallback control is finished, the override threshold values are respectively set back to the first values.
6. The driving control apparatus for a vehicle, according to claim 1 , wherein the environmental condition estimating part has a function that monitors whether the vehicle state is within the system limit on the basis of an external information obtained through an external sensor and a vehicle information obtained by an internal sensor.