Driving control apparatus for vehicle
A driving control apparatus for a vehicle having a CACC function for performing convoy cruise by cooperative adaptive cruise control using an ACC function together with driving information on convoy vehicles obtained by vehicle-to-vehicle communication, and a tracking control function for performing steering control to perform following cruise to the preceding vehicle when it is determined that a lane cannot be recognized during the convoy cruise, the driving control apparatus has a function for: notifying a driver of CACC function cancelation and of tracking control start, in case in which failure has occurred in the vehicle-to-vehicle communication or the lane cannot be recognized during the convoy cruise; shifting to following cruise by the tracking control function; and setting override threshold values serving as a determination criterion of operation intervention for stopping the tracking control function to a second value greater than a first value of during normal operation.
1. A driving control apparatus for a vehicle, comprising:
an environmental condition estimating part including a surrounding recognition function including a function for recognizing a lane and a preceding vehicle and a function for obtaining a 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;
a vehicle control part for performing speed control and steering control for causing the vehicle to follow the target path; and
a vehicle-to-vehicle communication part for exchanging driving information among convoy vehicles, and having:
an adaptive cruise control (ACC) function for performing constant speed cruise at a target speed or performing following cruise to the preceding vehicle at a target inter-vehicle time;
a lane keeping assist (LKA) function for maintaining cruise in the vehicle's lane by steering control to follow the target path;
a cooperative adaptive cruise control (CACC) function for performing convoy cruise by cooperative adaptive cruise control using the ACC function together with the driving information on a leading vehicle of the convoy vehicles obtained by the vehicle-to-vehicle communication part and the steering control; and
a tracking control function for performing steering control to perform following cruise to the preceding vehicle on the basis of the information of the preceding vehicle obtained by the environmental condition estimating part when it is determined that the lane cannot be recognized during the convoy cruise,
Wherein upon making a determination that a failure has occurred in the vehicle to vehicle communication or the lane cannot be recognized during convoy cruise, canceling the CACC function, shifting to following cruise by the tracking control function, notifying the driver of a cancelation of the CACC and a start of tracking control, and setting override threshold values serving as a determination criterion of operation intervention for stopping the tracking control function to a second value greater than a first value present during normal operation.
2. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values include a brake override threshold value serving as a determination criterion of brake operation intervention and/or a steering override threshold value serving as a determination criterion of steering operation intervention.
3. The driving control apparatus for the vehicle according to claim 1 , wherein the override threshold values serving as the determination criterion of the operation intervention for stopping the tracking control function are configured to be returned to the first values during normal operation when, after it is determined that failure has occurred in the vehicle-to-vehicle communication or a lane cannot be recognized during the convoy cruise, they are cleared.