To provide a travel control apparatus capable of safely travelling a road with poor visibility.
A risk calculation part 12 calculates a risk value at traveling a point, and determines whether or not the calculated value is equal to or larger than a predetermined threshold value. A vehicle geometric target calculation part 13 sets a target position and a target attitude which own vehicle is to reach. A vehicle target arrival process calculation part 14 calculates a travel route until reaching the target position and the target attitude. If the risk value is equal to or larger than the threshold value, the vehicle geometric target calculation part 13 sets the target position and the target attitude at a location where the dead angle in an angle of view of a travel environment detection part 21 becomes minimum, on a track within the angle of view of the travel environment detection part 21. If the risk value is smaller than the threshold value, the vehicle geometric target calculation part 13 sets the target position and the target attitude at a location which is not in the dead angle, on the track in the direction of travel at the prescribed distance away from the own vehicle detected by a road information detection part 22. If the vehicle target arrival process calculation part 14 cannot calculate a travel route until reaching the target position and the target attitude, the vehicle geometric target calculation part 13 resets the target position and the target attitude already set.
NISHIRA HIKARI
JO SHINICHIRO
| JP2006154967A | 2006-06-15 | |||
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| JP2011203795A | 2011-10-13 | |||
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| JP2009037561A | 2009-02-19 | |||
| JP2013112067A | 2013-06-10 |
| WO2011129014A1 | 2011-10-20 | |||
| US20090037088A1 | 2009-02-05 |
Iwa Saki Kokuni
Masakazu Ito
Shunichi Takahashi
Toshio Takamatsu