| CPC B60W 30/12 (2013.01) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/53 (2020.02)] | 9 Claims |
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1. A travel control apparatus comprising:
a camera configured to capture an outside image in front of a self-vehicle; and
a control circuit including at least one processor and at least one storage device and configured to execute first control to perform lane keeping of the self-vehicle based on a recognition result of a division line of a road on which the self-vehicle is traveling based on the outside image, and second control to perform steering control that follows a preceding vehicle of the self-vehicle,
wherein the control circuit is configured to:
determine based on the outside image whether or not the self-vehicle has entered an intersection;
switch control to be executed from the first control to the second control at a first timing from when the recognition result of the division line of the road, based on the outside image, is changed from a recognition state to an unrecognition state in a case in which the self-vehicle has not entered the intersection,
switch the control to be executed from the first control to the second control at a second timing from when the recognition result of the division line of the road, based on the outside image, is changed from the recognition state to the unrecognition state in a case in which the self-vehicle has entered the intersection, and
the second timing is earlier than the first timing so that a traveling distance, in a longitudinal direction of the road, of the self-vehicle in the first control after the recognition result of the division line of the road has changed from the recognition state to the unrecognition state in a case in which the self-vehicle has entered the intersection is shorter than the traveling distance in a case in which the self-vehicle has not entered the intersection.
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