US 12,434,700 B2
Traveling control apparatus
Hiroto Kobayashi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Dec. 21, 2023, as Appl. No. 18/393,542.
Application 18/393,542 is a continuation of application No. PCT/JP2021/039338, filed on Oct. 25, 2021.
Prior Publication US 2024/0140423 A1, May 2, 2024
Int. Cl. B60W 30/16 (2020.01)
CPC B60W 30/162 (2013.01) [B60W 2552/10 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/406 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/106 (2013.01); B60W 2754/30 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A traveling control apparatus comprising a computer device configured to perform control that causes a first vehicle to travel at a set constant vehicle speed or to travel following a second vehicle traveling in front of the first vehicle, the computer device configured to:
set a third vehicle detected on a merging lane as a target to follow, the merging lane merging with a traveling lane of the first vehicle; and
perform, when the third vehicle is set as the target to follow, a merge-to-follow process in which an inter-vehicular distance is allowable which is shorter than a target inter-vehicular distance set in the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle,
wherein, when an acceleration rate of the third vehicle set as the target to follow is less than a predetermined threshold and a lap rate between the third vehicle and the first vehicle is zero, the computer device is configured to:
invalidate a target acceleration rate determined with setting the third vehicle as the target to follow; and
perform the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle.