Abstract: A vehicle traveling control apparatus includes a determiner, a selector, and a switcher. The determiner determines a feature quantity of a third vehicle traveling ahead of a second vehicle for a plurality of targets present in front of the second vehicle traveling ahead of a first vehicle as an own vehicle when generating a target route and controlling a follow-up traveling of the first vehicle. The selector selects, among the plurality of targets, the third vehicle to be followed by the first vehicle based on a determination result of the feature quantity, when the second vehicle departs from a position in front of the first vehicle. The switcher switches the target route from a first target route generated based on a traveling trajectory of the second vehicle to a second target route generated based on a traveling trajectory of the third vehicle upon the departure of the second vehicle.

Abstract: A vehicle driving assist apparatus includes a processor that generates a target traveling trajectory of an own vehicle on the basis of a preceding vehicle traveling trajectory. The processor includes: a determining unit that determines first and second fluctuation amounts and compares them with a threshold to determine fluctuation in both end point positions in a widthwise direction of a preceding vehicle; and a first calculator that, on a condition that one of the first and the second fluctuation amounts is greater than the threshold and thereby determined as fluctuating and the other of the first and the second fluctuation amount is equal to or less than the threshold and thereby determined as non-fluctuating, determines a vehicle width center position of the preceding vehicle by setting, as a reference, non-fluctuating one of the both end point positions corresponding to the non-fluctuating one of the first and the second fluctuation amounts.

Abstract: A vehicle traveling control apparatus includes a setter, a detector, and a determiner. The setter sets a lane-change route through which an own vehicle change lanes from a current target route to an adjacent lane. The detector detects a road surface pattern by irregularities on a road to which a lane change is to be made. The determiner determines whether the own vehicle interferes with the road surface pattern, and instructs correction of the set lane-change route based on a result of the determination. When there is not the interference, the determiner permits the lane change through the lane-change route. When there is the interference, the determiner instructs the setter to correct the lane-change route. The determiner permits the lane change through the corrected lane-change route when there is not the interference on the corrected lane-change route, and prohibits or cancels the lane change when there is still the interference.

Abstract: A vehicle traveling control apparatus includes a setter, a detector, and a determiner. The setter sets a lane-change route through which an own vehicle change lanes from a current target route to an adjacent lane. The detector detects a road surface pattern by irregularities on a road to which a lane change is to be made. The determiner determines whether the own vehicle interferes with the road surface pattern, and instructs correction of the set lane-change route based on a result of the determination. When there is not the interference, the determiner permits the lane change through the lane-change route. When there is the interference, the determiner instructs the setter to correct the lane-change route. The determiner permits the lane change through the corrected lane-change route when there is not the interference on the corrected lane-change route, and prohibits or cancels the lane change when there is still the interference.

Abstract: A vehicle driving assist apparatus includes a processor that generates a target traveling trajectory of an own vehicle on the basis of a preceding vehicle traveling trajectory. The processor includes: a determining unit that determines first and second fluctuation amounts and compares them with a threshold to determine fluctuation in both end point positions in a widthwise direction of a preceding vehicle; and a first calculator that, on a condition that one of the first and the second fluctuation amounts is greater than the threshold and thereby determined as fluctuating and the other of the first and the second fluctuation amount is equal to or less than the threshold and thereby determined as non-fluctuating, determines a vehicle width center position of the preceding vehicle by setting, as a reference, non-fluctuating one of the both end point positions corresponding to the non-fluctuating one of the first and the second fluctuation amounts.

Abstract: A vehicle traveling control apparatus includes a determiner, a selector, and a switcher. The determiner determines a feature quantity of a third vehicle traveling ahead of a second vehicle for a plurality of targets present in front of the second vehicle traveling ahead of a first vehicle as an own vehicle when generating a target route and controlling a follow-up traveling of the first vehicle. The selector selects, among the plurality of targets, the third vehicle to be followed by the first vehicle based on a determination result of the feature quantity, when the second vehicle departs from a position in front of the first vehicle. The switcher switches the target route from a first target route generated based on a traveling trajectory of the second vehicle to a second target route generated based on a traveling trajectory of the third vehicle upon the departure of the second vehicle.

Abstract: A vehicle travel control device controls a following travel to a vehicle traveling in front of a subject vehicle. In the device, a preceding vehicle registration unit that determines whether a vehicle in front of the subject vehicle should be taken into consideration in a following travel control, and, if so, registers it as a preceding vehicle. A preceding vehicle width calculation unit calculates a vehicle width of the preceding vehicle, and stores the vehicle width of the preceding vehicle as a reference width. A control target point setting unit determines a center position of the preceding vehicle in a vehicle width direction as a control target point of the following travel, and estimates the center position based on the reference width so as to set the estimated center position as the control target point in a case where a part of the preceding vehicle being not detected.

Abstract: For a lane line search range set in a captured image obtained through imaging of the travel direction of a vehicle, a first lane line detection process detects a lane line based on a luminance image for more than half of rows within the search range, and detects a lane line based on a color difference image for the other rows, while a second lane line detection process detects a lane line based on the color difference image for a greater number of rows than in the first process. Then, a mode switchover control process performs mode switchover determination between the first and second modes based on the number of rows where a lane line of a predefined width or wider has been detected, from among the rows where a lane line has been detected, and performs mode switchover control based on the determination result.

Abstract: A vehicle travel control device controls a following travel to a vehicle traveling in front of a subject vehicle. In the device, a preceding vehicle registration unit that determines whether a vehicle in front of the subject vehicle should be taken into consideration in a following travel control, and, if so, registers it as a preceding vehicle. A preceding vehicle width calculation unit calculates a vehicle width of the preceding vehicle, and stores the vehicle width of the preceding vehicle as a reference width. A control target point setting unit determines a center position of the preceding vehicle in a vehicle width direction as a control target point of the following travel, and estimates the center position based on the reference width so as to set the estimated center position as the control target point in a case where a part of the preceding vehicle being not detected.

Abstract: In the lane line detection performed by a left-right similar object detection module, changes in brightness in the road width direction in a image plane are evaluated, a point group serving as a lane line candidate is extracted, and a lane line model is generated by calculating the parallax of left and right lane line candidate points and transforming the result into real space coordinates. A camera displacement diagnosis module determines a camera displacement by calculating a diagnostic value based on a difference between the parallaxes of the left and right lane lines in the same horizontal line between reference comparative images captured by a stereo camera unit. Where the camera displacement has occurred, a vehicle control device is instructed to stop the control function or make a transition to failsafe control, and a warning is issued instructing a user to take the vehicle to a maintenance site for inspection.

Abstract: For a lane line search range set in a captured image obtained through imaging of the travel direction of a vehicle, a first lane line detection process detects a lane line based on a luminance image for more than half of rows within the search range, and detects a lane line based on a color difference image for the other rows, while a second lane line detection process detects a lane line based on the color difference image for a greater number of rows than in the first process. Then, a mode switchover control process performs mode switchover determination between the first and second modes based on the number of rows where a lane line of a predefined width or wider has been detected, from among the rows where a lane line has been detected, and performs mode switchover control based on the determination result.

Abstract: In the lane line detection performed by a left-right similar object detection module, changes in brightness in the road width direction in a image plane are evaluated, a point group serving as a lane line candidate is extracted, and a lane line model is generated by calculating the parallax of left and right lane line candidate points and transforming the result into real space coordinates. A camera displacement diagnosis module determines a camera displacement by calculating a diagnostic value based on a difference between the parallaxes of the left and right lane lines in the same horizontal line between reference comparative images captured by a stereo camera unit. Where the camera displacement has occurred, a vehicle control device is instructed to stop the control function or make a transition to failsafe control, and a warning is issued instructing a user to take the vehicle to a maintenance site for inspection.