Honda Motor Co., Ltd.
TRAVEL CONTROL APPARATUS, VEHICLE, TRAVEL CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

Abstract:

There is provided a travel control apparatus. A control unit executes, based on a recognition result of the division line by a recognition unit, first control to perform lane keeping of the self-vehicle. In a case in which the recognition result ceases to be satisfied a predetermined condition, the control unit will switch, at a first timing. Even in a case in which the recognition result ceases to be satisfied the predetermined condition, if the predetermined condition ceases to be satisfied due to a recognition result of a width of a travel lane of the self-vehicle, the control unit will switch the control to be executed from the first control to the second control at a second timing earlier than the first timing.