{
  "$type": "site.standard.document",
  "description": "A vehicle traveling control apparatus includes a first traveling environment recognition unit using an onboard sensor, a second traveling environment recognition unit using external information, a visibility distance calculating unit, a first deceleration control unit, a second deceleration control…",
  "path": "/patents/1273409",
  "publishedAt": "2020-10-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0223",
    "SUBARU CORPORATION"
  ],
  "textContent": "A vehicle traveling control apparatus includes a first traveling environment recognition unit using an onboard sensor, a second traveling environment recognition unit using external information, a visibility distance calculating unit, a first deceleration control unit, a second deceleration control unit, and a start timing changing unit. When a sum of an estimation error of a distance set in the second traveling environment recognition unit and a visibility distance is larger than a distance to a rearmost vehicle under congestion recognized by the second traveling environment recognition unit, the start timing changing unit calculates a deceleration required distance necessary until deceleration control is taken over from second deceleration control by the second deceleration control unit, to first deceleration control by the first deceleration control unit, and start the second deceleration control from a distance longer than a second control target distance at a timing considering the deceleration required distance.",
  "title": "VEHICLE TRAVELING CONTROL APPARATUS"
}