Vehicle acceleration control apparatus with intervention stop and cancellation

A vehicle traveling control apparatus comprising:

• an operation member to be operated by an occupant, the operation member being provided in a vehicle to operate traveling of the vehicle;
• and
• a controller configured to acquire operation information regarding an operation on the operation member by the occupant, and execute a traveling control including an acceleration or deceleration control of accelerating or decelerating the vehicle in accordance with the acquired operation information,
• wherein the controller is configured to execute
• an intervention stop control of decelerating and stopping the vehicle that is traveling, regardless of the operation on the operation member by the occupant or against the operation on the operation member by the occupant,
• an intervention cancellation control of cancelling the intervention stop control when at least one of the following is satisfied:
• an elapsed time after the vehicle stops is greater than or equal to a threshold;
• a steering amount or a steering speed on a steering wheel serving as one of the operation members of the vehicle is greater than or equal to a threshold;
• an in-vehicle sensor provided in the vehicle has an abnormality;
• and
• the vehicle exhibits a body behavior of greater than or equal to a threshold, based on a result of detection by the in-vehicle sensor provided in the vehicle, the body behavior including a yaw rate detected by an acceleration sensor that is the in-vehicle sensor, and
• a driving control of accelerating the vehicle,
• wherein the vehicle includes an accelerator pedal serving as the operation member,
• wherein, in the driving control after cancelling the intervention stop control by the intervention cancellation control, the controller is configured to accelerate the vehicle by a second driving control that suppresses acceleration as compared with a first driving control of accelerating the vehicle in accordance with an operation amount on the acceleration pedal by the occupant,
• wherein the controller is configured to set an intervention control mode including a normal mode and an acceleration rate suppression mode,
• wherein, in the normal mode, the controller is configured to determine an abnormal operation based on both an operation speed and an operation amount on the accelerator pedal, and
• wherein, in the acceleration rate suppression mode, the controller is configured to determine the abnormal operation based on one of the operation speed and the operation amount on the accelerator pedal,
• wherein, when the controller determines, during the intervention stop control, that there is the abnormal operation regarding one or both of the operation speed and the operation amount on the accelerator pedal, the controller is configured, after cancelling the intervention stop control, to accelerate the vehicle by the second driving control,
• wherein the suppression of acceleration by the second driving control limits the acceleration to a first threshold in the normal mode and to a second threshold in the acceleration rate suppression mode, the second threshold being lower than the first threshold, and
• wherein the first threshold and the second threshold are set to increase according to an elapsed time after the intervention stop control is cancelled.