Travel control apparatus for vehicle, vehicle controlling method and computer program therefor

A method of controlling a vehicle, the method comprising:

• searching for a stop location where the vehicle is to stop, on a basis of road shoulder region information;
• generating an evacuation path to the stop location on a basis of road information;
• guiding the vehicle to the stop location from a first travel lane adjacent to a road shoulder region;
• calculating a collision risk of collision with an obstacle on a road on a basis of vehicle surrounding information;
• and
• on a condition that the collision risk is a predetermined degree or higher, interrupting the guidance, otherwise guiding the vehicle to enter the stop location and stop the vehicle at the stop location.

A non-transitory computer readable storage including computer readable instructions that when executed by a controller cause the controller to execute a method of controlling a vehicle, the method comprising:

• searching for a stop location where the vehicle is to stop, on a basis of road shoulder region information;
• generating an evacuation path to the stop location on a basis of road information;
• guiding the vehicle to the stop location from a first travel lane adjacent to a road shoulder region;
• calculating a collision risk of collision with an obstacle on a road on a basis of vehicle surrounding information;
• and
• on a condition that the collision risk is a predetermined degree or higher, interrupting the guidance, otherwise guiding the vehicle to enter the stop location and stop the vehicle at the stop location.