Vehicle travel control apparatus

A vehicle travel control apparatus configured to control a traveling operation of a vehicle including an actuator for traveling,

• the vehicle travel control apparatus comprising:
• a sensor mounted on the vehicle to capture an image of a division line in a traveling direction of the vehicle or measure the division line;
• and
• an electronic control unit including a microprocessor and a memory connected to the microprocessor, wherein
• the microprocessor is configured to perform:
• controlling the actuator based on a position information of the division line obtained by the sensor,
• determining whether a predetermined road surface condition in which a degree of any of a step, a gradient or an undulation of a road surface including the division line in the traveling direction of the vehicle captured or measured by the sensor is greater than or equal to a predetermined degree, is satisfied, or, whether a predetermined road condition in which a road including the division line in the traveling direction of the vehicle captured or measured by the sensor is any of a tunnel road having a tunnel, a curved road or a branch road, is satisfied, and
• the controlling including controlling the actuator based on the position information of the division line obtained by the sensor when it is determined that the predetermined road surface condition is not satisfied or the predetermined road condition is not satisfied, while stopping controlling the actuator based on the position information of the division line obtained by the sensor when it is determined that the predetermined road surface condition is satisfied or when it is determined that the predetermined road condition is satisfied.

A vehicle travel control method configured to control a traveling operation of a vehicle including an actuator for traveling,

• the vehicle travel control method comprising:
• capturing an image of a division line in a traveling direction of the vehicle or measuring the division line;
• controlling the actuator based on a position information of the division line obtained by capturing or measuring and a reliability with respect to the position information of the division line, and
• setting the reliability based on a shape of a road surface or a road structure in the traveling direction of the vehicle.