Travel control apparatus, travel control method, travel control program, and storage medium

A travel control method for a vehicle, the travel control method comprising:

• acquiring frontal information including a display cycle of one or more traffic lights ahead of the vehicle;
• generating a passing travel plan in which the vehicle passes through the traffic light without needing to wait for the traffic light to change, based on the acquired frontal information;
• and
• determining that travel control of the vehicle is performed using a stopping travel plan in which the vehicle is stopped at the traffic light to wait for the traffic light to change, instead of the passing travel plan, in response to vehicle speed control information included in the generated passing travel plan including a predetermined stopping travel recommendation condition, wherein
• the stopping travel recommendation condition includes a vehicle speed equal to or less than a threshold vehicle speed continuing for a predetermined period of time or longer, or deceleration exceeding a deceleration threshold.

A non-transitory computer-readable storage medium storing therein a travel control program executed by a computer of a travel control apparatus for a vehicle, the travel control program causing, when executed by the computer, the travel control apparatus to perform processes comprising:

• a process for acquiring frontal information including a display cycle of one or more traffic lights ahead of the vehicle;
• a process for generating a passing travel plan in which the vehicle passes through the traffic light without needing to wait for the traffic light to change, based on the acquired frontal information;
• a process for determining that travel control of the vehicle is performed using a stopping travel plan in which the vehicle is stopped at the traffic light to wait for the traffic light to change, instead of the passing travel plan, in response to vehicle speed control information included in the generated passing travel plan including a predetermined stopping travel recommendation condition, wherein
• the stopping travel recommendation condition includes a vehicle speed equal to or less than a threshold vehicle speed continuing for a predetermined period of time or longer, or deceleration exceeding a deceleration threshold.