# US 9,751,515 B2 · Vehicle travel control apparatus, vehicle travel control method, and vehicle travel control program > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,515 B2 - Document ID: US9751515B2 - Status: Granted - Kind: B2 - Application number: 15/040,183 - Filed: 2016-02-10 - Published: 2016-08-18 - Granted: 2017-09-05 - Earliest claimed: 2015-02-16 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Yoshiyuki Kuroba - Web page: https://patentgrep.com/patent/US9751515B2 ## CPC - B60W 10/04: including control of propulsion units - B60W 10/188: hydraulic brakes - B60W 30/17: with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go - B60W 50/087: {where the control system corrects or modifies a request from the driver} - B60W 2540/10: Accelerator pedal position - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A vehicle travel control apparatus includes: a detection part that detects an operation state of an accelerator pedal by a driver; an automatic travel control part that performs an automatic travel control in which a vehicle is automatically stopped according to a predetermined condition and independent of the operation of the driver; and an erroneous start limitation control part that limits a drive amount when the vehicle is started according to the operation state of the accelerator pedal detected by the detection part, wherein the erroneous start limitation control part decreases the degree of limitation of the drive amount when the vehicle is started in a case where the vehicle is automatically stopped according to the automatic travel control compared to a case where the vehicle is stopped according to the operation of the driver. ## Claims ### Claim 1 A vehicle travel control apparatus comprising: a detection part that detects an operation state of an accelerator pedal by a driver; an automatic travel control part that performs an automatic travel control in which a vehicle is automatically stopped according to a predetermined condition and independent of the operation of the driver; and an erroneous start limitation control part that limits a drive amount when the vehicle is started according to the operation state of the accelerator pedal detected by the detection part, wherein the erroneous start limitation control part decreases the degree of limitation of the drive amount when the vehicle is started in a case where the vehicle is automatically stopped according to the automatic travel control compared to a case where the vehicle is stopped according to the operation of the driver. ### Claim 2 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein the erroneous start limitation control part decreases the degree of limitation of the drive amount in a case where the vehicle is automatically stopped according to the automatic travel control compared to a case where the vehicle is stopped according to the operation of the driver by limiting the drive amount when the vehicle is started in a case where a state quantity that represents the operation state of the accelerator pedal detected by the detection part is equal to or more than a threshold value and increasing the threshold value in a case where the vehicle is automatically stopped according to the automatic travel control to more than the threshold value in a case where the vehicle is stopped according to the operation of the driver. ### Claim 3 (depends on 2) The vehicle travel control apparatus according to claim 2, wherein the automatic travel control part controls a braking force output part of the vehicle to output a braking force for automatically stopping the vehicle and moderates or releases the output of the braking force according to the operation to the accelerator pedal of the driver. ### Claim 4 (depends on 3) The vehicle travel control apparatus according to claim 3, wherein the automatic travel control part automatically restarts the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 5 (depends on 3) The vehicle travel control apparatus according to claim 3, wherein the automatic travel control part stops the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 6 (depends on 2) The vehicle travel control apparatus according to claim 2, wherein the automatic travel control part automatically restarts the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 7 (depends on 2) The vehicle travel control apparatus according to claim 2, wherein the automatic travel control part stops the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 8 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein the automatic travel control part controls a braking force output part of the vehicle to output a braking force for automatically stopping the vehicle and moderates or releases the output of the braking force according to the operation to the accelerator pedal of the driver. ### Claim 9 (depends on 8) The vehicle travel control apparatus according to claim 8, wherein the automatic travel control part automatically restarts the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 10 (depends on 8) The vehicle travel control apparatus according to claim 8, wherein the automatic travel control part stops the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 11 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein the automatic travel control part automatically restarts the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 12 (depends on 1) The vehicle travel control apparatus according to claim 1, wherein the automatic travel control part stops the automatic travel control according to the operation to the accelerator pedal of the driver in a case where the vehicle is automatically stopped according to the automatic travel control. ### Claim 13 A vehicle travel control method comprising by way of a computer: detecting an operation state of an accelerator pedal by a driver; performing an automatic travel control in which a vehicle is automatically stopped according to a predetermined condition independent of the operation of the driver; and decreasing, when limiting a drive amount when the vehicle is started according to the detected operation state of the accelerator pedal, the degree of limitation of the drive amount when the vehicle is started in a case where the vehicle is automatically stopped according to the automatic travel control compared to a case where the vehicle is stopped according to the operation of the driver. ### Claim 14 A non-transitory computer-readable recording medium comprising a vehicle travel control program for causing a computer to: detect an operation state of an accelerator pedal by a driver; perform an automatic travel control in which a vehicle is automatically stopped according to a predetermined condition independent of the operation of the driver; and decrease, when limiting a drive amount when the vehicle is started according to the detected operation state of the accelerator pedal, the degree of limitation of the drive amount when the vehicle is started in a case where the vehicle is automatically stopped according to the automatic travel control compared to a case where the vehicle is stopped according to the operation of the driver.