JP5594115B2 - Travel pattern planning device - Google Patents

Description

  The present invention relates to a travel pattern planning apparatus that plans a travel pattern of a vehicle.

  As a conventional travel pattern planning device, for example, as described in Patent Document 1, when restarting an engine during travel of a hybrid vehicle, driving by a starter motor and driving shafts according to the driving state of the vehicle There has been known one that switches between starting and pushing by rotation.

JP 2006-183547 A

  However, in the above-described prior art, if the idle rotation period from when the engine is restarted due to pushing until the start of acceleration becomes excessively long, energy loss due to the idle rotation state increases. May be exacerbated.

  An object of the present invention is to provide a travel pattern planning apparatus that can reduce energy consumption when the engine is restarted and can surely improve fuel efficiency.

The present invention relates to a travel pattern planning apparatus for planning a travel pattern of a vehicle capable of stopping an engine while traveling, a travel path information acquiring means for acquiring road alignment information ahead of the vehicle, and detecting the vehicle speed. a vehicle speed sensor for, based on the road shape information acquired by the travel path information acquisition unit, and a restart traveling pattern determining means for determining a restart running pattern for restarting the engine, restarting the running pattern determination Based on the road alignment information acquired by the road information acquisition means, the means generates a driving pattern for restarting the engine by pushing , and determines the driving pattern for restarting as the restart driving pattern. a push start traveling pattern determining means for, is detected by the acquired road shape information and the vehicle speed sensor by the travel path information acquisition unit Based on the vehicle speed of the vehicle, the time alignment means for determining whether the traveling time from the pushing point in front of the corner entrance to the acceleration point is equal to or less than a predetermined time, and the road alignment acquired by the traveling path information acquiring means Distance judging means for judging whether or not the distance of the straight line after passing the corner is equal to or less than a predetermined distance based on the information, and the driving pattern determining means for pushing is a push before the corner entrance by the time judging means. When it is determined that the travel time from the cliff point to the acceleration point is less than or equal to the predetermined time , a traveling pattern for corner entrance pushing is generated to restart the engine by pushing in front of the corner entrance, and time judgment It is determined by the means that the traveling time from the pushing point in front of the corner entrance to the acceleration point is not less than the predetermined time, and the distance judging means Ri when the distance of a straight line after the corner passage is determined to be a predetermined distance or less, and characterized by generating the corner outlet push start traveling patterns for restarting the cliff press engine in front of the corner exit To do. Here, restarting the engine by pushing means restarting the engine using the kinetic energy of the vehicle.

As described above, in the traveling pattern planning apparatus of the present invention , the traveling time from the pushing point in front of the corner entrance to the acceleration point is less than or equal to the predetermined time based on the traveling path information ahead of the vehicle and the vehicle speed. If it is determined that the travel time from the pushing point in front of the corner entrance to the acceleration point is less than the predetermined time, the corner for restarting the engine by pushing in front of the corner entrance An entrance pushing travel pattern is generated . Therefore, the idle rotation period from when the engine is restarted by pushing until the acceleration is started is shortened, and energy loss due to the idle rotation state is suppressed. As a result, energy consumption at the time of restarting the engine is reduced, so that fuel consumption can be reliably improved.

At this time, preferably, when the travel pattern determining means for pushing generates the corner exit pushing travel pattern, the pushing point before the corner exit is positioned outside the corner from the center of the road. A running pattern is generated. In this case, since the R (curvature) of the traveling locus from the entrance point of the corner to the pushing point is increased, the traveling speed of the vehicle can be increased. Thereby, the travel time (travel time) of the vehicle can be shortened.

Also, preferably, re-starting the travel pattern determining means, the running time to accelerate from point push start point short of the corner entrance is determined to not less than a predetermined time by the time determining means, a corner after passing by the distance determining means The starter travel for restarting the engine with the starter at a point before the corner exit based on the road alignment information acquired by the travel path information acquisition means when it is determined that the straight line distance is not less than the predetermined distance It generates a pattern, further comprising a starter traveling pattern determining means for determining a travel pattern for the starter as the restart running patterns. If the engine is restarted by pushing at a point just before the corner exit , the vehicle stalls (decelerates), and thus the travel time must be longer as the distance of the straight line after passing the corner becomes longer. Therefore, when the distance of a straight line after the corner passing is judged not the predetermined distance or less, by generating a starter driving pattern for restarting the engine by the starter in front point of the corner exit, the vehicle in a straight line Since the traveling speed is maintained, it is possible to improve both fuel efficiency and travel time.

  ADVANTAGE OF THE INVENTION According to this invention, the energy consumption at the time of engine restart can be reduced, and a fuel consumption improvement can be aimed at reliably.

It is a block diagram which shows schematic structure of the driving assistance apparatus provided with one Embodiment of the driving pattern planning apparatus concerning this invention. It is a flowchart which shows the detail of the travel pattern plan process procedure performed by the travel pattern plan part shown in FIG. It is a figure which shows an example of a basic speed pattern. It is a figure which shows an example of a corner entrance pushing speed pattern. It is a figure which shows an example of a brake starter speed pattern. It is a flowchart which shows the detail of the traveling pattern plan process sequence performed by the traveling pattern planning part in other embodiment of the traveling pattern planning apparatus concerning this invention. It is a figure which shows an example of a corner exit pushing speed pattern. It is a flowchart which shows the detail of the driving | running | working pattern plan processing procedure performed by the driving | running pattern planning part in further another embodiment of the driving | running | working pattern planning apparatus concerning this invention. It is a figure which shows an example of a correction corner exit pushing speed pattern.

  Hereinafter, a preferred embodiment of a travel pattern planning apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of a travel support apparatus including an embodiment of a travel pattern planning apparatus according to the present invention. In the figure, the driving support device 1 is mounted on a hybrid (HV) vehicle that can stop the engine during driving and can restart the engine by pushing. Here, “push” refers to using the kinetic energy of the vehicle.

  The driving support device 1 detects the current position of the host vehicle, and provides navigation 2 that provides route guidance to the destination, a vehicle speed sensor 3 that detects the vehicle speed of the host vehicle, and a G sensor 4 that detects acceleration of the host vehicle. A rear radar 5 for detecting the distance and relative speed between the host vehicle and the following vehicle, a low speed travel permission switch 6 for permitting the host vehicle to travel at a low speed, an ECU (Electronic Control Unit) 7, and a hybrid system 8; The brake actuator 9 is provided.

  The ECU 7 includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like. The ECU 7 includes a travel pattern planning unit 10 and an acceleration / deceleration control unit 11. The travel pattern planning unit 10 performs predetermined processing based on the information of the navigation 2, the detection signals of the vehicle speed sensor 3, the G sensor 4 and the rear radar 5, and the operation signal of the low speed travel permission switch 6 to determine the travel pattern of the host vehicle. To plan. The acceleration / deceleration control unit 11 controls the hybrid system 8 and the brake actuator 9 according to the traveling pattern obtained by the traveling pattern planning unit 10.

  FIG. 2 is a flowchart showing details of the travel pattern plan processing procedure executed by the travel pattern planning unit 10. Here, the processing is performed on the road (traveling road) as discrete points with a minute interval (for example, 30 cm). The traveling line of the host vehicle is the center in the width direction of the road (hereinafter simply referred to as the road center).

  In the figure, first, road alignment information ahead of the host vehicle is acquired from the navigation 2 (step S101). Subsequently, based on the road alignment information ahead of the host vehicle and the detection signal of the G sensor 4, a basic speed pattern is generated such that the engine is restarted by the starter at or before the exit of the curve (corner) (step S102). .

  The basic speed pattern is an optimum fuel consumption speed pattern set so as not to cause a friction circle failure. In generating the basic speed pattern, acceleration is set as high-efficiency engine acceleration, and deceleration is set as free-run. Then, the upper limit traveling speed is calculated from the curvature R of the corner ahead of the host vehicle and the side G of the host vehicle, and a basic speed pattern is generated.

  Specifically, as shown in FIG. 3, when the host vehicle travels along a straight line → a corner → a straight line, acceleration is stopped at a straight line before the corner, the engine is stopped, and free-run deceleration is performed (see P1). , Pass through the corner with a free run (see P2), restart the stopped engine with the starter at the corner exit (corner rise) (see P3), and accelerate on a straight line after passing the corner (see P4) Generate a basic speed pattern. At this time, the acceleration during free-run deceleration is set to, for example, -0.02G, and the approach speed and the passing speed at the corner are set to, for example, 15 km / h.

  Subsequently, based on the road alignment information ahead of the host vehicle, a corner entrance pushing speed pattern is generated such that the engine is restarted by pushing before the corner entrance (step S103).

  Specifically, as shown in FIG. 4, when the host vehicle travels in a straight line → corner → straight line, acceleration is stopped at the straight line before the corner, the engine is stopped, and free-run deceleration is performed (see Q1). A corner that restarts the engine in a stopped state by pushing before the entrance of the corner (see Q2), passes through the corner in the idle rotation state (see Q3), and accelerates at the corner exit (see Q4). An inlet pushing speed pattern is generated. At this time, the acceleration during free-run deceleration is set to, for example, -0.02G, and the approach speed and the passing speed at the corner are set to, for example, 15 km / h.

  Subsequently, based on the road alignment information in front of the host vehicle and the detection signal of the vehicle speed sensor 3, the travel time (corresponding to idle rotation time) from the pushing point before the corner entrance to the acceleration point is a predetermined time (for example, 5 seconds). It is determined whether it is the following (step S104). When it is determined that the traveling time from the pushing point before the corner entrance to the acceleration point is equal to or less than the predetermined time, the corner entrance pushing speed pattern generated in step S103 is sent to the acceleration / deceleration control unit 11 as a running pattern. (Step S105).

  If it is determined in step S104 that the travel time from the pushing point in front of the corner entrance to the acceleration point is longer than the predetermined time, whether there is a subsequent vehicle behind the host vehicle based on the detection signal of the rear radar 5 It is determined whether or not (step S106).

  When it is determined that there is no subsequent vehicle behind the host vehicle, it is determined whether or not the host vehicle is permitted to travel at low speed based on the operation signal of the low-speed travel permission switch 7 (step S107). When it is determined that the vehicle is allowed to travel at low speed, the basic speed pattern generated in step S102 is sent to the acceleration / deceleration control unit 11 as a traveling pattern (procedure S108).

  When it is determined in step S106 that there is a subsequent vehicle behind the host vehicle, and it is determined in step S107 that low-speed driving of the host vehicle is not permitted, the corner is determined based on the road alignment information in front of the host vehicle. A brake / starter speed pattern is generated such that the brake is decelerated by the brake before the entrance and the engine is restarted by the starter before the corner exit (step S109).

  Specifically, as shown in FIG. 5, when the host vehicle travels along a straight line → a corner → a straight line, acceleration is stopped at a straight line before the corner, the engine is stopped, and free-run deceleration is performed (see R1). , Decelerate by brake before the corner entrance (see R2), pass through the corner with free run (see R3), restart the stopped engine with the starter before the corner exit (see R4), and after passing the corner A brake / starter speed pattern of accelerating on a straight line (see R5) is generated. At this time, the acceleration during free-run deceleration is set to, for example, -0.02G, and the approach speed and the passing speed at the corner are set to, for example, 15 km / h.

  Subsequently, the brake / starter speed pattern is sent to the acceleration / deceleration control unit 11 as a running pattern (step S110).

  In the above, the navigation 2 and the procedure S101 of the travel pattern planning unit 10 constitute a travel path information acquisition unit that acquires travel path information ahead of the vehicle. The steps S102 to S110 of the travel pattern planning unit 10 constitute restart travel pattern determining means for determining a travel pattern for restarting the engine based on the travel path information acquired by the travel path information acquiring means. . At this time, steps S103 to S105 constitute a travel pattern determining means for pushing that determines a running pattern for restarting the engine by pushing.

  By the way, when the engine is restarted by the starter, for example, 40 kJ or more of energy is consumed as the electric energy for turning the starter and the fuel injection energy for engine ignition. On the other hand, the energy consumption is reduced by restarting the engine by pushing before obtaining the corner advance.

  Moreover, when pushing, strong deceleration can be obtained. Specifically, the acceleration during free-run deceleration is about -0.02G, whereas the acceleration during pushing deceleration is about -0.04G. For this reason, the speed before pushing becomes higher by, for example, about 5 km / h than the speed after pushing, so that the speed at the completion of deceleration (when entering the corner) is maintained at a predetermined value (for example, 15 km / h). Therefore, it is necessary to travel at a high speed on the straight line before entering the corner, and as a result, the average speed can be improved.

  In order to obtain the average speed equivalent to this, when using the brake to decelerate before the corner advance, energy loss due to the brake and energy loss due to restarting the engine due to the starter occur, resulting in further fuel consumption. Leads to worsening. When restarting the engine by pushing, such energy loss does not occur.

  However, when the engine is restarted by pushing before obtaining the corner advance, the distance from the pushing point to the acceleration point before obtaining the corner advance is increased, so that the idle state of the engine continues for a long time. The energy loss during rotation (idle energy loss) exceeds the energy loss during engine restart by the starter (engine restart energy loss).

  Therefore, when the travel time from the pushing point to the acceleration point before obtaining the corner advance is shorter than the time (5 seconds here) that balances the idle energy loss and the engine restart energy loss (40 kJ here), the corner entrance The engine is restarted by pushing in front, and if not, the engine is restarted by a starter at or before the corner exit.

If the vehicle is an HV vehicle having a regenerative braking function and the battery charge state (SOC) has a 40 kJ charge margin (for example, 60% or less), the loss of engine restart due to the brake + starter is reduced. The idle rotation time determination time is changed to the following equation. The energy transfer rate is 80%, for example.
Determination time = 5 seconds × (1−energy transfer rate ^ 2)

  As described above, according to the present embodiment, when the travel time from the pushing point before the corner entrance to the acceleration point is equal to or shorter than the predetermined time, the corner entrance that restarts the engine by pushing before the corner entrance. Since the pushing speed pattern is adopted as the running pattern, the duration of the idle rotation state is shortened, and the idle energy loss is reduced. Thereby, since consumption of energy at the time of restarting the engine is suppressed, fuel efficiency can be improved with certainty.

  FIG. 6 is a flowchart showing details of a travel pattern plan processing procedure executed by the travel pattern planning unit 10 in another embodiment of the travel pattern planning apparatus according to the present invention. In the figure, the same processes as those in the flowchart shown in FIG.

  In the figure, when it is determined in step S104 that the travel time from the pushing point before the corner entrance to the acceleration point is longer than a predetermined time (for example, 5 seconds), based on the road alignment information in front of the host vehicle, The length of a straight line (for example, a section of 50R or more) after passing the corner is calculated (procedure S111).

  Subsequently, it is determined whether or not the length of the straight line after passing the corner is a predetermined value (for example, 100 m) or less (step S112). When it is determined that the length of the straight line after passing through the corner is less than or equal to the predetermined value, corner exit pushing that restarts the engine by pushing before the corner exit based on the road alignment information ahead of the vehicle. A speed pattern is generated (step S113).

  Specifically, as shown in FIG. 7, when the host vehicle travels from straight line → corner → straight line → corner, it stops acceleration at the straight line before the first corner, stops the engine, and performs free-run deceleration. (See S1) Pass through the corner with a free run (see S2), restart the engine by pushing in front of the corner exit (see S3), accelerate on the straight line after the corner, and before the next corner The corner exit pushing speed pattern of decelerating at (see S4) is generated. At this time, the acceleration during free-run deceleration is set to, for example, -0.02G, and the approach speed and the passing speed at the corner are set to, for example, 15 km / h.

  At this time, the corner exit pushing speed pattern is set so that the traveling time from the pushing start point to the straight line that is the acceleration section is within a predetermined time (for example, 5 seconds). Accordingly, the time for traveling at a low speed while maintaining the idle rotation state is shortened, which can contribute to an improvement in fuel consumption.

  Subsequently, the corner exit pushing speed pattern is sent to the acceleration / deceleration control unit 11 as a running pattern (step S114).

  If it is determined in step S112 that the length of the straight line after passing the corner is longer than a predetermined value, it is determined whether or not there is a subsequent vehicle behind the host vehicle based on the detection signal of the rear radar 5 (procedure). S115). When it is determined that there is a subsequent vehicle behind the host vehicle, the basic speed pattern generated in step S102 is sent to the acceleration / deceleration control unit 11 as a running pattern (step S116). The basic speed pattern is a speed pattern in which the engine is restarted by the starter immediately before the corner exit (see S3 in FIG. 7).

  When it is determined in step S115 that there is no subsequent vehicle behind the host vehicle, it is determined whether or not the host vehicle is permitted to travel at low speed based on the operation signal of the low speed travel permission switch 6 (step S117). When it is determined that the vehicle is allowed to travel at low speed, the above-described corner exit pushing speed pattern is generated (step S113). When it is determined that the vehicle is not allowed to travel at low speed, the basic speed pattern is sent to the acceleration / deceleration control unit 11 (step S116).

  In the above, the steps S102 to S105 and S113 to S116 of the travel pattern planning unit 10 are restarts for determining a travel pattern for restarting the engine based on the travel path information acquired by the travel path information acquiring means. A traveling pattern determination means is comprised. The steps S111 and S112 constitute determination means for determining whether the distance of the acceleration section is equal to or greater than a predetermined distance based on the travel path information acquired by the travel path information acquisition means. At this time, steps S103 to S105, S113, and S114 constitute a travel pattern determination means for pushing that determines a travel pattern for restarting the engine by pushing. Steps S102 and S116 are a starter travel pattern for determining a travel pattern for restarting the engine with a starter at a point before the acceleration section when the distance of the acceleration section is determined to be greater than or equal to a predetermined distance by the determination means. The determination means is configured.

  By the way, when the engine is restarted by the starter before the corner exit, the engine restart energy of, for example, 40 kJ or more is consumed as described above. If the engine is restarted by pushing before the corner exit, engine restart energy is saved, but stalling (for example, the speed is reduced by 5 km / h) at the time of pushing requires energy to make up for the kinetic energy. It becomes.

  On the other hand, in the present embodiment, since the straight line that is the acceleration section after passing through the corner is short, when it is not necessary to maintain a high vehicle speed, the host vehicle travels at a low speed with no subsequent vehicle behind the host vehicle. Only when it is permitted, the engine is restarted by pushing in front of the corner exit, so that the energy consumption at the time of restarting the engine is suppressed without being affected by the speed reduction. Become. In addition, when the straight line that is the acceleration section after passing through the corner is long, the engine is restarted by the starter before the corner exit, so that high speed traveling on the straight line becomes possible. As a result, it is possible to prevent the travel time from becoming long while improving the fuel consumption.

  FIG. 8 is a flowchart showing details of a travel pattern plan processing procedure executed by the travel pattern planning unit 10 in still another embodiment of the travel pattern planning apparatus according to the present invention. In the figure, the same processes as those in the flowcharts shown in FIGS. 2 and 6 are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, first, the travel line of the host vehicle is set at the center of the road (step S121). And said procedure S101-S105, S111-S113, S115, S117 is performed.

  After executing the above step S113, it is determined whether or not the road width on which the host vehicle is to travel is equal to or smaller than a predetermined value (for example, vehicle width + 1 m) (step S122). When it is determined that the road width is equal to or less than the predetermined value, the corner exit pushing speed pattern generated in step S113 is sent to the acceleration / deceleration control unit 11 as a running pattern (step S114).

  When it is determined that the road width is larger than the predetermined value, as shown in FIG. 9, the point A where the engine is restarted (pushing point) A is moved from the road center to the outside of the corner by pushing before the corner exit. (Procedure S123). At this time, the pushing point A is moved from the center of the road to the corner outside so as to leave a margin of 30 cm. Then, the three points of the pushing point A, the road center point B at the corner entrance, and the road center point C at the corner exit are connected by a relaxation curve (for example, clothoid curve) (step S124).

  Subsequently, the corrected corner exit pushing speed pattern is generated by correcting the corner exit pushing speed pattern using the relaxation curve (step S125). For example, a corner exit pushing speed pattern as shown by a broken line in FIG. 9 is corrected, and a corrected corner exit pushing speed pattern as shown by a solid line in FIG. 9 is generated.

  At this time, the corner exit pushing speed pattern is a speed pattern such that the corner travels along the road center, and is set to turn at a constant R, for example, at a speed of 15 km / h. On the other hand, the corrected corner exit pushing speed pattern is a speed pattern in which the corner travels along a running line in which the pushing point is shifted to the outside of the corner, and a large R, for example, 20 km from the corner entrance to the pushing point. It is set to turn at a speed of 10 km / h with a small R from the pushing point to the corner exit.

  Thereby, the traveling speed from the corner entrance to the pushing point can be increased. Further, since the travel speed is reduced by the pushing, the direction of the host vehicle can be greatly changed immediately after the engine is restarted by the pushing.

  Subsequently, the corrected corner exit pushing speed pattern is sent to the acceleration / deceleration control unit 11 as a running pattern (step S126).

  Further, when it is determined in step S115 that there is a subsequent vehicle behind the host vehicle, when it is determined in step S117 that the low-speed driving of the host vehicle is not permitted, the same as step S122 described above. Next, it is determined whether or not the width of the road on which the vehicle is to travel is equal to or smaller than a predetermined value (step S127). When it is determined that the road width is equal to or less than the predetermined value, the basic speed pattern set in the above step S102 is sent to the acceleration / deceleration control unit 11 as a running pattern (step S116).

  When it is determined that the road width is larger than the predetermined value, the starter (starter driving point) where the engine is restarted by the starter before the corner exit is moved to the outside of the corner (step S128). Then, the starter driving point, the road center point at the corner entrance, and the road center point at the corner exit are connected by a relaxation curve (step S129).

  Subsequently, a corrected basic speed pattern is generated by correcting the basic speed pattern using a relaxation curve (step S130). Then, the corrected basic speed pattern is sent to the acceleration / deceleration control unit 11 as a running pattern (step S131).

  As described above, in the present embodiment, when the road width of the corner is wide, the speed pattern having a traveling line in which the engine restart point (pushing point and starter driving point) in front of the corner exit is moved to the outside of the corner. Since it is generated, the curvature R from the corner entrance to the engine restart point increases. Thereby, the average speed of the own vehicle can be increased with the same fuel consumption, and the travel time can be shortened.

  In the present embodiment, the corrected corner exit pushing speed pattern and the corrected basic speed pattern having a travel line passing through the road center point of the corner entrance are generated, but not only the engine restart point but also the corner entrance point is a corner. A speed pattern having a travel line moved outward may be generated. In this case, the traveling speed from the corner entrance to the engine restart point can be further increased.

  As mentioned above, although several suitable embodiment of the traveling pattern planning apparatus concerning this invention has been described, this invention is not limited to the said embodiment. For example, the travel pattern planning apparatus of the above embodiment is mounted on a hybrid vehicle capable of stopping the engine during travel. However, the present invention is a vehicle capable of coasting with the engine stopped. The present invention can also be applied.

DESCRIPTION OF SYMBOLS 1 ... Travel assistance apparatus (travel pattern planning apparatus), 2 ... Navigation (travel path information acquisition means), 7 ... ECU, 10 ... Travel pattern plan part (travel path information acquisition means, restart travel pattern determination means, determination means, Travel pattern determining means for pushing, travel pattern determining means for starter).

Claims (3)

In a traveling pattern planning device that plans a traveling pattern of a vehicle that can stop an engine during traveling,
Traveling road information acquisition means for acquiring road alignment information ahead of the vehicle;
A vehicle speed sensor for detecting the vehicle speed of the vehicle;
Based on the obtained road shape information by the travel path information acquisition unit, and a restart traveling pattern determining means for determining a restart running pattern for restarting the engine,
The restart travel pattern determination means includes
Based on the road alignment information acquired by the travel path information acquisition means , a travel pattern for restarting the engine by restarting is generated, and the travel pattern for pressing is used as the restart travel pattern. A driving pattern determining means for determining to determine ;
Based on the road alignment information acquired by the travel path information acquisition means and the vehicle speed of the vehicle detected by the vehicle speed sensor, the travel time from the pushing point before the corner entrance to the acceleration point is a predetermined time or less. Time determination means for determining whether or not there is,
Distance determining means for determining whether the distance of the straight line after passing the corner is equal to or less than a predetermined distance based on the road alignment information acquired by the traveling road information acquiring means ;
The push start traveling pattern determining means, when the running time to the acceleration point from push start point short of the corner inlet is determined to be less than or equal to the predetermined time by the time determining means, said corner inlet A corner entrance pushing travel pattern is generated for restarting the engine by pushing in front of the engine, and the running time from the pushing point in front of the corner entrance to the acceleration point by the time judging means is the predetermined time. If the distance determining means determines that the distance of the straight line after passing through the corner is equal to or less than the predetermined distance, the engine is restarted by pushing in front of the corner exit. A traveling pattern planning apparatus for generating a traveling pattern for pushing a corner exit of a vehicle. The driving pattern determining means for driving, when generating the driving pattern for corner exit pressing, travels such that the pressing point before the corner exit is located outside the corner from the center of the road. travel pattern planning device according to claim 1, wherein the generating a pattern. Before SL restart running pattern determination means, wherein the running time from the corner entrance in front of the push start point to the acceleration point is determined to not less than the predetermined time by the time determining means, said by the distance determining means When it is determined that the distance of the straight line after passing the corner is not less than or equal to the predetermined distance, the engine is restarted by the starter at a point just before the corner exit based on the road alignment information acquired by the road information acquisition means. The travel pattern plan according to claim 1 or 2 , further comprising starter travel pattern determination means for generating a starter travel pattern for starting and determining the starter travel pattern as the restart travel pattern. apparatus.

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