| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an automatic follow-up control device for predicting a shape of a road into which an own vehicle rushes and running the own vehicle safely and comfortably, by accurately detecting the shape of the road into which a precedent vehicle rushes. <P>SOLUTION: An acceleration command value 307 is calculated by using a recognition probability 302 of the precedent vehicle and considering curve acceleration and slope acceleration calculated based on a curve radius 305 and a road gradient 322 previously estimated based on the state of the precedent vehicle. This allows previous deceleration before a curve, previous acceleration before an uphill slope, and previous deceleration at the finish of the uphill slope and before a downhill slope. Holding curve acceleration and slope acceleration without precedent vehicle prevents unnecessary acceleration when sight of the precedent vehicle is lost due to change of road state before the curve, at the finish of the uphill slope, or the like. <P>COPYRIGHT: (C)2003,JPO</p> |
