| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic driving system of a vehicle which stops precedent control when requested for stopping quickly the vehicle during automatic travelling of the vehicle.SOLUTION: Based on vehicle surrounding information and map information detected by a detection sensor, a travel plan for a vehicle is created, and based on the travel plan, automatic travelling of the vehicle is controlled. When change of an operation condition of an engine is predicted from the travel plan, prior to the predicted change of the operation condition of the engine, precedent control by which control command values of an engine operation controller are precedently controlled is started before the predicted change of the operation condition of the engine occurs, and when requested for quickly stopping the vehicle against the travel plan for the vehicle, the precedent control is stopped.SELECTED DRAWING: Figure 17 |
