| 摘要 |
An object of the present invention is to reliably carry out warning braking in a situation where the warning braking is needed and a crew can recognize the warning braking, and prevent the crew from feeling an unnatural sensation due to the warning braking in a situation where the warning braking is needed but the crew cannot effectively recognize the warning braking. If an obstacle is present ahead of the vehicle (step 410), the driver does not carry out brake operation (step 415), the driver is looking aside (step 420), and the vehicle may collide with the obstacle (step 460), the maximum target deceleration Gbt2max for the warning braking is computed. If automatic travel control is not carried out (step 510) or if automatic travel control is being carried out and its target deceleration Gbt4 is less than a reference value Gbt4s smaller than the maximum target deceleration Gbt2max (step 515), the warning braking is carried out (steps 520 to 565). However, when the target deceleration Gbt4 for the automatic travel control is larger than the allowable reference value Gbt4s for warning braking (step 515), the warning braking is not carried out. |
