| 摘要 |
<p>PROBLEM TO BE SOLVED: To adjust a following distance to a targeted one in a preceding vehicle follow-up control without giving a driver uncomfortable feeling. SOLUTION: In this system, a target vehicle speed V* is calculated in a following-distance control part based on a following distance L and vehicle speed Vs detected by a following-distance sensor and vehicle speed sensor respectively. Based on the target vehicle speed V*, the vehicle speed is adjusted to the target vehicle speed in a vehicle speed control part. In this case, a reference natural frequencyωL is set to be small when a relative speedΔV is small, while set to be large when the relative speedΔV is large in the following- distance control part. Also, a correction factor K(V) is set to be large in a low speed range and small in a high speed range, and then both values are multiplied so as to obtain a natural frequencyωn. Based on this, a following- distance control gain fd and vehicle speed control gain fv are set. Then, a target relative speedΔV* is calculated by adding the value obtained by multiplying the gain fd with the deviation between the following distance L and a target following-distance L*, to the value obtained by multiplying the relative speed with the gain fv. The target speed V* is then calculated based on this.</p> |
