| 摘要 |
PROBLEM TO BE SOLVED: To improve ride quality of a vehicle when the vehicle is determined to make an opposite behavior change with respect to a latest behavior change.SOLUTION: An automatic driving vehicle system 100 includes: a travel plan generating section 13 generating a travel plan and a control width of a target control value in the travel plan; a travel control section 15 computing a command control value such that a vehicle state becomes a target vehicle state; and a behavior determination section 14 determining whether or not a vehicle makes an opposite behavior change with respect to a latest behavior change within first time from present time. When the vehicle is determined to make the opposite behavior change, the travel control section 15 computes the command control value so as to cause a behavior change amount of the latest behavior change to be small and the vehicle state to become a limited vehicle state corresponds to an inside of the control width in comparison with the case where a present vehicle state is caused to follow the target vehicle state when the opposite behavior change is determined to be absent.SELECTED DRAWING: Figure 1 |
