| 摘要 |
A system for determining the passability of a vehicle through a section of road ahead of the vehicle is controlled based on coordinates of a plurality of nodes NN (N1, N2, N3, N4 . . . ) constituting the road section ahead of a subject vehicle. The system calculates a passing-state determination amount thetaN/LN for each of the nodes NN, and based on the passing-state determination amount thetaN/LN, the system then determines whether the vehicle can positively or safely pass through the road section. The passing-state determination amount thetaN/LN serves as an indicator which represents a degree of difficulty in the passage of the vehicle through the nodes NN and which is obtained, for example, by dividing an angle thetaN formed by a line segment connecting the adjacent nodes NN by a distance LN between the adjacent nodes NN. Even if only one or two nodes NN exist on a curve, it is possible to accurately determine whether the vehicle can pass the curve by using the passing-state determination amount thetaN/LN.
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