| 主权项 |
1. A control apparatus of a vehicle, comprising:
an own vehicle sensor configured to output an output wave ahead of an own vehicle and detect a reflected wave of the output wave; an own vehicle sensor device configured to detect a vehicle traveling in front of the own vehicle as a preceding vehicle on the basis of the reflected wave detected by the own vehicle sensor and acquire an inter-vehicle distance between the own vehicle and the preceding vehicle on the basis of the reflected wave; a wireless communication device configured to acquire communicating preceding vehicle information including communicating preceding vehicle acceleration information on an acceleration of a communicating preceding vehicle, the communicating preceding vehicle being the preceding vehicle having a function of a wireless communication; and an acceleration/deceleration control device configured to control an acceleration of the own vehicle such that the acceleration of the own vehicle corresponds to a requested acceleration of the own vehicle, the acceleration/deceleration control device including: first calculation means configured to calculate a feedback requested acceleration on the basis of the inter-vehicle distance and a target inter-vehicle distance, the feedback requested acceleration being an acceleration requested to the own vehicle for maintaining the inter-vehicle distance at the target inter-vehicle distance; second calculation means configured to calculate a feedforward requested acceleration on the basis of the communicating preceding vehicle acceleration information, the feedforward requested acceleration being an acceleration requested to the own vehicle for causing the own vehicle to travel following the communicating preceding vehicle; and third calculation means configured to calculate the requested acceleration of the own vehicle on the basis of the feedback and feedforward requested accelerations, the acceleration/deceleration control device being configured to execute a following travel control for causing the own vehicle to travel following the communicating preceding vehicle by controlling the acceleration of the own vehicle such that the acceleration of the own vehicle corresponds to the requested acceleration calculated by the third calculation means, wherein the third calculation means is configured to set the feedforward requested acceleration to zero when the own vehicle sensor device has not detected the preceding vehicle and the feedforward requested acceleration is larger than zero after an execution of the following travel control is started. |
