| 摘要 |
When it is supposed that brake control begins at a first point in time, a collision avoidance ECU calculates: a free running distance (X0), which is the distance that can be travelled by a vehicle from the first point in time to a second point in time, at which the relative deceleration (Gr) starts to become greater due to the commencement of deceleration control; an increase travel distance (X1), which is the distance that can be travelled by the vehicle from the second point in time to a third point in time, at which the relative deceleration (Gr) reaches a target relative deceleration (At); and a post-increase-completion travel distance (X2), which is the distance that can be travelled by the vehicle from the third point in time to a point in time at which a relative speed (Vr) becomes equal to or less than a predetermined speed (Vth). Moreover, the collision avoidance ECU derives a speed reduction distance (Xth) on the basis of the result obtained by adding up the aforementioned distances (X0, X1, X2). As a consequence, it is possible to improve the calculation accuracy of the speed reduction distance (Xth). |
