| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to accurately determine whether to continue or discontinue passing a preceding vehicle from the relation between the preceding vehicle and an own vehicle if the preceding vehicle accelerates at a time of (or while) passing the preceding vehicle.SOLUTION: If an own vehicle A is to pass a preceding vehicle B, a drive assist control unit 11 calculates a preceding vehicle velocity Vb of a preceding vehicle B on the basis of a change in a distance between the two vehicles L1 detected by an on-vehicle camera 22 and lateral radars 25 and 26; calculates a relative vehicle velocity &Dgr;Vba(=Vb-Va) of an own vehicle velocity Va of the own vehicle A detected by a vehicle velocity sensor 24 to the preceding vehicle velocity Vb (S31); compares the relative vehicle velocity &Dgr;Vba with a discontinuation determination threshold Tv set on the basis of the own vehicle velocity Va (S33); and determines that the preceding vehicle B suddenly accelerates, sets a discontinuation determination flag F (F←1, S35), and discontinues a passing control if the relative velocity &Dgr;Vba exceeds the discontinuation determination threshold Tv (&Dgr;Vba>Tv). |
