| 摘要 |
PROBLEM TO BE SOLVED: To appropriately implement deceleration control even if an object is erroneously detected as an obstacle through obstacle detection using waves reflected from the object.SOLUTION: When an own vehicle velocity falls below a pre-set value, a road gradient of a travel path is computed based on a detection signal of a 3G acceleration sensor 7 and the own vehicle velocity. In a state in which the own vehicle is not descending a slope, a reference value D0 is set as a distance threshold Dth. In a state in which the own vehicle is descending the slope, Dn smaller than the reference value D0 and dependent on the road gradient is set as the distance threshold Dth. When the own vehicle is traveling downhill, compared with when the own vehicle is traveling on a flat road, a distance D from the own vehicle to an object is hindered from falling below the distance threshold Dth. Accordingly, even if a drainage ditch M existing in a flat road near the end of a downhill is erroneously detected as an obstacle, implementation of deceleration control can be suppressed. |
