| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle controller setting a restraint condition such that a travel plan to largely run over a road is not generated according to a convergence decision reference value even when too enlarging the convergence decision reference value of the restraint condition when online calculating the travel plan by use of optimization calculation so as to achieve vehicle travel control wherein both a calculation time and safety are simultaneously materialized. SOLUTION: This vehicle controller variably sets the restraint condition according to the convergence decision reference value of an evaluation function used for the travel control of a vehicle. COPYRIGHT: (C)2011,JPO&INPIT
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