| 摘要 |
PROBLEM TO BE SOLVED: To achieve automatic operation reducing sense of incongruity given to a driver and avoiding obstacles. SOLUTION: By an obstacle avoidance potential function computing means 24, a potential function for obstacle avoidance is computed based on a relative position between a current target arrival point and an obstacle. By a target vehicle motion computing means 30, based on a vehicle control potential function which is the sum of a potential function for following a target and the computed potential function for obstacle avoidance, a deviation angle between the current vehicle advancing direction and the direction to the target arrival point, and a gradient of the vehicle control potential function in the relative position between the current vehicle position and the target arrival point are computed, and based on the gradient of the vehicle control potential function, a target vehicle motion is computed. By a vehicle motion control means 32, a steering device and an acceleration/deceleration device are controlled so that the computed target vehicle motion is achieved. COPYRIGHT: (C)2010,JPO&INPIT |
