| 摘要 |
<p>A curve-travel target acceleration calculator 40 calculates a curve-travel target acceleration atc. A first curve-travel target acceleration calculator 42 calculates a first target acceleration at1 corresponding to a gentle curve, and a second curve-travel target acceleration calculator 43 calculates a second target acceleration at2 corresponding to a sharp curve. The curve-travel target acceleration atc is set to the smaller of the first target acceleration at1 and the second target acceleration at2. A follow-up target acceleration calculator 20 calculates a follow-up target acceleration atf and a constant-speed target acceleration calculator 30 calculates a constant-speed target acceleration atu. An arbitrator 4 selects as a target acceleration the minimum out of the curve-travel target acceleration atc, the constant-speed target acceleration atu, and the follow-up target acceleration atf</p> |
