| 摘要 |
PROBLEM TO BE SOLVED: To enable braking force control which avoids an obstacle while minimizing the attitude variation of a vehicle and easily avoids another obstacle after the avoidance of the obstacle. SOLUTION: The necessity of the braking force control is determined by an execution determination part 131 of the braking force control based on the traveling state of one's own vehicle which is detected by the position of the obstacle detected by an obstacle detection part 110 and the traveling state detection part 120 of the one's own vehicle. When the braking force control is required, obstacle avoidance determination is carried out by the determination part 133 for obstacle avoidance from a predicted traveling course which is calculated by a predicted traveling course calculating part 132 based on the traveling state of the one's own vehicle and the position of the obstacle. When it is determined that the obstacle avoidance is not carried out, a braking force command value is calculated by the calculation part 134 for the braking force command value, and a braking force generation part 140 is controlled by the braking force command value. COPYRIGHT: (C)2008,JPO&INPIT
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