| 摘要 |
PROBLEM TO BE SOLVED: To forcibly stop a vehicle in a place wherein the vehicle causes no obstruction to traffic of other vehicles when detecting lowering of consciousness of a driver. SOLUTION: When lowering of consciousness (drowsing or the like) of the driver is detected during travel (S14: YES), front side road circumference conditions are detected to decide a target stop position (S18). The target stop position is decided based on presence/absence of a detected road end, presence/absence of an obstacle, presence/absence of a white line, road shoulder width, proper deceleration, and the like. Based on a lateral movement distance W necessary for stopping in the target stop position, a tire turning angleδis calculated (S22), and automatic operation is carried out to stop the vehicle in the target stop position by steering angle control and brake control (S22-S24). If steering is uncontrollable (S21: NO), a braking force difference is generated between the right and left wheels to change the direction of the vehicle to guide it to the target stop position. COPYRIGHT: (C)2008,JPO&INPIT |
