| 摘要 |
PROBLEM TO BE SOLVED: To compute the direction of a control force capable of avoiding an obstacle in a shortest distance within a maximum vehicle body acceleration. SOLUTION: A map determining relations among a first parameter v<SB>x</SB>/√(G<SB>ref</SB>Y<SB>e</SB>') decided according to components v<SB>x</SB>in the body longitudinal direction of a relative speed, a maximum body acceleration G<SB>ref</SB>, and a body lateral distance Y<SB>e</SB>' for avoiding an obstacle, a second parameter vy/√(G<SB>ref</SB>Y<SB>e</SB>') decided according to components v<SB>y</SB>in the body lateral direction of the relative speed, the maximum vehicle body acceleration G<SB>ref</SB>, and the body lateral direction Y<SB>e</SB>', and a directionθof body generation force for avoiding the obstacle is stored. The distance between the own vehicle and the obstacle and the relative speed of the own vehicle to the obstacle are detected, the parameters are calculated based on the detected distance and relative speed, and the directionθof the body generation force is derived using the calculated parameters and the map. COPYRIGHT: (C)2008,JPO&INPIT |
