| 摘要 |
<p>A curve-running target acceleration operation unit (40) calculates a curve-running target acceleration (atc). A first curve-running target acceleration operation unit (42) calculates a first target acceleration (at1) corresponding to a gentle curve, and a second curve-running target acceleration operation unit (43) calculates a second target acceleration (at2) corresponding to a steep curve. The curve-running target acceleration (atc) is set to the smaller value of the first target acceleration (at1) and the second target acceleration (at2). A following-run target acceleration operation unit (20) calculates a following-run target acceleration (atf), and a constant-speed target acceleration operation unit (30) calculates a constant-speed target acceleration (atu). An arbitration unit (4) selects the minimum value of the curve-running target acceleration (atc), the constant-speed target acceleration (atu) and the following-run target acceleration (atf), as the target acceleration.</p> |
