| 摘要 |
PROBLEM TO BE SOLVED: To predict the curve radius of the forward course of a road even during traveling on the road in which curve radiuses frequently change by calculating a predicted yaw rate after the passage of a specified time based on a yaw rate changing quantity per unit time and calculating a predicted curve radius based on the predicted yaw rate. SOLUTION: An ECU 11 is provided with a speed adjusting means 21a, an alarm control means 21b and a rotation control means 21c, and a control means 11a for calculating a predicted yaw rate two seconds later based on a yaw rate changing quantity and a predicted curve radius based on this predicted yaw rate is provided in the ECU11. Thus, even during traveling on a road in which curve radiuses frequently change, the curve radius of the forward course of the road is predicted, an alarm is issued with a good timing and a distance from an advance vehicle is always properly maintained. |
