| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a travel control device to control the travel of a vehicle so as to efficiently avoid an obstacle at a shortest distance. <P>SOLUTION: A radar device 11 detects the relative distance between a vehicle and an obstacle. A differentiator 21 of an ECU 20 detects a relative speed by performing the time-differentiation of the relative distance. An optimum control input operator 22 refers to an optimum control input table when it detects that the relative distance detected by the radar device 11 reaches a threshold Th or shorter and in a control range, and operates the optimum control input (the force F and the directionθ) corresponding to the relative speed v<SB>0</SB>by each unit step. When a distribution operator 23 detects that the relative distance is the threshold Th or shorter, and in the control range, the control distribution of a steering angle and a braking force is operated so that a vehicular motion state quantity is matched with an optimum control input operated by the optimum control input operator 22. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
