| 摘要 |
PROBLEM TO BE SOLVED: To compute actual motion information on its own vehicle by an on-vehicle outside monitoring device such as a stereo camera and radar, to reduce costs by minimizing sensors as much as possible, and to obtain a necessary control parameter with high accuracy. SOLUTION: An own vehicle information computing part 30 extracts two stationary three-dimensional objects outside the vehicle based on image information from CCD cameras 21L, 21R, detects information on each three-dimensional object (moving velocity (velocity relatively generated by the movement of its own vehicle), position), computes its own vehicle velocity V and an actual yaw rateγbased on information on the two three-dimensional objects, and outputs them to a braking force control part 40. The braking force control parts computes a target yaw rateγ, compares the target yaw rateγt and the actual yaw rateγ, selects a wheel to which a braking force is applied, and outputs a signal to a braking driving part 13 to execute braking control. COPYRIGHT: (C)2005,JPO&NCIPI
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