| 摘要 |
PROBLEM TO BE SOLVED: To generate a braking force at precise timing without unnecessary braking action regardless of a curved road or a linear road ahead a preceding body. SOLUTION: Front road shape information is fetched from an image pick-up device, a navigation system, and the like (step S12), and the travel trajectory of an own vehicle after avoiding steering is estimated (step S14). A travelable area assumed from the front road shape information is matched with the estimated travel trajectory of the own vehicle. When the travel trajectory of the own vehicle is accommodated in the travelable area, it is determined that steering is avoidable, and when it is not accommodated, it is determined that steering (step S15) is unavoidable. In the case of the linear road, because it is required to return steering to an original after the steering is avoided, it is required to start steering in consideration of a movement volume during that time. A travel trajectory to be predicted is compared with a front road shape to determine the avoidance of steering so as to precisely determine the avoidance of steering according to a road shape. COPYRIGHT: (C)2005,JPO&NCIPI
|
