| 摘要 |
PROBLEM TO BE SOLVED: To accurately and responsively continue capturing of changes in vehicles ahead and vehicles ahead to be controlled and to provide travelling control intended by the driver conveniently and stably with a natural sense. SOLUTION: The vehicle external monitor 5 calculates a new own vehicle traveling route C from an own vehicle traveling route A obtained by lane markings and side walls, and an own vehicle traveling route B based on the yaw rate of the own vehicle 1. The vehicle external monitor 5 then accurately determines if there is a possibility of relative separation of the vehicle ahead and the own vehicle 1 or not. If there is no possibility of separation of the vehicle ahead according to the relation between the own vehicle traveling route C and the vehicle ahead or a solid object near the vehicle ahead, if the own vehicle turn signal is OFF, and if the absolute value of steering wheel angle is less than a pre-set value, a new own vehicle traveling route E is calculated from the own vehicle traveling route C and the track of the vehicle ahead, and then a new own vehicle traveling route for this time is calculated based on the own vehicle traveling route E and the previous own vehicle traveling route. COPYRIGHT: (C)2004,JPO |
