| 摘要 |
PROBLEM TO BE SOLVED: To reduce vehicle speed sufficiently by generating braking force in an early stage without generating braking force wastefully when detecting an obstacle erroneously. SOLUTION: If an obstacle noticed by infrastructure information exists on a curved road and the farthest detection distance Lc of a laser radar 1 on the curved road is smaller than the distance D2 from the curve starting position to the obstacle (Step 21 to S25), braking force F1' capable of reducing vehicle speed sufficiently is calculated when braking force is generated at the point on this side of the obstacle by the farthest detection distance Lc (Step S27). If the vehicle speed at the time when passing the curve starting position exceeds proper going speed proper to this curve (Step S28), braking force lower than the brake force F1' is generated at this point of the time (Step S29). If the car speed does not exceed the proper going speed, braking force F1' is generated at the point of the time when the vehicle passes the point on this side of the obstacle by the farthest detection distance Lc and the laser radar 1 detects the obstacle (Steps S31 and S32). COPYRIGHT: (C)2004,JPO
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