| 摘要 |
PURPOSE: To generate a braking force at an exact timing without unnecessarily generating it. CONSTITUTION: This braking control device calculates a relative distance d between an obstacle and an own vehicle, a relative speed Vr, a lateral moving distance Y necessary for avoiding a contact with the obstacle (step S1) and determines whether or not the vehicle can avoid the obstacle by the braking based on the relative distance d and the relative speed Vr and whether or not the vehicle can avoid it by the braking after a lapse of a prescribed time TcB (steps S2 and S3). The control device calculates a necessary time Ty for the vehicle laterally moving by the lateral moving distance Y and determines whether or not the vehicle can avoid the obstacle by steering based on it and the necessary time required for the own vehicle contacting with the obstacle and whether or not the vehicle can avoid it by steering after a lapse of a prescribed time TcS (steps S4 and S5). When it estimates impossible to avoid the obstacle by the braking and the steering after the lapse of the prescribed time, a gradually increasing braking force FL is generated (steps S6-S10), and when it becomes impossible to avoid the obstacle by both of the braking and the steering, a further larger braking force FH is generated (steps S6 and S7).
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