| 摘要 |
<p>PROBLEM TO BE SOLVED: To execute an alarm and automatic deceleration in an appropriate timing and to prevent a driver from having a feeling that something is wrong regardless of a road shape in front. SOLUTION: A pass estimated speed VN that decides whether a node of a road in front of a self vehicle position is passed through or not is calculated on the assumption that a vehicle which exists at the self vehicle position at a vehicle speed V decelerates at prescribed deceleration. Because the deceleration at a curve is more difficult than the deceleration on a straight road, the deceleration that actually occurs is inclined to be large on a straight road and to be small at a curve. Then, in the case of a straight road, the speed VN is calculated by using the larger reference deceleration β1 , and in the case of a curve, the speed VN is calculated by using the shorter reference deceleration β2 . With this, an appropriate pass estimated speed VN is acquired.</p> |
