| 摘要 |
PROBLEM TO BE SOLVED: To enable the control of vehicle-to-vehicle distance with high accuracy and excellent response upon the deceleration of a preceding vehicle. SOLUTION: A feedforward target acceleration and deceleration AF and a feedback target acceleration and deceleration AB are calculated (S1, S 2), and the difference AD between the AF and the AB is calculated (S3). When the difference AD is minus and so is the AB, a final target acceleration and deceleration AT is calculated by adding the AB to the result of multiplying of the difference AD by a prescribed gain (S5), wherein an electronic throttle 7 and the other units are controlled by an ECU 5(Electronic Control Unit), according to the AT. In the feedforward calculation, the status estimation of the preceding vehicle is performed using a Karman filter, and if the absolute value of the accumulation value of estimated errors, corresponding to changing acceleration and deceleration of the preceding vehicle, is over a prescribed value, a correction value obtained by multiplying the accumulation value by the gain is added to the AF, so that the AF is corrected.
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