| 摘要 |
PROBLEM TO BE SOLVED: To prevent a vehicle from colliding with other vehicle or any obstacle by judging the road surface condition properly without giving a sense of incompatibility to the driver. SOLUTION: A control start/end and controlled variable setting part 16 calculates the collision marginal time and distance on the basis of the speeds, accelerations, and max. decelerations of the vehicie concerned and another vehicle as applicable. Judgement is made whether the situation is under control, and if not, judgement is made whether the control is to be started, where start of the specified control is decided when at least one of the collision marginal time and marginal distance has become lower than the corresponding threshold value. At this time, the control start/end and controlled variable setting part 16 controls a driver alarm part 4, brake force control part 5, and engine output reducing part 6 so as to avoid collision with other vehicle, etc.
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