| 摘要 |
PROBLEM TO BE SOLVED: To correctly detect the unstable state of driving operation under any traveling condition containing a curved road. SOLUTION: A steering angle estimating valueθn-hat in the case of assumption that a driver is concentrated in the driving operation is calculated based on a repeatedly detected steering angle detection valueθn, a steering angle estimating valueθn-hat' in the case of assumption that the driver is concentrated in the driving operation is calculated based on a forward vehicle direction detection valueϕn which is repeatedly detected in forward vehicle follow-up traveling control and, then, the final steering angle estimating valueθn-hat" is decided from the steering angle estimating valuesθn-hat and O n-hat' by considering an inter-vehicle distance dn till the forward vehicle. A difference between the final valueθn-hat" and the steering angle detection valueθn is calculated to detect the unstable state of the driving operation based on the steep degree of a steering difference distribution. Thereafter, the steering angle estimating value in the case of assuming that the driver is concentrated in the driving operation is correctly obtained even concerning the curved road so that the unstable state of the driving operation is correctly detected under any traveling condition comprising the curved road. |
