| 摘要 |
PROBLEM TO BE SOLVED: To promote a further safe driving by performing an alarming or deceleration control in a curve expressed with plural nodes in a natural and proper timing without making a passenger feel any sense of incompatibility, and ensuring the execution opportunity of re-alarming or re-deceleration control in a composite curve whose degree of bend is sharp at the depth of the curve. SOLUTION: When a node Pt to be alarmed is one of plural nodes Pt1 constituting the same curve, a control part 2 judges the necessity of alarming after this time for the nodes other than the objective node Pt among the plural nodes Pt1 constituting the same curve. At the time of judging the necessity of alarming, when an allowable approach speed Vap[t1] in the plural nodes Pt1 constituting the same curve is within the range of a set speed Vk2 (for example, Vk2=2.(its own vehicle speed)) relative to the allowable approach speed Vap[t] in the objective node Pt, the nodes are judged as nodes Pt2 which is unnessary to be alarmed after this time. |
