| 摘要 |
PROBLEM TO BE SOLVED: To obtain excellent travel controllability by continuing follow-up travel control without a halt in environment where the recognition accuracy of a preceding vehicle by a stereocamera is lowered due to rainy weather, the influence of disturbance of weak counter-light, or the like. SOLUTION: In starting resume acceleration control for resetting to the vehicle speed during constant speed travel set by a driver after losing a preceding vehicle during follow-up travel control, the value of a resume flag F1 is referred to (S11). When the recognition accuracy of an image photographed by a stereocamera of F1=0 is normal, normal resume acceleration control is executed (S12). When the recognition accuracy of an image of F1=0 is lowered, resume micro acceleration control set to a smaller value than normal resume acceleration control is executed (S13). Because of accelerating with slower resume acceleration when the recognition accuracy of the image is lowered, even in the case of abruptly detecting the preceding vehicle during resetting, vehicle-to-vehicle distance with an allowance can be maintained to obtain excellent travel controllability.
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