| 摘要 |
PROBLEM TO BE SOLVED: To improve the safety of a vehicle by making it possible to suitably set permissible lateral acceleration while taking the state of a low-μor high-μroad into account. SOLUTION: At a control part 2, a permissible lateral acceleration setting part 26 calculates a reference value ayl1 on the basis of a road surfaceμand corrects the reference value ayl1 with a road gradient to obtain permissible lateral acceleration ayl2. A road surface friction coefficient correction part 26c further corrects the permissible lateral acceleration ayl2 corresponding to the road surfaceμto obtain permissible lateral acceleration ayl3. This correction is made by multiplying the permissible lateral acceleration ayl2 by a road surfaceμcorresponding coefficient Kμwhich is se to a smaller value as a road surfaceμestimated value is larger and the safety margin is made larger for the permissible lateral acceleration as the road surfaceμestimated value becomes larger. This permissible lateral acceleration ayl3 is further corrected with the vehicle speed, a permissible entry speed is set by using the final permissible lateral acceleration ayl, and on the basis of the permissible entry speed as a criterion, warning and speed reduction control is performed as specified. |
