| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle operation controller with which traveling while avoiding an obstacle is properly performed under the consideration of the motion of a vehicle during the turning operation. SOLUTION: A control characteristic changing part 80 calculates a relative speed Vr between its own vehicle and an obstacle from a speed Y of its own vehicle and the speed data of the obstacle, and calculates a radius of turn (the locus of its own vehicle bumper corner part) R based on a relative motion between the obstacle and its own vehicle by using the relative speed Vr and a road surfaceμestimated value, and calculates the center position of turn based on the radius R of turn, and calculates a distance R0 from the center position of turn until the corner part of the obstacle. Moreover, the distance R0 is compared with the radius R of turn, and when R02<=R2, it is judged that it is impossible to avoid the collision against the obstacle if the present operation is continued, and a control characteristic change instructing signal is outputted to a back and forth driving force distribution controlling part 60, a right and left driving force distribution controlling part 65, rear wheel steering controlling part 70, and a braking force controlling part 75 for improving the turn-round property of the vehicle.
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