| 摘要 |
PROBLEM TO BE SOLVED: To allow a vehicle to run in avoiding obstacles by judging obstacle for vehicle in advance, taking various pieces of running information into account, and allowing a vehicle behavior control device to operate properly over the whole avoid run. SOLUTION: Existence of any obstacle for the vehicle concerned 1 is judged in advance, and an avoid run control part 80 judges accurately whether the obstacle is avoidable only with a braking motion of the vehicle 1 where the frictional coefficient of road surface, road surface information of the road surface gradient, the relative movement of the vehicle 1 with the obstacle are taken into consideration. If not avoidable only with the braking motion of the vehicle 1, vehicle behavior control parts 60, 65, 70, 75 are transferred to the avoid running mode in accordance with the steering wheel manipulation and the vehicle behavior. During the avoid running mode, the control parts 60, 65, 70, 75 execute necessary control in accordance with the change in the steering wheel manipulation and vehicle behavior. Disengagement of the avoid running mode is executed upon sensing the end of avoid run due to the steering wheel manipulation of the driver or sensing stabilization of the vehicle behavior after the obstacle is avoided. |
