| 摘要 |
PROBLEM TO BE SOLVED: To provide a uniform speed control rule in feasible acceleration/deceleration time, by deriving speed of a related car (a preading car or a following car) from inter-vehicle distance and car speed of an own car, setting the speed as the car speed of the own car after a given time, and deriving constant acceleration/deceleration at a given time from specific arithmetic equations, and performing the acceleration/ deceleration control. SOLUTION: Using equation I and equation II, when inter-vehicle distance between an own car running at a car speed V at a certain time (t) and a related car running at a car speed V1 is d, the own car is accelerated to a target speed V1 after a time T and the inter-vehicle distance is transferred to a target inter-vehicle distance d1 . The target inter-vehicle distance d1 is derived from a coefficientαand the acceleration/ deceleration time T, a constant acceleration/deceleration V is derived at the given time T, and a control means for controlling an acceleration control means or a deceleration control means is provided. In these equations, sgn is 1 during following a preceding car and -1 during merging. A constant acceleration/deceleration control rule where a car speed reaches a target car speed at a target position or a target inter- vehicle distance can be applied, and the control rule can be applied to the entire speed control of automatic operation to uniformly express speed control rules during acceleration/deceleration.
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