| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately perform vehicle control that passes through a curve which exists in front of a road regardless of the errors of road data and a vehicle position. SOLUTION: The pass propriety of a curve is decided by comparing a curve pass estimated speed which is calculated based on a vehicle speed and a vehicle position with a curve passable speed which is calculated based on map information and the vehicle position, and when it is decided as unpassable, an alarm, automatic deceleration and/or automatic steering are executed. In such cases, the errors of road data and the vehicle position is compensated when an adjusting means M11 adjusts the control amount and control timing of an alarm, automatic deceleration and/or automatic steering by comparing a real side acceleration or a real yaw rate which are detected by a side acceleration sensor M10a or a yaw rate sensor M10b with a reference side acceleration or a reference yaw rate which are estimated from road shapes that are decided by a pass state decision amount calculating means M4.</p> |
