| 摘要 |
<p>PURPOSE: To perform an accurate data interpolation for an object body to be locked on by performing an estimated position interpolation for the object body when a front body disappears. CONSTITUTION: This controller is provided with a body detecting means (e.g. laser radar device 6), a travel path estimating means 17 for the travel state (based upon, for example, steering angle data and vehicle speed data, or yaw rate data and vehicle speed data on its own vehicle), a lock-on judging means 18 which judges whether or not there is a detected body on a forward road under specific movement conditions and judges it as an object body that this vehicle follows, and a tracking control means 19 which controls the vehicle speed of this vehicle so that this vehicle follows up the object body on the basis of the distance and relative speed between this vehicle and object body, and an interpolation means 20 which interpolates detection data for a specific time when detection data from the laser radar device 6 disappears and an interpolation control means 21 which performs interpolation for putting the follow-up object body back to the travel course when the object body deviates from the travel course and disappears.</p> |
