| 摘要 |
PURPOSE:To improve the follow-up property of running of a vehicle to a target path so that running of the vehicle can be executed stably by limiting a car speed in accordance with an image processing time for recognizing a runnable area. CONSTITUTION:A car speed control part 11 counts the time required for recognizing a runnable area after sampling an image, that is, an image processing time by an internal clock, determinse a limit speed in accordance with its counted image processing time, and gives such a control command of a car speed limit as the car speed does not exceed its limit speed to an actuator control part 12. The actuator control part 12 drives an actuator 13 so that its car speed does not exceed the limit speed, while reading in an actual car speed (v) detected by a car speed sensor 6. In such a way, even if the image processing time becomes long, the response gain of steering angle control is held correctly, and running of the vehicle can be executed stably. |
