| 摘要 |
PURPOSE:To improve control accuracy by updating a car position corresponding to a traveling state and resetting a target route to a travel enable area at the updated position. CONSTITUTION:When a travel enable area RA is recognized on an X-Y coordinate and a vehicle 11 is positioned at an origin P0 in the beginning of the control period, positions Pn(Xn,Yn) [(n)=1,2,3,...] of the vehicle on the X-Y coordinate to be changed with the passage of time according to the travel of the vehicle are successively calculated from the respective values of angular velocity in the yaw direction change of the vehicle for each unit time previously set shorter than picture processing time, and the car position to the area RA is updated. The target route is reset to the area RA at the updated position Pn of the vehicle 11 and a control target amount to the reset target route is newly calculated. While following-up this control amount, the travel is controlled. Thus, the accuracy of the travel control can be improved. |
