| 摘要 |
PURPOSE:To execute automatic tracking in a state that a satisfactory front field of view has been held by controlling a car speed so that an inter-car distance is lengthened when a front vehicle is a large-sized car. CONSTITUTION:The vehicle is provided with a front sonar 16 and an upper sonar 17 for measuring an inter-car distance to a front vehicle. The sonar 16 transmits an ultrasonic pulse train in the forward direction at every prescribed time, and also, switches it to receiving after the transmission and receives a reflected wave, and measures an inter-car distance Xf by its reflection time. The sonar 17 transmits the ultrasonic pulse train in the front oblique upper direction, and measures an inter-car distance Xu. In this state, when a difference between Xf and Xu is smaller than a prescribed value, it is decided to be a large-sized car, a target inter-car distance Xt is set to a large value, and a brake is operated so as to bring Xf close to Xt. In such a way, since a sufficiently wide inter-car distance in the front field of view can be taken by deciding a fact that the front vehicle is a large-sized car, the safety of automatic running at the time of traffic jam is improved.
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