| 摘要 |
PURPOSE:To make the actual vehicle velocity of a vehicle follow the target vehicle velocity with good accuracy extending over before and after a change of the target vehicle velocity by correcting and adjusting a difference between the target vehicle velocity and the actual vehicle velocity. CONSTITUTION:When a condition formation generating means 6 produces the 1st, the 2nd... the (n)th condition formation signals, a vehicle velocity difference arithmetic means 7 calculates the difference between the target vehicle velocity in accordance with the time lapse of the 1st, the 2nd... the (n)th time zones from a travel test pattern storage means 13 and the actual vehicle velocity from a vehicle velocity detection means 5. Next, the vehicle velocity difference is calculated and corrected to the 1st, the 2nd... the (n)th feedback arithmetic values with an arithmetic and correction means 8 and the stepping quantities of an accelerator pedal 2a and a brake pedal 2b are adjusted according to the 1st, the 2nd... the (n)th feedback arithmetic values with an adjustment means 9. In this way, the automatic driving in accordance with a travel test pattern of the vehicle 2 can make the actual vehicle velocity of the vehicle 2 follow smoothly with good accuracy the change of the target vehicle velocity in a shift process of the travel test pattern.
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