| 摘要 |
<p>PURPOSE:To reduce the variation of a notch in an allowable range of stopping accuracy by comparing the stopping position accuracy of the case that the present notch is held with that of the case that the notch is varied in the prescribed amount and selecting the notch. CONSTITUTION:A brake control start instruction arithmetic unit 11 outputs a brake control start instruction according to a stopping error L2 calculated by a vehicle speed VT, a distance L1 to a destination point and a deceleration betaP corresponding to a notch, and the speed VT. Stopping accuracy ambiguity arithmetic units 12Z, 12P, 12N inputs a distance L1 to a destination point, a vehicle speed VT and an acceleration alphaT, and respectively calculates the ambiguity amount of the stopping accuracy of the cases that the notch selected in advance at the present time is held, a notch is added and a notch is subtracted. A control notch arithmetic unit 14 compares the ambiguities of the respective stopping accuracies and outputs a notch instruction N(t).</p> |
