To increase the responsiveness of follow-up control and to provide follow-up traveling suited to driver's feeling by calculating the relative speed of a horizontal direction between a self vehicle and a vehicle ahead based on the angle of the vehicle ahead and a car-to-car distance and performing interrupting vehicle determination and follow-up control using this horizontal relative speed.
For follow-up traveling control, a distance between a self vehicle and a vehicle ahead is detected by an intervehicle distance detecting means 1 and a relative speed is detected by a relative speed detecting means 2. Also, an angle between the self vehicle and the vehicle ahead is detected by a front vehicle angle detecting means 3. Further, for specifying a capturing or interrupting vehicle among a plurality of front vehicles, a front vehicle ID is set by a setting means 4, then the relative speed of a horizontal direction between the self vehicle and the vehicle ahead is calculated based on the intervehicle distance and the front vehicle angle and, by an interrupting vehicle determining means 6, the existence of a front vehicle changing a line from an adjacent line to a self vehicle front road and the danger of the interrupting vehicle are determined based on the horizontal relative speed and thereby follow-up control is executed.
KURODA KOJI
KURAGAKI SATOSHI
YOSHIKAWA TOKUJI
MORISANE HIROTO
TAKENAGA HIROSHI
NAKAMURA KOZO
TAKANO KAZURO
