To improve a stoppage precision by reducing an error with respect to a target stoppage position due to vibration which occurs during a period from the start of braking to stoppage.
The target stoppage position where a vehicle 1 stops is calculated (S102). With respect to the target stoppage position, a braking start position is calculated (S104) so that braking may be started at a short position calculated in consideration of a braking correction value set on the basis of a displacement history during a period from the start of braking to the stoppage of the vehicle 1. On the basis of the calculated braking start position, a braking command is generated (S107). The braking correction value is set (S204 to S210) on the basis of a distance between the nearly center position of the amplitude of damping oscillation in the displacement history and a position where braking is started. Thus, the precision in stoppage is improved in consideration of influence of oscillation due to mechanical backlash etc.
SAIMEI TERUYUKI
Makoto Suhara
Naomi Katsura River