Obstacle avoidance control device and obstacle avoidance control program

摘要

PPROBLEM TO BE SOLVED: To compute the direction of a control force capable of avoiding an obstacle in a shortest distance within a maximum vehicle body acceleration. PSOLUTION: A map determining relations among a first parameter vSBx/SB/√(GSBref/SBYSBe/SB') decided according to components vSBx/SBin the body longitudinal direction of a relative speed, a maximum body acceleration GSBref/SB, and a body lateral distance YSBe/SB' for avoiding an obstacle, a second parameter vy/√(GSBref/SBYSBe/SB') decided according to components vSBy/SBin the body lateral direction of the relative speed, the maximum vehicle body acceleration GSBref/SB, and the body lateral direction YSBe/SB', and a direction θ of body generation force for avoiding the obstacle is stored. The distance between the own vehicle and the obstacle and the relative speed of the own vehicle to the obstacle are detected, the parameters are calculated based on the detected distance and relative speed, and the direction θ of the body generation force is derived using the calculated parameters and the map. PCOPYRIGHT: (C)2008,JPO&INPIT