Patent ID: 7136736
Filing Date: 2006-11-14
Classification: B60G,B60T,B60W,G01S

Abstract:
1. A vehicular travel control device comprising radar sensors that emit an emission signal onto a road surface and receive a reflection signal resulting from the emission signal being reflected from the road surface; a steering angle sensor that detects a steering angle; a brake unit that controls a braking force of wheels; and a control unit that inputs a signal from the radar sensors or the steering angle sensor, processes the inputted signal, and outputs the processed signal to the brake unit; wherein a Doppler shift frequency superposed on the reflection signal is detected and the braking force of the wheels is controlled on the basis of the detected Doppler frequency, a measured angle of sideslip and a ground speed are calculated on the basis of the Doppler shift frequency, and the braking force of the wheels is controlled so that the measured angle of sideslip follows a target angle of sideslip set from the ground speed and the steering angle detected by the steering angle sensor wheel speed sensors disposed in correspondence to the wheels, wherein the braking force of the wheels is controlled so that a measured wheel speed value detected by the wheel speed sensors follows a target wheel speed set on the basis of the Doppler shift frequency shock absorbers that vary a damping coefficient corresponding to the wheels, wherein the damping coefficient of the shock absorbers or the braking force of the wheels is controlled on the basis of the phase difference between the emission signal and the reflection signal and the Doppler shift frequency superposed on the reflection signal.