Patent ID: 8612109
Filing Date: 2013-12-17
Classification: B60T,B60W

Abstract:
1. A vehicular running control apparatus, comprising: a curved road detecting section configured to detect a state of a curved road located in front of a running road on which the vehicle is running on a basis of an obtained navigation information; a target vehicle speed calculating section configured to calculate a target vehicle speed of the vehicle at the curved road on a basis of the state of the curved road detected by the curved road detecting section and a preset lateral acceleration set value of the vehicle; a navigation target deceleration calculating section configured to calculate a navigation target deceleration at a present running position of the vehicle on a basis of the target vehicle speed calculated by the target vehicle speed calculating section; a yaw rate detecting section configured to detect a yaw rate and provide the detected yaw rate; a yaw rate target deceleration calculating section configured to calculate a yaw rate target deceleration of the vehicle on a basis of the yaw rate detected by the yaw rate detecting section and the lateral acceleration set value separately from the navigation target deceleration; a target deceleration selecting section configured to compare the yaw rate target deceleration calculated by the yaw rate target deceleration calculating section with the navigation target deceleration calculated by the navigation target deceleration calculating section to select the target deceleration from one of the yaw rate and navigation target decelerations which is lower than the other; a target vehicle speed command value calculating section configured to calculate a target vehicle speed command value on a basis of the target deceleration selected by the target deceleration selecting section; and a curved road entrance-or-exit determining section configured to determine whether the vehicle is to run or not to run on an entrance or exit of the curved road, wherein the target deceleration selecting section compares the yaw rate target deceleration with the navigation target deceleration to select the target deceleration from one of the yaw rate target deceleration and the navigation target deceleration which is lower than the other, when the curved road entrance-or-exit determining section determines that the vehicle is to run on the entrance or exit of the curved road.