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Vehicle control system for controlling vehicle based on road shape

  • US 6,067,497 A
  • Filed: 10/31/1997
  • Issued: 05/23/2000
  • Est. Priority Date: 11/12/1996
  • Status: Expired due to Term
First Claim
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1. A vehicle control system comprising:

  • map data outputting means for outputting map data including road data of a road to be followed by a vehicle;

    position detecting means for detecting an actual position of the vehicle on a map;

    vehicle speed detecting means for detecting a vehicle speed;

    tentative position setting means for setting a tentative position on the road ahead of the actual position;

    estimated passage speed calculating means for calculating an estimated passage speed at the tentative position based on a distance between the actual position and the tentative position;

    turnable radius calculating means for calculating turnable radii at the tentative position based on the estimated passage speed;

    zone setting means for setting a plurality of passableness deciding zones with arcs in contact with the tentative position on the turnable radii within a range of a predetermined distance ahead of the tentative position;

    passableness deciding means for deciding the passableness of the vehicle by overlapping the road data ahead of the tentative position and the passableness deciding zones; and

    control means for controlling the vehicle when it is decided that the vehicle cannot safely pass a road within said predetermined distance.

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