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Vehicle control device

  • US 8,099,232 B2
  • Filed: 07/05/2006
  • Issued: 01/17/2012
  • Est. Priority Date: 08/11/2005
  • Status: Active Grant
First Claim
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1. A vehicle control device which performs braking control of a vehicle, comprising:

  • a priority setting unit determining, when a possibility that a self-vehicle and another vehicle cross each other at an intersection in front of the self-vehicle is detected, a priority for each of the self-vehicle and said another vehicle with respect to access to the intersection, wherein the priority setting unit determines the priority for each of the self-vehicle and said another vehicle in accordance with a relative position between the self-vehicle and said another vehicle and a relationship in vehicle speed between the self-vehicle and said another vehicle; and

    a braking control unit performing the braking control of the self-vehicle in response to the priority setting unit determining that the self-vehicle has no priority over said another vehicle with respect to access to the intersection, the braking control including calculation and performance of braking in a precise quantity such that the self-vehicle continues moving and enters the intersection a predetermined amount of time after said another vehicle passes through the intersection,wherein, the calculation of braking in the precise quantity such that the self-vehicle continues moving and enters the intersection the predetermined amount of time after said another vehicle passes through the intersection includes determining a braking force Fb in accordance with the formula Fb=K/(T1+T2)n where K is a positive constant, T1 is an estimated time for the self-vehicle to pass through the intersection, T2 is an estimated time for said another vehicle to pass through the intersection, and n is a positive real number.

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