To improve responsiveness particularly at a speed reduction period preventing deterioration in a comfortable ride when traveling following a preceding car.
When setting a target car speed Vspr using the sum of the value obtained by multiplying the inter-vehicle distance difference with the inter-vehicle distance difference control gain Kl, and the value obtained by multiplying the relative speed with the relative speed control gain Kv, a gradient resistance is calculated by decreasing a rolling resistance and air resistance from the traveling resistance, correcting the control gain correction coefficient Kv corresponding to the gradient resistance by multiplying the coefficient with, for example, a relative speed control gain Kvo to improve responsiveness during traveling at a gradient angle. The greater the absolute value of the driving shaft torque conversion value Tdhg equivalent to the gradient resistance, the better responsiveness on a road having a larger gradient at the acceleration/deceleration by increasing the control gain correction coefficient Kv. Meanwhile, a minimum value Vspmin of the target car speed is provided to avoid a sudden speed reduction at a location away from the preceding car when stopped. Fluctuations in acceleration/deceleration are suppressed and prevented by compensating the target car speed in transition to the target car speed minimum value Vspmin to a small value.
INOUE HIDEAKI
SETO YOJI
YAMAMURA YOSHINORI
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