Vehicle Controller

A vehicle controller comprising:

• host vehicle speed detection means adapted to detect speed of a host vehicle;
• set speed detection means adapted to detect speed set by a driver;
• vehicle-to-vehicle distance detection means adapted to detect a distance between the host vehicle and a preceding vehicle;
• road shape detection means adapted to detect a curve shape of a road on which the host vehicle travels;
• preceding vehicle behavior prediction means adapted to calculate behavior of the preceding vehicle in accordance with the vehicle-to-vehicle distance obtained from a detection result of the vehicle-to-vehicle distance detection means and the host vehicle speed obtained by the host vehicle speed detection means;
• pseudo traveling curve generation means adapted to calculate a pseudo traveling curve expressed as a function of position in accordance with the curve shape of the road obtained from the detection by the road shape detection means;
• target acceleration generation means adapted to calculate the acceleration that alleviates sense of discomfort felt by the driver from the behavior of the preceding vehicle obtained by the preceding vehicle behavior prediction means, the pseudo traveling curve obtained by the pseudo traveling curve generation means, and the set speed obtained by the set speed detection means;
• and
• acceleration/deceleration means adapted to control the acceleration of the host vehicle on a basis of acceleration obtained by the target acceleration generation means,
• wherein the target acceleration generation means includes a lateral acceleration factor adapted to predict control behavior of the host vehicle within a given period of time so as to suppress lateral acceleration that takes place in the host vehicle within a unit time, and
• wherein the lateral acceleration factor helps consider a driver model based on a forward watching distance and exercise control in consideration of possible occurrence of lateral acceleration only ahead of change in curving radius so as to match a timing of steering operation of the driver with a timing of deceleration control.