| CPC B60T 8/3205 (2013.01) [B60T 2201/10 (2013.01); B60T 2250/00 (2013.01)] | 3 Claims |
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1. A vehicle comprising:
a drive device for applying a driving force to a vehicle;
a braking device for applying a braking force to the vehicle; and
a control unit for controlling the drive device and the braking device such that an actual acceleration representing an actual acceleration of the vehicle coincides with a target acceleration for causing the vehicle to travel such that the vehicle stops at a preset target stop position, wherein the control unit
acquires the target acceleration every time a predetermined time elapses,
sets, when a magnitude of a change amount representing a difference between a current target acceleration that is the target acceleration acquired this time and a previous target acceleration that is the target acceleration acquired last time exceeds a threshold change amount, the current target acceleration to a value such that the magnitude of the change amount does not exceed the threshold change amount, and
sets, when a predetermined emergency condition is satisfied, the predetermined emergency condition being a condition that is satisfied when the driving force or the braking force larger than the driving force or the braking force in a normal state is required, the threshold change amount to a larger value than when the emergency condition is not satisfied, and
wherein the control unit determines whether the predetermined emergency condition is satisfied based on a disturbance value representing a magnitude of a disturbance that disturbs travel of the vehicle and a remaining distance representing a remaining distance to the target stop position.
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