JP4311374B2 - Recommended vehicle speed setting device and vehicle control device - Google Patents

Description

  The present invention relates to a recommended vehicle speed setting device or a vehicle control device, and more particularly, a recommended vehicle speed setting device that sets a recommended vehicle speed based on information on a corner ahead in the traveling direction, and controls a vehicle based on the recommended vehicle speed set by the recommended vehicle speed setting device. The present invention relates to a vehicle control device.

  Prior to the vehicle entering the curve, a technique for determining whether or not the vehicle can stably travel on the front curve at the current vehicle speed and outputting a vehicle speed adjustment or a warning has been proposed (for example, Patent Document 1). reference.).

In this technology, information on the curvature of the curve is obtained from a car navigation system, a vehicle speed suitable for traveling on the curve is set based on the curvature of the curve, and the vehicle speed is set according to the set vehicle speed and the detected actual vehicle speed. It is recommended to the driver that the vehicle speed is appropriate for stable driving on the curve.
Japanese Patent Laid-Open No. 10-143794

  However, the technique described in Patent Document 1 recommends the vehicle speed based on the curvature of the curve, and does not consider the road length of the curve. When the road length of a curve with a predetermined curvature is short, even if the curvature of the curve is the same, the time it takes the lateral acceleration Gy is short, so the driver feels that the vehicle is decelerating too much with respect to the curvature of the curve There is. That is, if the speed at which the curve can be stably traveled is recommended based on the curvature of the curve, there is a problem that an appropriate speed may not be recommended for the driver.

  In view of the above problems, an object of the present invention is to provide a recommended vehicle speed setting device and a vehicle control device that set an appropriate speed to travel stably on a curve.

In view of the above problems, the present invention provides a road map database storing information on a road map on which a vehicle travels, a corner curvature existing ahead in the traveling direction, a corner road length, a road length of a constant curvature portion of a corner, and Based on the corner information extraction means for extracting the road length of the clothoid section of the corner and the corner curvature or the corner road length extracted by the corner information extraction means, a recommended vehicle speed suitable for driving the corner is set. Recommended vehicle speed setting means, and the recommended vehicle speed setting means sets a recommended vehicle speed according to a ratio of a road length of the clothoid section extracted by the corner information extraction means and a road length of a constant curvature portion. A recommended vehicle speed setting device is provided.

According to the present invention, since the recommended vehicle speed is set based on the curvature of the corner and the road length of the corner, it is possible to provide a recommended vehicle speed setting device that sets an appropriate speed for traveling on a curve stably. Note that the road map database does not have to be mounted on the vehicle. For example, road map data may be downloaded via a network using a mobile phone network or a wireless LAN. The corner curvature may include at least the curvature of the curve of the curve of the constant curvature or the curvature of the clothoid section, and the road length of the corner is the road length of the curve of the constant curvature or the clothoid section. It is sufficient that at least the road length of the curve is included in the road length.
Since the recommended vehicle speed is set not only based on the road length of the constant curvature portion but also the road length of the clothoid section, the recommended vehicle speed can be set more appropriately.

Further, in one aspect of the present invention, the recommended speed setting means is configured such that when a ratio of a road length of a constant curvature portion to a road length of a corner clothoid section is smaller than a predetermined value, the recommended vehicle speed is higher than when the ratio is equal to or higher than a predetermined value. Is set high .

  In one embodiment of the present invention, the recommended vehicle speed setting means is suitable for traveling at the corner based on whether or not a clothoid section is included in the corner from which information is extracted by the corner information extraction means. The recommended vehicle speed is set.

Also, in one aspect of the present invention, the recommended vehicle speed setting means recommends smaller than when a clothoid section is included when the corner extracted from the corner information extraction means does not include a clothoid section. The vehicle speed is set.

According to the present invention, when the clothoid section is not included, the recommended vehicle speed is set to be lower than when the clothoid section is included, so that the lateral acceleration Gy experienced by the driver can be reduced.

Further, in one aspect of the present invention, the recommended vehicle speed setting means sets a higher recommended vehicle speed than when the road length of the constant curvature portion of the corner is shorter than a predetermined value when the road length of the constant curvature portion of the corner is shorter than the predetermined value. It is characterized by.

  According to the present invention, when the constant curvature portion of the corner is shorter than the predetermined time, the time for experiencing the lateral acceleration Gy is short, so that it is possible to prevent the driver from feeling too slow by setting a higher recommended vehicle speed. .

Further, the present invention is characterized by having vehicle control means for controlling the vehicle based on the recommended speed set by the recommended vehicle speed setting means .

According to the present invention, the engine, the brake, and the like can be controlled based on the recommended speed set by the recommended vehicle speed setting means. As one aspect of the present invention, the vehicle control device warns the driver based on the recommended speed.

Further, as one aspect of the present invention, the vehicle control means controls the vehicle speed based on the recommended speed set by the recommended vehicle speed setting means.

  It is possible to provide a recommended vehicle speed setting device and a vehicle control device that set an appropriate speed for traveling on a curve stably.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows an overall configuration diagram of a vehicle control system to which a vehicle control device that acquires a road length and a curvature of a corner, sets a recommended vehicle speed, and controls the vehicle based on the recommended vehicle speed is applied.

  The vehicle control system includes a car navigation system 2 (hereinafter simply referred to as a car navigation system), a vehicle control ECU 3 and a control device 4. The vehicle control ECU 3 acquires information regarding the road length and curvature of the corner from the car navigation system 2 and sets a recommended vehicle speed. Further, the control device 4 is controlled based on the recommended vehicle speed to assist driving so that the vehicle travels the corner at the recommended vehicle speed.

  The car navigation 2 detects the position of the vehicle by a known method such as autonomous navigation using a GPS (Global Positioning System) or a yaw rate sensor, and extracts a road map including the position of the vehicle from the road map DB 5. The extracted road map is displayed on the display 17 such as an LCD together with the current position of the vehicle. When the destination is set, the route to the destination is displayed on the display 17 and the driver is instructed to turn left or right or change lanes through the audio 8 such as a speaker.

  The road map DB 5 stores road map information such as road networks and intersections in association with latitude and longitude. The road map information stores the road length between intersections, the road width, the number of lanes, the curvature of the curve if there is a corner, the road length of the curve, the road length of the clothoid section, and the like.

  FIG. 2 shows an example of a corner configured based on road map information stored in the road map DB 5. In FIG. 2, for the sake of explanation, points A to H are provided on the road, and drawing of the width of the road is omitted.

In road design, a road shape is often designed by combining a straight section, a curve of a constant curvature portion, and a clothoid section formed by a clothoid curve. The clothoid curve is a curve that continuously changes from “large to small” or “from small to large” without the degree of curve of the road jumping, and is defined by the following formula in the polar coordinate system. Where r is the radius of curvature, s is the process distance on the curve, and a is a constant. When the steering wheel is operated at a constant speed while the vehicle is traveling at a constant speed, the traveling locus of the vehicle becomes a clothoid curve.
r = a ² / s (θ)
In the corner of FIG. 2, two curves, a curve BC between the points BC and a curve FG between the points FG, are curves having a constant curvature R. Further, clothoid sections AB, CD, EF and GH are between points AB, CD, EF and GH, respectively. Further, the section between the point A, the point DE, and the section after the point H from the current location is a straight section. In addition, since FIG. 2 is an example, the corner which does not contain a clothoid area also exists.

  In this embodiment, a pair of clothoid sections and curves viewed from the traveling direction of the vehicle are referred to as corners. For example, the clothoid section AB and the curve BC have one corner, and the clothoid section EF and the curve FG have one corner.

  Returning to FIG. 1, the vehicle control ECU 3 extracts the corner curvature and the road length of the corner existing ahead in the traveling direction, the corner information extracted by the corner information extraction means 11 and the corner road and the corner road. A recommended vehicle speed setting means 12 for setting a recommended vehicle speed suitable for traveling in the corner based on the length; and a vehicle control means 13 for controlling the vehicle based on the recommended vehicle speed set by the recommended vehicle speed setting means 12. Configured as follows.

  When the vehicle travels from the current location, the corner information extracting means 11 calculates the curvature R of the curve BC, the road length Lc1 of the curve BC, and the road length Lk1 of the clothoid section AB existing in the traveling direction of the vehicle, and the road map DB5. Extract from The recommended vehicle speed setting means 12 sets a recommended speed appropriate for the vehicle to travel stably at the corner based on the curvature R of the curve BC, the road length Lc1 of the curve BC, and the road length Lk1 of the clothoid section AB.

The recommended speed setting will be described. The recommended speed Vr ′ when traveling on a curve is based on the curvature R of the curve and the recommended lateral acceleration Gy (lateral acceleration Gy where the driver does not receive excessive G in the lateral direction).

Vr ′ = √ (Gy × R) (1)

It is calculated as follows. It should be noted that the influence of the road gradient is omitted in Equation (1), and the lateral acceleration Gy is a value that varies depending on the driving style of the driver, the friction coefficient μ of the road surface, and the like.

  By the way, while driving around a corner, the lateral acceleration Gy of the vehicle increases smoothly in the clothoid section, and in the curve of the constant curvature portion, if the vehicle speed is constant, the lateral acceleration is substantially constant, and the clothoid section is at the exit of the curve. If present, the lateral acceleration Gy decreases smoothly. Since the lateral acceleration Gy increases smoothly in the clothoid section, when the road length of the curve is short, the time for the driver to feel the maximum lateral acceleration Gy on the curve is shortened, and the driver decelerates the vehicle too much. I often feel like this. That is, depending on the road length of the curve, the driver may feel uncomfortable with the recommended vehicle speed set based on the curvature R of the curve as shown in Equation (1).

  Therefore, the recommended vehicle speed setting means 12 sets the recommended vehicle speed Vr based on the road length Lc1 of the curve BC using the formula (1). The recommended vehicle speed setting means 12 sets the recommended vehicle speed Vr by increasing the speed when the road length Lc1 of the curve BC is shorter than the predetermined length L1 than when the road length Lc1 of the curve BC is equal to or greater than the predetermined length L1.

The recommended speed Vr may be increased in any way. For example, as shown in the following equation (2), a constant α (> 0) is added to 1, multiplied by Vr ′, and Vr is set. According to Expression (2), Vr ′ can be further increased and the recommended speed Vr can be set. The predetermined length L1 can be appropriately set according to the vehicle width, the driving skill of the driver, and the like.

When Lc1 <L1, Vr = (1 + α) × Vr ′ (2)

Note that α may not be a single constant, and may vary according to the road length Lc1 of the curve BC. FIG. 3A shows an example of the relationship between the road length Lc1 of the curve BC and the constant α. As shown in FIG. 3A, by setting the recommended speed Vr using a constant α determined according to the road length Lc1 of the curve, an appropriate recommended speed Vr can be set according to the road length of the curve.

  Whether or not the driver feels that the vehicle is decelerating more than the magnitude of the lateral acceleration Gy depends not only on the road length of the curve itself but also on the road in the clothoid section AB before the curve BC. It also depends on the length Lk1. Since the driver feels the lateral acceleration Gy that gradually increases during traveling in the clothoid section, the driver may feel as if the vehicle is being decelerated too much if the time for experiencing the substantially constant lateral acceleration Gy thereafter is short. Many.

  That is, when the road length Lc1 of the curve BC with respect to the road length Lk1 of the clothoid section is short, in other words, when the ratio Lc1 / Lk1 of the curve road length Lc1 to the road length Lk1 of the clothoid section is smaller than the predetermined value A, the speed It is preferable to set the recommended vehicle speed Vr by increasing.

When the Lc1 / Lk1 is smaller than the predetermined value A, the recommended vehicle speed setting unit 12 similarly sets the recommended speed Vr using Expression (2). Therefore, Formula (2) can be expressed as follows by combining the conditions of Lc1 <L1. The predetermined value A can be set as appropriate according to the vehicle width, the driver's skill, and the like.

When Lc1 <L1 and Lc1 / Lk1 <A Vr = (1 + α) × Vr ′ (3)

Therefore, in this embodiment, when Lc1 <L1 and Lc1 / Lk1 <A, the driver increases the speed and sets the recommended vehicle speed Vr, so that the driver can move the vehicle in comparison with the magnitude of the lateral acceleration Gy. You can set a recommended speed that is difficult to feel if you are slowing down too much.

  In addition, when adding Lc1 / Lk1 to the determination criterion, α may not be one constant, and may change according to the road length Lc1 and Lc1 / Lk1 of the curve BC. FIG. 3B shows an example of the relationship between the road lengths Lc1 and Lc1 / Lk1 and the constant α. As shown in FIG. 3B, an appropriate recommended speed can be set by setting the recommended speed Vr using a constant α determined in accordance with the road lengths Lc1 and Lc1 / Lk1 of the curve BC.

  Returning to FIG. 1, the vehicle control means 13 sends the recommended vehicle speed Vr to the brake ECU 14, the engine ECU 15, and the mission ECU 16 based on the recommended vehicle speed Vr set by the recommended vehicle speed setting means 12. In addition, the vehicle is controlled to assist the driver by controlling the brake and throttle opening so that the vehicle speed is within the allowable range.

  Further, the vehicle control means 13 displays on the display 17 such as a head-up display whether or not the vehicle speed is within an allowable range for the recommended speed Vr, and compares the vehicle speed with the recommended speed Vr. A message such as “too much speed” or “too slow” is output from the audio 18.

  FIG. 4 shows an example of the relationship between the vehicle speed and the recommended speed Vr that is displayed on the display 17 to alert the driver. In FIG. 4, the range of allowable speed and the current vehicle speed are displayed as the median value of the recommended vehicle speed Vr. The driver can adjust the vehicle speed with reference to the display as shown in FIG.

  According to the present embodiment, the recommended vehicle speed is increased not only based on the curvature of the curve but also the ratio of the curve road length to the curve road length and the road length of the clothoid section. Can be set. Therefore, it is reduced that the driver feels that the vehicle is decelerating excessively even at a corner having a short curve. Further, when the curve road length is longer than a predetermined value, or when the ratio of the curve road length to the clothoid section road length is larger than a predetermined value, the recommended speed is not increased, so that the user does not feel that the speed is excessive. That is, the recommended vehicle speed setting device of the present embodiment can set an appropriate vehicle speed in order to travel stably on a curve.

  In the first embodiment, the recommended speed when there is a clothoid section in the corner has been described. However, in this embodiment, a recommended vehicle speed setting device that can set an appropriate recommended speed even when driving in a corner without a clothoid section in the corner. explain. The overall configuration diagram of the vehicle control system is the same as that in FIG. In this embodiment, even if there is no clothoid section, if there is a curve with a certain curvature, it is called a corner.

  FIG. 5 shows an example of a corner configured based on road map information stored in the road map DB 5. FIG. 5A shows a corner with a clothoid section, and FIG. 5B shows a corner without a clothoid section. For the description of the road shape in FIG. 5A, points KA1, KE1, KE2, and KA2 are provided on the road, and in FIG. 5B, points BC and EC are provided on the road.

  In FIG. 5A, a straight section is from the current position to the point KA1, points KA1 to KE1 are clothoid sections, points KE1 to KE2 are constant curvature curves, and points KE2 to KA2 are clothoid sections. In FIG. 5B, a straight section is from the current location to the point BC, a curve with a constant curvature is from the points BC to EC, and a straight section is after the EC.

  As described above, in the clothoid section at the corner, the degree of the road bending does not jump, so that when the vehicle is steered at a constant vehicle speed and a constant speed, the lateral acceleration Gy increases smoothly.

  FIG. 6A shows the relationship between the vehicle position at the corner and the lateral acceleration Gy when traveling in a corner having the clothoid section shown in FIG. As shown in FIG. 6 (a), in the clothoid section of KA1 to KE1, the lateral acceleration Gy increases smoothly according to the running speed, the lateral acceleration Gy becomes substantially constant in a curve with a constant curvature, passes through the curve and the clothoid section. When entering, the lateral acceleration Gy decreases smoothly.

  Therefore, when the driver travels in a corner composed of a clothoid section and a curve, the driver can experience a certain lateral acceleration Gy after the lateral acceleration Gy smoothly increases. You can drive around corners with peace of mind.

  FIG. 6B shows the relationship between the vehicle distance at the corner and the lateral acceleration Gy when traveling in the corner without the clothoid section shown in FIG. In the case of a corner where no clothoid section is provided, there is no section where the lateral acceleration Gy accelerates smoothly. Therefore, it is necessary to steer the steering amount necessary for turning in a short time near the start point BC of the curve with a constant curvature.

  Therefore, as shown in FIG. 6B, the lateral acceleration Gy increases in a short time, and even if the substantially constant lateral acceleration Gy in the curves BC to EC is about the same as that of a corner having a clothoid section, driving is performed. The person feels that the lateral acceleration Gy generated by the recommended speed is large. For this reason, when driving in a corner without a clothoid section, if the recommended vehicle speed is set in the same manner as a corner with a clothoid section, the driver may feel uneasy.

  Therefore, the recommended vehicle speed setting means 12 of this embodiment sets the recommended vehicle speed according to the presence or absence of the clothoid section. The corner information extraction means 11 extracts road map information ahead in the traveling direction from the road map DB 5 and sends it to the recommended vehicle speed setting means 12. The recommended vehicle speed setting means 12 acquires, from the corner information extraction means 11, if there is a clothoid section, the road length of the clothoid section, the curvature R of the curve, the road length of the curve, and the like.

  The recommended vehicle speed setting means 12 determines whether or not there is a clothoid section when there is a corner in the traveling direction of the vehicle. If there is a clothoid section, for example, Vr = (1 + α) √ ( The recommended speed Vr is set based on Gy × R) or the recommended speed Vr ′ is set based on Vr ′ = √ (Gy × R) shown in Expression (1). In this embodiment, the recommended vehicle speed Vr ′ is set based on the formula (1).

When there is a corner ahead of the traveling direction of the vehicle and there is no clothoid section, the recommended vehicle speed setting means 12 sets the recommended vehicle speed smaller than the corner with the clothoid section. The recommended speed Vr may be reduced in any way. For example, as shown in the following equation (4), a constant β is multiplied by Vr ′ to obtain Vr. The constant β is a value determined by vehicle characteristics, the driving skill of the driver, the legal speed of the straight section, etc., and 0 <β ≦ 1.

Vr = β × √ (Gy × R) (4)
= Β × Vr ′

According to Equation (4), the recommended vehicle speed Vr when traveling on a curve with a constant curvature can be set smaller than when there is a clothoid section, and the lateral acceleration Gy experienced by the driver can be reduced.

  FIG. 7 shows the relationship between the position of the vehicle at the corner and the lateral acceleration Gy when traveling in the corner without the clothoid section, which is set by the equation (4). In FIG. 7, the lateral acceleration Gy at the recommended vehicle speed according to the equation (1) is indicated by a dotted line, and the lateral acceleration Gy at the recommended vehicle speed set by the equation (4) is indicated by a solid line.

  According to FIG. 7, as a result of setting the recommended vehicle speed when traveling on the curve by β to be low, the lateral acceleration Gy is also reduced, and therefore the increasing speed (dGy / dt) of the lateral acceleration Gy is also moderate. . Therefore, in the case of a corner having no clothoid section, the driver can travel the corner with peace of mind by setting the recommended speed Vr to be small as shown in Expression (4).

  When the recommended vehicle speed is set, the vehicle control means 13 displays whether or not the vehicle speed is within the allowable range for the recommended speed Vr on the display 17 as in the first embodiment, and the vehicle speed and the recommended speed are displayed. Compared with Vr, a message such as “too much speed” or “too much deceleration” is output from the audio 18.

  Further, the vehicle control means 13 controls the brake ECU 14, the engine ECU 15 and the mission ECU 16 so that the vehicle speed becomes the recommended speed Vr, and increases the brake when the speed is high beyond the allowable range. Take control.

  According to this embodiment, when there is no clothoid section, the recommended vehicle speed is set lower than when there is a clothoid section, so that the driver can travel around the corner without feeling uneasy.

  In the present embodiment, the flow of processing in which the recommended vehicle speed setting means 12 sets the recommended vehicle speed described in the first or second embodiment according to the curvature of the corner and the road length will be described based on the flowchart of FIG.

  While the vehicle is traveling, the corner information extraction unit 11 extracts a road map ahead in the traveling direction from the road map DB 5 and repeats the determination of whether there is a corner (S11). When there is a corner (Yes in S11), the road width of the corner, the number of lanes, the curvature of the curve, the road length of the curve, the road length of the clothoid section (if any), etc. are sent to the recommended vehicle speed setting means 12.

  The recommended vehicle speed setting means 12 determines whether or not a clothoid section is provided in the corner based on information indicating the road shape of the corner (S12). If there is no clothoid section (No in step S12), the recommended vehicle speed setting means 12 sets a recommended vehicle speed Vr = α√ (Gy × R) based on the equation (4) (S14) and sends it to the vehicle control means 13. Thereby, when there is no clothoid section, the recommended speed can be set small and the increase in the lateral acceleration Gy can be moderated, so that the driver can travel the corner with peace of mind.

  When there is a clothoid section (Yes in step S12), the recommended vehicle speed setting unit 12 determines that the road length Lc1 of the curve is shorter than the predetermined length L1, and the ratio Lc1 / Lk1 of the road length of the curve to the road length Lk1 of the clothoid section is It is determined whether or not the value is smaller than the predetermined value A (S13).

  When Lc1 <L1 and Lc1 / Lk1 <A (Yes in step S13), the recommended vehicle speed setting means 12 sets a recommended vehicle speed Vr = (1 + α) √ (Gy × R) (S16), and the vehicle control means 13 is set. Send it out. If Lc1 <L1 and Lc1 / Lk1 <A are not satisfied (No in step S13), the recommended vehicle speed setting means 12 sets a recommended vehicle speed Vr = √ (Gy × R) (S15) and sends it to the vehicle control means 13 To do.

  Thus, in the case of a corner having a clothoid section and satisfying the conditions of Lc1 <L1 and Lc1 / Lk1 <A, the recommended speed is set large, so that the driver does not feel that the vehicle is decelerating too much. In addition, in the case of a corner that does not satisfy the conditions of Lc1 <L1 and Lc1 / Lk1 <A even if there is a clothoid section, the recommended speed is not increased and set so that the driver can drive the corner without feeling uneasy.

  The vehicle control means 13 controls the control device 4 based on the set recommended vehicle speed, and supports the driving of the driver using the display 17 and the audio 18 (S17).

  Therefore, according to the present embodiment, depending on whether the corner includes a clothoid section, or depending on the road length of the curve and the road length of the clothoid section, the driver does not feel a sense of deceleration and feels uneasy. Appropriate recommended vehicle speed can be set.

  As described above, the recommended vehicle speed setting device according to the present embodiment can set a recommended vehicle speed suitable for stable driving on a curve, and the vehicle control device can appropriately set the vehicle based on the set recommended vehicle speed. Can be controlled.

1 is an overall configuration diagram of a vehicle control system. It is an example of the corner stored in road map DB. It is an example of the setting of the constant α. It is an example of the relationship between the vehicle speed displayed on a display, and a recommended speed. It is an example of the shape of the road stored in road map DB. It is an example of the relationship between the corner position at the time of driving | running | working a corner, and lateral acceleration Gy. It is an example of the relationship between a corner position and lateral acceleration Gy when driving | running | working a corner without a clothoid area. It is a flowchart figure which shows the flow of the process in which a recommended vehicle speed setting means sets a recommended vehicle speed.

Explanation of symbols

2 Car navigation system 3 Vehicle control ECU
4 Control device 5 Road map DB
11 Corner information extracting means 12 Recommended vehicle speed setting means 13 Vehicle control means

Claims (8)

A road map database in which information of road maps on which vehicles travel is stored;
Corner information extraction means for extracting the curvature of the corner existing in the forward direction, the road length of the corner, the road length of the constant curvature portion of the corner and the road length of the clothoid section of the corner;
A recommended vehicle speed setting means for setting a recommended vehicle speed suitable for traveling in the corner based on the curvature of the corner or the road length of the corner extracted by the corner information extraction means,
The recommended vehicle speed setting means sets a recommended vehicle speed according to the ratio of the road length of the clothoid section extracted by the corner information extraction means and the road length of the constant curvature portion ,
The recommended vehicle speed setting device according to claim 1. The recommended speed setting means, when the ratio of the road length of the constant curvature portion to the road length of the corner clothoid section is smaller than a predetermined value, the recommended vehicle speed is set higher than when the ratio is a predetermined value or more.
The recommended vehicle speed setting device according to claim 1. The recommended vehicle speed setting means sets a recommended vehicle speed suitable for traveling in the corner based on whether or not a clothoid segment is included in the corner extracted by the corner information extraction means.
The recommended vehicle speed setting device according to claim 1 . The recommended vehicle speed setting means sets a recommended vehicle speed that is smaller than the case where a clothoid section is included if the clothoid section is not included in the corner where the information is extracted by the corner information extraction means.
The recommended vehicle speed setting device according to claim 3 . The recommended vehicle speed setting means sets the recommended vehicle speed higher than the case where the road length of the constant curvature portion of the corner is shorter than a predetermined value , when the road length of the constant curvature portion of the corner is a predetermined value or more.
The recommended vehicle speed setting device according to any one of claims 1 to 4, wherein Vehicle control means for controlling the vehicle based on the recommended speed set by the recommended vehicle speed setting means according to any one of claims 1 to 5 .
The vehicle control apparatus characterized by the above-mentioned. The vehicle control means warns the driver based on the recommended speed set by the recommended vehicle speed setting means.
The vehicle control device according to claim 6 . The vehicle control means controls the vehicle speed based on the recommended speed set by the recommended vehicle speed setting means.
The vehicle control apparatus according to claim 6 or 7, wherein

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