Vehicle speed control apparatus
A vehicle speed control apparatus is configured to determine, based on an automatic brake duration time and a vehicle speed reduction amount, whether to suppress a brake force due to an automatic brake control, the automatic brake duration time being from an automatic brake control starting timing to a current time point, the vehicle speed reduction amount corresponding to a value obtained by subtracting a vehicle speed at the current time point from the vehicle speed at the automatic brake control starting timing.
1. A vehicle speed control apparatus comprising:
a non-transitory computer-readable medium storing instructions; and
a processor that is programmed to execute the instructions to:
generate a control signal to start an automatic brake control;
calculate, after starting the automatic brake control, a vehicle speed reduction amount and an automatic brake duration time;
determine, based on the automatic brake duration time and the vehicle speed reduction amount, whether to suppress a brake force of the automatic brake control; and
suppress the brake force based on the determining whether to suppress the brake force of the automatic brake control,
the automatic brake duration time being from an automatic brake control starting timing to a current time point,
the vehicle speed reduction amount corresponding to a value obtained by subtracting a vehicle speed at the current time point from the vehicle speed at the automatic brake control starting timing.
2. The vehicle speed control apparatus of claim 1 , wherein the processor is further programmed to set an upper limit value based on parameters including the automatic brake duration time and the vehicle speed at the automatic brake control starting timing, and suppresses the brake force due to the automatic brake control when the vehicle speed reduction amount exceeds the upper limit value.
3. The vehicle speed control apparatus of claim 1 , further comprising:
a storage part that stores mapped data that defines the upper limit value based on the parameters including the automatic brake duration time and the vehicle speed at the automatic brake control starting timing,
wherein the mapped data has the upper limit value gradually changed according to a change in the automatic brake duration time and a change in the vehicle speed at the automatic brake control starting timing.
4. The vehicle speed control apparatus of claim 1 , wherein the automatic brake control includes a primary automatic brake control, and a preliminary brake control to be performed prior to the primary automatic brake control to generate the brake force that is smaller than that at the time of the preliminary brake control, and
the automatic brake duration time is calculated as a time from a timing of starting the primary automatic brake control to the current time point.
5. The vehicle speed control apparatus of claim 4 , wherein the processor is further programmed to set the upper limit value based on parameters including the automatic brake duration time, the vehicle speed at the timing of starting the primary automatic brake control, and a time from a timing of starting the preliminary brake control to the timing of starting the primary automatic brake control.
6. The vehicle speed control apparatus of claim 1 , wherein
when the automatic brake duration time is less than or equal to a predetermined value, the processor is further programmed to suppress the brake force due to the automatic brake control to a value greater than 0 upon the vehicle speed reduction amount exceeding the upper limit value; and
when the automatic brake duration time is greater than the predetermined value, the processor is further programmed to suppress the brake force due to the automatic brake control to 0 upon the vehicle speed reduction amount exceeding the upper limit value.