Abstract: A preceding vehicle speed estimation unit estimates a preceding vehicle speed after a predetermined period of time based on a preceding vehicle speed and an acceleration of the preceding vehicle, and an ACC target vehicle speed setting unit sets a target vehicle speed for the vehicle following based on an inter-vehicle distance between the vehicle and preceding vehicle and the preceding vehicle speed after a predetermined period of time. Then, during the stop maintaining control, an ACC resetting acceptability determination unit compares the target vehicle speed and a reference threshold. When the target vehicle speed is greater than the reference threshold, it is determined to accept ACC resetting in response to the driver's input operation, and, when the target vehicle speed is equal to or less than the reference threshold, it is determined not to accept ACC resetting.

Abstract: Even when main brakes are released after auxiliary brakes are operated, a kickback applied to a vehicle body can be made small in order to obtain a riding comfort. When auxiliary brakes 17 perform a braking operation while a vehicle is being stopped by a braking operation of main brakes 10, a VDC_ECU 2 rapidly reduces a target brake fluid pressure Pbf to a first fluid pressure value Pbf1 that can maintain a stop condition of the vehicle (S11 to S13), and then, gradually reduces the target brake fluid pressure Pbf before releasing the braking operation of the main brakes 10 (S14). Since the brake fluid pressure is gradually reduced when the target brake fluid pressure Pbf becomes equal to or lower than the first fluid pressure value Pbf1, a kickback applied to the vehicle can be reduced, comparing to a conventional technology in which the pressure is rapidly reduced.

Abstract: At least a follow-up target inter-vehicle distance is set on the basis of information about a preceding vehicle recognized by a forward-environment recognition device mounted in a subject vehicle and including a stereo camera, and it is determined whether or not the preceding vehicle is making a right/left turn. When a right/left turn of the preceding vehicle is detected, the follow-up target inter-vehicle distance is multiplied by a correction coefficient so as to set a different follow-up target inter-vehicle distance for the right/left turn.

Abstract: A branch-lane entry judging system includes a traffic-line detecting means for detecting traffic lines on right and left sides of a vehicle, a length and width detecting means for detecting lengths and widths of the traffic lines in a real space, a lane-type judging means for judging types of the traffic lines and a type of a lane in which the vehicle is running, a branch-lane detecting means for detecting a branch lane when one of the traffic lines changes from a solid line to a broken line having a predetermined length and a predetermined width, the branch lane existing near the changed traffic line, and a branch-lane entry judging means for judging that the vehicle will enter the branch lane when the vehicle moves toward the branch lane or a directional indicator is operated toward the branch lane while the branch lane is detected.