Vehicle Controls

Abstract

The present disclosure relates to a vehicle control device. The vehicle control device determines whether a first behavior condition is satisfied, and the first behavior condition is satisfied when there is a predetermined behavior difference between the behavior of a control target vehicle (OV1) that is a collision avoidance control target and the behavior of a surrounding vehicle (OV2) that exists around the control target vehicle. When the first behavior condition is satisfied, the vehicle control device changes the predetermined execution condition of the collision avoidance control to a condition that is satisfied at a later timing than when the first behavior condition is not satisfied.

Description

Technical Field

[0001] The present invention relates to a vehicle control device configured to perform collision avoidance control. Background Art

[0002] Conventionally, there is known a vehicle control device configured to detect an object existing around a vehicle and execute collision avoidance control for avoiding a collision with the object (see, for example, Patent Document 1). In addition, collision avoidance control is sometimes referred to as pre-crash safety control.

[0003] In the following, it is assumed that the vehicle is traveling on a left-hand traffic road. The device described in Patent Document 1 (hereinafter referred to as "conventional device") performs collision avoidance control when it is determined that the possibility of collision between the vehicle (host vehicle) and an object (oncoming vehicle) is high when the vehicle (host vehicle) turns right.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-156253 Summary of the invention

[0007] exist Fig.14 In the example shown, it is assumed that a vehicle (the present vehicle) 1401 is equipped with an existing device. The present vehicle 1401 turns right at the intersection Is as indicated by the arrow ar1. The oncoming vehicle 1402 is currently traveling straight, but is scheduled to turn right at the intersection Is as indicated by the arrow ar2. The existing device calculates the predicted trajectory tr0 of the oncoming vehicle 1402. Since the oncoming vehicle 1402 is currently traveling straight, the predicted trajectory tr0 becomes the trajectory of the oncoming vehicle 1402 traveling straight. When the distance between the present vehicle 1401 and the predicted trajectory tr0 is less than a predetermined threshold, the existing device determines that there is a high possibility of a collision between the present vehicle 1401 and the oncoming vehicle 1402. In this case, the existing device performs collision avoidance control.

[0008] exist Fig.14 In the example, since the oncoming vehicle 1402 turns right, the possibility of the host vehicle 1401 colliding with the oncoming vehicle 1402 is low. However, as described above, the predicted trajectory tr0 is a trajectory in which the oncoming vehicle 1402 goes straight, so the distance between the host vehicle 1401 and the predicted trajectory tr0 may become less than a predetermined threshold. Therefore, the conventional device may perform collision avoidance control in an unnecessary situation (i.e., a situation in which the possibility of collision with the oncoming vehicle 1402 is low).

[0009] The above problem may also occur when the oncoming vehicle starts to turn right (see symbol 1402'). Fig.14 As shown, when the oncoming vehicle 1402' has not made a sharp turn, the conventional device calculates the predicted trajectory tr0' as if the oncoming vehicle 1402' is moving roughly straight. The distance between the host vehicle 1401 and the predicted trajectory tr0' is likely to become smaller than a predetermined threshold, so the conventional device may perform collision avoidance control in an unnecessary situation.

[0010] The present invention is made to solve the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control device that can determine whether the possibility of an oncoming vehicle turning (right or left) is high and thereby reduce the possibility of performing collision avoidance control in unnecessary situations.

[0011] A vehicle control device in one or more embodiments comprises: a sensor (15) for acquiring information about an object existing in a surrounding area of ​​the host vehicle (SV) including at least a front area of ​​the host vehicle (SV), namely, object information; and a control unit (10) configured to select, based on the object information, an oncoming vehicle (OV1) moving toward the host vehicle and having a possibility of colliding with the host vehicle as a control target vehicle when the host vehicle turns right or left, and to execute collision avoidance control for avoiding a collision with the control target vehicle when a predetermined execution condition that is established when the possibility of the host vehicle and the control target vehicle colliding is high is established. The control unit is configured to select, based on the object information, at least one oncoming vehicle (OV2) moving toward the host vehicle and existing around the control target vehicle as a surrounding vehicle; determine whether a first behavior condition is established, the first behavior condition being established when there is a predetermined behavior difference between the behavior of the control target vehicle and the behavior of the surrounding vehicles; and when the first behavior condition is established, change the predetermined execution condition to a condition that is established at a later timing than when the first behavior condition is not established.

[0012] When the first behavior condition is satisfied, there is a predetermined behavior difference between the behavior of the control object vehicle and the behavior of the surrounding vehicles, so the possibility of the control object vehicle turning right or left is high. Therefore, the possibility of the vehicle colliding with the control object vehicle is low. In this case, the predetermined execution condition is changed to a condition that is satisfied at a relatively late timing. As a result, the predetermined execution condition becomes difficult to be satisfied. Therefore, the possibility of performing collision avoidance control in an unnecessary situation (i.e., a situation where the possibility of collision with the control object vehicle is low) can be reduced.

[0013] In one or more embodiments, the control unit is configured to determine that the predetermined behavior difference exists when there is a predetermined difference in motion vectors between the control object vehicle and the surrounding vehicles, or when there is a predetermined difference in the amount of change per unit time of the motion vectors between the control object vehicle and the surrounding vehicles.

[0014] In more than one embodiment, the control unit is configured to determine that the first action condition is met when at least one of the first condition, the second condition, and the third condition is met, the first condition being a condition regarding the difference between the travel direction (Dr1) of the control object vehicle and the travel direction (Dr2) of the surrounding vehicles, the second condition being a condition regarding the difference between the acceleration (a1) of the control object vehicle in the travel direction and the acceleration (a2) of the surrounding vehicles in the travel direction, and the third condition being a condition regarding the difference between the speed (V1) of the control object vehicle in the travel direction and the speed (V2) of the surrounding vehicles in the travel direction.

[0015] According to the above configuration, the vehicle control device can determine whether the first behavior condition is satisfied by taking into account at least one of the difference in travel direction, the difference in acceleration, and the difference in speed between the control target vehicle and the surrounding vehicles.

[0016] In one or more embodiments, the control unit is configured to determine that the first condition is met when the difference between the angle (θs1) formed by the reference axis and the travel direction of the control object vehicle and the angle (θs2) formed by the reference axis and the travel direction of the surrounding vehicles is greater than a predetermined angle difference threshold (θth1).

[0017] In one or more embodiments, the control unit is configured to determine that the second condition is satisfied when the acceleration (a1) of the control target vehicle is a negative value and the acceleration (a2) of the surrounding vehicles is equal to or greater than zero.

[0018] In one or more embodiments, the control unit is configured to determine that the third condition is met when the speed (V1) of the control object vehicle is less than the speed (V2) of the surrounding vehicles and the difference between the speed of the surrounding vehicles and the speed of the control object vehicle is greater than a predetermined speed difference threshold (Vth1).

[0019] In one or more embodiments, the predetermined execution condition is a condition that is satisfied when the time (Tc) required for the host vehicle to reach the trajectory (tr2) predicted to be passed by the control target vehicle becomes less than a time threshold (Tth2). The control unit is configured to set the time threshold to be smaller when the first action condition is satisfied than when the first action condition is not satisfied.

[0020] According to the above configuration, the vehicle control device changes the time threshold in the scheduled execution condition according to the establishment of the first behavior condition. Thus, when the first behavior condition is established, the scheduled execution condition is changed to a condition that is established at a later timing than when the first behavior condition is not established.

[0021] In one or more embodiments, the collision avoidance control includes a braking force control for applying a braking force to the wheels of the host vehicle. Furthermore, the control unit is configured to calculate a braking distance (df) which is a distance from a time point when the collision avoidance control is started to a time point when the host vehicle stops, and to set the time threshold to a value that causes the host vehicle to stop at a position (P1) immediately before reaching the trajectory based on the braking distance when the first action condition is satisfied.

[0022] According to the above configuration, when the first action condition is satisfied, the timing of the predetermined execution condition being satisfied can be postponed to the timing when the host vehicle can stop at a position just before reaching the above trajectory. The safety of the host vehicle can be ensured while reducing the possibility of executing collision avoidance control in unnecessary situations.

[0023] In more than one embodiment, the control unit is configured to, when a plurality of oncoming vehicles (OV2 and OV3) existing around the control object vehicle are selected as the surrounding vehicles, determine whether the second behavior condition is met, and the second behavior condition is met when the behavior difference between the behaviors of the plurality of surrounding vehicles is small; when the second behavior condition is met, determine whether the first behavior condition is met.

[0024] According to the above configuration, the vehicle control device determines whether the first behavior condition is satisfied when the behavior difference between the plurality of surrounding vehicles is small. The vehicle control device can accurately determine whether the control target vehicle is turning right or left.

[0025] In one or more embodiments, the control unit may also be implemented by a microprocessor programmed to perform one or more functions described in this specification. In one or more embodiments, the control unit may also be implemented in whole or in part by hardware consisting of an integrated circuit, i.e., an ASIC, etc., dedicated to one or more applications.

[0026] In the above description, for the constituent elements corresponding to one or more embodiments described later, the names and / or numbers used in the embodiments are added in parentheses. However, each constituent element is not limited to the embodiments specified by the names and / or numbers. Other purposes, other features and incidental advantages of the present disclosure should be easily understood from the following description of one or more embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic configuration diagram of a vehicle control device according to an embodiment.

[0028] Figure 2 This is a diagram for explaining object information acquired by surrounding sensors.

[0029] Figure 3 This diagram shows a situation in which there is an oncoming vehicle when the vehicle turns right.

[0030] Figure 4 This is a diagram for explaining the flow of processing for setting an oncoming vehicle as a control target vehicle.

[0031] Figure 5 This is a diagram for explaining the flow of processing for setting an oncoming vehicle as a control target vehicle.

[0032] Figure 6 This is a diagram for explaining the flow of processing for setting an oncoming vehicle as a control target vehicle.

[0033] Figure 7 This diagram shows a situation in which a plurality of oncoming vehicles are present when the vehicle turns right.

[0034] Figure 8 This is a diagram for explaining the first action condition.

[0035] Fig. 9 This is a diagram for explaining the first action condition.

[0036] Fig.10 This is a diagram showing another situation in which there are a plurality of oncoming vehicles when the vehicle turns right.

[0037] Fig.11 This is a flowchart showing a “collision avoidance control execution routine” executed by the CPU of the collision avoidance ECU (electronic control unit).

[0038] Fig.12 It means in Fig.11 Flowchart of the “threshold setting routine” executed by the CPU in step 1103 of the routine.

[0039] Fig.13It is a diagram for explaining a modified example of setting the second time threshold value in the predetermined PCS (pre-crash safety) execution condition.

[0040] Fig.14 This diagram shows a situation in which there is an oncoming vehicle when the vehicle turns right.

[0041] Description of symbols

[0042] 10 collision avoidance ECU (PCS ECU); 20 engine ECU; 30 brake ECU; 40 meter ECU; 15 surrounding sensor; 16 radar sensor; 17 camera sensor; 18 object detection ECU. DETAILED DESCRIPTION

[0043] (constitute)

[0044] like Figure 1 As shown, the vehicle control device according to the present embodiment is applied to a vehicle SV. The vehicle control device includes a collision avoidance ECU 10, an engine ECU 20, a brake ECU 30, and a meter ECU 40. Some or all of these ECUs may be combined into one ECU. Hereinafter, the collision avoidance ECU 10 is referred to as "PCS ECU 10".

[0045] The above-mentioned ECU is an electronic control unit (Electric Control Unit) including a microcomputer as a main part, and is connected via a CAN (Controller Area Network) (not shown) so as to be able to transmit and receive information to each other.

[0046] In this specification, a microcomputer includes a CPU, a ROM, a RAM, a nonvolatile memory, an interface (I / F), etc. For example, the PCSECU 10 includes a microcomputer including a CPU 101, a ROM 102, a RAM 103, a nonvolatile memory 104, and an interface (I / F) 105. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM.

[0047] The PCSECU 10 is connected to the following sensors and receives their detection signals or output signals. In addition, each sensor may be connected to an ECU other than the PCSECU 10. In this case, the PCSECU 10 receives the detection signal or output signal of the sensor from the ECU connected to the sensor via the CAN.

[0048] The vehicle speed sensor 11 detects the speed (travel speed) Vs of the vehicle SV and outputs a signal indicating the speed Vs. The steering angle sensor 12 detects the steering angle θ of the vehicle SV and outputs a signal indicating the steering angle θ. The yaw rate sensor 13 detects the yaw rate Yr of the vehicle SV and outputs a signal indicating the yaw rate Yr.

[0049] The acceleration sensor 14 includes a first acceleration sensor 14a and a second acceleration sensor 14b. The first acceleration sensor 14a detects the acceleration in the front-rear direction of the vehicle SV (front-rear acceleration), that is, the first acceleration ax, and outputs a signal indicating the first acceleration ax. The second acceleration sensor 14b detects the acceleration in the lateral direction of the vehicle SV (lateral acceleration), that is, the second acceleration ay, and outputs a signal indicating the second acceleration ay.

[0050] Hereinafter, “information indicating the running state of the vehicle SV” output from the sensors 11 to 14 may be referred to as “running state information”.

[0051] The surrounding sensor 15 obtains information related to three-dimensional objects existing in the surrounding area of ​​the vehicle SV. The surrounding area of ​​the vehicle SV includes at least the area in front of the vehicle SV. In this example, the surrounding area of ​​the vehicle SV includes the area in front of the vehicle SV, the area to the right of the vehicle SV, and the area to the left of the vehicle SV. Three-dimensional objects represent, for example, moving objects such as four-wheeled vehicles, two-wheeled vehicles and pedestrians, as well as fixed objects such as utility poles, trees and guardrails. Hereinafter, these three-dimensional objects are sometimes referred to as "objects". The surrounding sensor 15 calculates and outputs information related to the object (hereinafter referred to as "object information").

[0052] like Figure 2 As shown, the surrounding sensor 15 obtains object information on the two-dimensional map. The two-dimensional map is defined by an x-axis and a y-axis. The origin of the x-axis and the origin of the y-axis are the center position O in the vehicle width direction of the front part of the vehicle SV. The x-axis is a coordinate axis extending along the front-rear direction of the vehicle SV in a manner passing through the center position O of the front part of the vehicle SV, and having the front as a positive value. The y-axis is a coordinate axis orthogonal to the x-axis, and having the left direction of the vehicle SV as a positive value.

[0053] The object information includes the longitudinal distance Dfx(n) of the object (n), the lateral position Dfy(n) of the object (n), the orientation θp of the object (n) relative to the vehicle SV, the direction of travel of the object (n), the relative speed Vfx(n) of the object (n), and the category of the object (n).

[0054] The longitudinal distance Dfx(n) is the signed distance between the object (n) and the origin O in the x-axis direction. The lateral position Dfy(n) is the signed distance between the object (n) and the origin O in the y-axis direction. The relative speed Vfx(n) is the difference between the speed Vn of the object (n) and the speed Vs of the vehicle SV (= Vn-Vs). The speed Vn of the object (n) is the speed of the object (n) in the x-axis direction. The category of the object (n) is information indicating whether the object corresponds to a moving object or a fixed object. In this example, when the object is a moving object, the category of the object (n) also includes information indicating whether the object (n) corresponds to a four-wheeled vehicle, a two-wheeled vehicle, or a pedestrian.

[0055] Re-reference Figure 1 , the surrounding sensor 15 includes a radar sensor 16, a camera sensor 17 and an object detection ECU 18. The radar sensor 16 includes a radar wave transceiver and an information processing unit. The radar wave transceiver transmits electromagnetic waves (for example, radio waves in the millimeter wave band, called "millimeter waves"), and receives millimeter waves (i.e., reflected waves) reflected by objects within the transmission range. The information processing unit detects the object (n) based on the reflected wave information including the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave. Furthermore, the information processing unit obtains (calculates) object information about the object (n) based on the reflected wave information.

[0056] The camera sensor 17 includes a camera and an image processing unit. The camera outputs image data to the image processing unit at a predetermined frame rate. The image processing unit detects the object (n) based on the image data, and obtains (calculates) object information about the object (n). In addition, the image processing unit identifies (determines) the category of the object (n). The image processing unit stores data obtained by patterning objects such as four-wheeled vehicles, two-wheeled vehicles, and pedestrians in a memory (e.g., ROM) in advance. The image processing unit identifies which of the four-wheeled vehicle, two-wheeled vehicle, and pedestrian the object corresponds to by performing pattern matching on the image data.

[0057] The image processing unit may also detect a plurality of lane lines (dividing lines) defining a lane based on the image data. The plurality of lane lines include a lane line defining a lane in which the vehicle SV is traveling and a lane line defining an oncoming lane. The image processing unit may also obtain (calculate) the position of each of the plurality of lane lines as lane information.

[0058] The object detection ECU 18 determines final object information by synthesizing the object information obtained by the radar sensor 16 and the object information obtained by the camera sensor 17. The object detection ECU 18 outputs the object information and the lane information to the PCSECU 10 as “vehicle surrounding information”.

[0059] The engine ECU 20 is connected to the engine actuator 21. The engine actuator 21 includes a throttle actuator that changes the opening of the throttle of the fuel injection spark ignition internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to the drive wheels (not shown) via the transmission (not shown). Therefore, the engine ECU 20 can control the driving force and change the acceleration state (acceleration) by controlling the engine actuator 21.

[0060] In addition, when the vehicle SV is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the vehicle driving source. Furthermore, when the vehicle SV is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the vehicle driving source.

[0061] The brake ECU 30 is connected to the brake actuator 31. The brake actuator 31 includes a hydraulic circuit. The hydraulic circuit includes a master cylinder, a flow path for the brake fluid to flow, a plurality of valves, a pump, and a motor for driving the pump. The brake ECU 30 adjusts the hydraulic pressure supplied to the wheel cylinder built into the brake mechanism 32 by controlling the brake actuator 31. The wheel cylinder generates a friction braking force on the wheel by using the hydraulic pressure. Therefore, the brake ECU 30 can control the braking force and change the acceleration state (deceleration, i.e., negative acceleration) by controlling the brake actuator 31.

[0062] The instrument ECU 40 is connected to a display 41, a speaker 42, and a turn signal switch 43. The display 41 is a multifunctional information display arranged in front of the driver's seat. In addition, a head-up display can also be used as the display 41. The instrument ECU 40 causes the display 41 to display a mark (such as a warning light) for calling attention, according to instructions from the PCSECU 10. Furthermore, the instrument ECU 40 causes the speaker 42 to output an "alarm sound to call the driver's attention" according to instructions from the PCSECU 10. Furthermore, the instrument ECU 40 flashes the left or right turn signal light (not shown) according to a signal from the turn signal switch 43. The instrument ECU 40 sends the working status of the left or right turn signal light to the PCSECU 10.

[0063] (Overview of collision avoidance control)

[0064] In the following, in order to distinguish it from other vehicles, the vehicle SV is referred to as "this vehicle SV". PCSECU10 performs collision avoidance control. The collision avoidance control in this example is a control to avoid a collision between the present vehicle SV and an oncoming vehicle or to reduce the collision damage between the present vehicle SV and the oncoming vehicle when the present vehicle SV turns right. In the following, this control is referred to as "PCS control".

[0065] Specifically, PCSECU10 determines whether the vehicle SV is about to turn right based on the working condition of the right turn signal light and / or the driving state information (such as the steering angle θ or the yaw rate Yr). When PCSECU10 determines that the vehicle SV is about to turn right, it identifies the objects existing in the surrounding area of ​​the vehicle SV based on the object information contained in the vehicle surrounding information. PCSECU10 extracts the vehicle (oncoming vehicle) that exists in the front area of ​​the vehicle SV and is moving toward the vehicle SV from the identified objects. In this example, the oncoming vehicle includes a four-wheeled vehicle and a two-wheeled vehicle.

[0066] Next, the PCSECU 10 determines whether there is a vehicle that is a target of PCS control (hereinafter referred to as a “control target vehicle”) among the extracted oncoming vehicles. The control target vehicle is an oncoming vehicle that may collide with the host vehicle SV.

[0067] exist Figure 3 In the example of , the host vehicle SV is traveling in the first driving lane Ln1. The host vehicle SV is about to turn right at the intersection Is1. Furthermore, the first other vehicle OV1 is traveling in the first oncoming lane Lo1 which is the oncoming lane of the first driving lane Ln1.

[0068] The PCSECU 10 extracts the first other vehicle OV1 as an oncoming vehicle from among the recognized objects. Figure 4 As shown, PCSECU10 virtually represents the host vehicle SV and the first other vehicle OV1 on the two-dimensional map. PCSECU10 sets the first rectangle 401 representing the body of the host vehicle SV on the two-dimensional map. Information related to the size of the body of the host vehicle SV is stored in ROM102. Based on the information, PCSECU10 sets the first rectangle 401 on the two-dimensional map. Furthermore, PCSECU10 sets the second rectangle 402 representing the body of the first other vehicle OV1 on the two-dimensional map. In addition, the size of the second rectangle 402 can be set according to the body size of a general vehicle.

[0069] PCSECU10 determines the vertex (hereinafter referred to as "the first vertex") 401a which is closest to the second rectangle 402 among the vertices of the first rectangle 401. The first vertex 401a is equivalent to the right corner of the front part of the host vehicle SV. Furthermore, PCSECU10 determines the vertex (hereinafter referred to as "the second vertex") 402a which is closest to the first rectangle 401 among the vertices of the second rectangle 402. The second vertex 402a is equivalent to the right corner of the front part of the first other vehicle OV1.

[0070] The PCSECU 10 draws a first predicted trajectory tr1 of the first vertex 401a on the two-dimensional map based on the running state information (for example, the speed Vs and the steering angle θ). The first predicted trajectory tr1 is a trajectory predicted to pass through the first vertex 401a.

[0071] The PCSECU 10 determines the traveling direction of the first other vehicle OV1 based on the object information. The PCSECU 10 draws the second predicted trajectory tr2 of the second vertex 402a on the two-dimensional map along the traveling direction of the first other vehicle OV1. The second predicted trajectory tr2 is a trajectory predicted to pass through the second vertex 402a.

[0072] PCSECU10 uses the first predicted trajectory tr1 and the second predicted trajectory tr2 to determine whether the first other vehicle OV1 is the control target vehicle. In this example, PCSECU10 determines that the first other vehicle OV1 is the control target vehicle when both the following conditions A1 and A2 are satisfied. Sometimes, conditions A1 and A2 are collectively referred to as "control target vehicle conditions".

[0073] ·Condition A1

[0074] Condition A1 is a condition for determining whether the host vehicle SV is likely to collide with the first other vehicle OV1. PCSECU10 obtains the current speed Vs of the host vehicle SV from the vehicle speed sensor 11. Furthermore, PCSECU10 calculates the current speed V1 of the first other vehicle OV1 based on the object information. PCSECU10 performs the following processing on the two-dimensional map under the assumption that the host vehicle SV maintains the speed Vs and the first other vehicle OV1 maintains the speed V1.

[0075] Specifically, PCSECU10 moves the first rectangle 401 from the current position along the first predicted trajectory tr1 at a speed Vs as time passes. Similarly, PCSECU10 moves the second rectangle 402 along the second predicted trajectory tr2 at a speed V1 as time passes. When at least a portion of the first rectangle 401 overlaps with the second rectangle 402, PCSECU10 determines that the vehicle SV is likely to collide with the first other vehicle OV1. That is, PCSECU10 determines that condition A1 is met. In addition, when the first rectangle 401 does not overlap with the second rectangle 402, PCSECU10 determines that condition A1 is not met.

[0076] In this example, if Figure 5 As shown, at least a portion of the first rectangle 401 overlaps with the second rectangle 402. Therefore, the PCSECU 10 determines that the condition A1 is satisfied.

[0077] Condition A2

[0078] Condition A2 is a condition determined when condition A1 is satisfied. Condition A2 is satisfied when the time Tc required for the host vehicle SV to reach the path (second predicted trajectory tr2) of the first other vehicle OV1 is relatively short. In addition, time Tc can also be said to be the margin time before the host vehicle SV collides with the first other vehicle OV1.

[0079] like Figure 6 As shown, PCSECU10 sets the first rectangle 401 at the current position of the host vehicle SV on the two-dimensional map, and sets the second rectangle 402 at the current position of the first other vehicle OV1. PCSECU10 obtains the intersection position Ps where the first predicted trajectory tr1 intersects the second predicted trajectory tr2. Moreover, PCSECU10 obtains the time Tc by dividing the distance ds between the current position of the first vertex 401a and the intersection position Ps by the speed Vs of the host vehicle SV. When the time Tc is less than the first time threshold Tth1, PCSECU10 determines that condition A2 is met. On the other hand, when the time Tc is not less than the first time threshold Tth1, PCSECU10 determines that condition A2 is not met.

[0080] In this example, it is assumed that the time Tc is equal to or less than the first time threshold value Tth1. Therefore, the PCSECU 10 determines that the condition A2 is satisfied.

[0081] As above, in Figure 3 In the example, both the condition A1 and the condition A2 are satisfied for the first other vehicle OV1, and therefore the PCSECU 10 selects (sets) the first other vehicle OV1 as the control target vehicle.

[0082] After selecting the first other vehicle OV1 as the control target vehicle, the PCSECU 10 repeatedly calculates the time Tc for the control target vehicle. Furthermore, the PCSECU 10 determines whether a predetermined PCS execution condition is satisfied.

[0083] The predetermined PCS execution condition is a condition for determining whether to execute (start) PCS control, and is established when the possibility of collision between the host vehicle SV and the control target vehicle is high. Specifically, the predetermined PCS execution condition is established when the time Tc is less than the second time threshold Tth2. The second time threshold Tth2 is a threshold for determining the timing of starting PCS control. The second time threshold Tth2 is smaller than the first time threshold Tth1 (Tth2 <Tth1)。

[0084] When the time Tc becomes equal to or smaller than the second time threshold value Tth2, the PCS ECU 10 determines that the predetermined PCS execution condition is satisfied and executes the PCS control.

[0085] PCS control includes driving force suppression control for suppressing the driving force of the vehicle SV, braking force control for applying braking force to the wheels, and attention-calling control for calling the attention of the driver. Specifically, PCSECU10 sends a driving instruction signal to the engine ECU20. When the engine ECU20 receives the driving instruction signal from the PCSECU10, it controls the engine actuator 21, thereby suppressing the driving force of the vehicle so that the actual acceleration of the vehicle SV is consistent with the target acceleration AG (for example, zero) contained in the driving instruction signal. Furthermore, PCSECU10 sends a braking instruction signal to the brake ECU30. When the brake ECU30 receives the braking instruction signal from the PCSECU10, it controls the brake actuator 31, thereby applying braking force to the wheels so that the actual acceleration of the vehicle SV is consistent with the target deceleration TG contained in the braking instruction signal. In addition, PCSECU10 sends an attention-calling instruction signal to the meter ECU40. When the meter ECU40 receives the attention-calling instruction signal from the PCSECU10, it causes the display 41 to display a mark for calling attention, and causes the speaker 42 to output an alarm sound.

[0086] (Work Summary)

[0087] As described above, in the prior art device, when the control object vehicle (oncoming vehicle) turns right, it is possible that the present vehicle performs PCS control even though the possibility of a collision between the control object vehicle and the control object vehicle is low. In view of this, the PCSECU10 involved in the present embodiment uses the behavior of the oncoming vehicles existing around the control object vehicle to determine whether the possibility of the control object vehicle turning right is high. When the PCSECU10 determines that the possibility of the control object vehicle turning right is high, the timing for starting the PCS control is delayed. That is, the PCSECU10 reduces the threshold (the second time threshold Tth2) for determining the timing for starting the PCS control. As a result, the predetermined PCS execution condition is difficult to be established. The possibility of executing PCS control in unnecessary conditions (i.e., conditions where the possibility of a collision with the control object vehicle is low) can be reduced.

[0088] exist Figure 7 In the example, the host vehicle SV is traveling in the first driving lane Ln1 and is about to turn right at the intersection Is1. Furthermore, the first other vehicle OV1 and the second other vehicle OV2 are traveling in the opposite lane relative to the first driving lane Ln1. The opposite lane includes the first opposite lane Lo1 and the second opposite lane Lo2. The first other vehicle OV1 is traveling in the first opposite lane Lo1, and the second other vehicle OV2 is traveling in the second opposite lane Lo2. In this example, the first opposite lane Lo1 is a right turn lane.

[0089] Based on the object information, PCSECU10 identifies objects existing in the surrounding area of ​​the vehicle SV. PCSECU10 extracts the first other vehicle OV1 and the second other vehicle OV2 as oncoming vehicles from the identified objects. PCSECU10 determines whether there is a control object vehicle among the first other vehicle OV1 and the second other vehicle OV2. PCSECU10 determines whether the control object vehicle condition (condition A1 and condition A2) is met for each of the first other vehicle OV1 and the second other vehicle OV2. In this example, the control object vehicle condition is met only for the first other vehicle OV1. Therefore, PCSECU10 selects the first other vehicle OV1 as the control object vehicle.

[0090] In addition, there is also a case where the control target vehicle condition is satisfied for both of the multiple other vehicles OV1 and OV2. In this case, PCSECU10 selects "the oncoming vehicle closest to the host vehicle SV (the first other vehicle OV1 in this example)" as the control target vehicle. In other words, PCSECU10 selects the oncoming vehicle that is expected to collide with the host vehicle SV at the earliest stage as the control target vehicle.

[0091] Furthermore, PCSECU10 extracts an oncoming vehicle that satisfies both conditions B1 and B2 from among oncoming vehicles other than the control target vehicle. PCSECU10 selects (sets) the extracted oncoming vehicle as an "oncoming vehicle (hereinafter referred to as a "surrounding vehicle")" moving around the control target vehicle.

[0092] (Condition B1) The oncoming vehicle is present within a predetermined distance range from the control target vehicle.

[0093] (Condition B2) The oncoming vehicle is not behind the control target vehicle (that is, the oncoming vehicle is not traveling in the same lane as the control target vehicle).

[0094] Hereinafter, the condition B1 and the condition B2 may be collectively referred to as a “surrounding vehicle condition.” In this example, the surrounding vehicle condition is satisfied for the second other vehicle OV2 . Therefore, the PCSECU 10 selects the second other vehicle OV2 as a surrounding vehicle.

[0095] Hereinafter, the first other vehicle OV1 is referred to as "the controlled vehicle OV1", and the second other vehicle OV2 is referred to as "the surrounding vehicle OV2". For example, when the controlled vehicle OV1 turns right, the controlled vehicle OV1 starts turning while decelerating. On the other hand, it is highly likely that the surrounding vehicle OV2 goes straight without decelerating. Thus, when the controlled vehicle OV1 turns right, the behavior (speed, acceleration, direction of travel, etc.) of the controlled vehicle OV1 is different from that of the surrounding vehicle OV2.

[0096] Taking the above into consideration, PCSECU10 determines whether the predetermined first behavior condition is satisfied based on the object information. The predetermined first behavior condition is a condition for determining whether there is a predetermined behavior difference between the behavior of the control object vehicle OV1 and the behavior of the surrounding vehicle OV2. In this specification, "behavior difference" means that there is a difference in motion vector (travel direction and moving speed) between the control object vehicle OV1 and the surrounding vehicle OV2, or there is a difference in the change in motion vector per unit time (change in travel direction and change in moving speed) between the control object vehicle OV1 and the surrounding vehicle OV2. Specifically, the predetermined first behavior condition is satisfied when at least one of conditions C1 to C3 described below is satisfied.

[0097] Condition C1 is a condition regarding the angle formed by a predetermined reference axis and the traveling direction of the vehicle (hereinafter referred to as a "specific angle"). In this example, the reference axis is the x-axis of the host vehicle SV. Figure 8As shown, the specific angle θs1 of the control target vehicle OV1 is an angle formed by the x-axis and the travel direction Dr1 of the control target vehicle OV1, and the specific angle θs2 of the surrounding vehicle OV2 is an angle formed by the x-axis and the travel direction Dr2 of the surrounding vehicle OV2.

[0098] When the control target vehicle OV1 starts turning to turn right, a difference occurs between the specific angle θs1 of the control target vehicle OV1 and the specific angle θs2 of the surrounding vehicle OV2. Therefore, in this example, the condition C1 is the following condition.

[0099] The magnitude of the difference (|θs1 - θs2|) between the specific angle θs1 of the control target vehicle OV1 and the specific angle θs2 of the surrounding vehicle OV2 is equal to or larger than a predetermined first angle difference threshold value θth1.

[0100] In addition, the reference axis is not limited to the x-axis of the host vehicle SV. For example, the reference axis may be the traveling direction of the oncoming lane (the direction in which the oncoming lane extends).

[0101] Condition C2 is a condition about the acceleration of the vehicle. Fig. 9 As shown, when the control object vehicle OV1 is scheduled to turn right at the intersection Is1, the control object vehicle OV1 is likely to decelerate before entering the intersection Is1. On the other hand, the surrounding vehicle OV2 is likely to travel at a constant speed or accelerate. Therefore, in this example, the condition C2 is the following condition.

[0102] The acceleration a1 of the control target vehicle OV1 is a negative value, and the acceleration a2 of the surrounding vehicle OV2 is equal to or greater than zero.

[0103] In addition, condition C2 may be the following condition.

[0104] The acceleration a1 of the control target vehicle OV1 is a negative value, the acceleration a2 of the surrounding vehicle OV2 is greater than the acceleration a1 of the control target vehicle OV1, and the difference between the acceleration a1 of the control target vehicle OV1 and the acceleration a2 of the surrounding vehicle OV2 (|a1-a2|) is greater than a predetermined first acceleration difference threshold ath1.

[0105] Condition C3 is a condition about the speed of the vehicle. Fig. 9 As shown, when the control object vehicle OV1 is scheduled to turn right at the intersection Is1, the control object vehicle OV1 is likely to travel at a low speed before entering the intersection Is1. On the other hand, the surrounding vehicle OV2 is likely to travel at a higher speed than the control object vehicle OV1. Therefore, in this example, the condition C3 is the following condition.

[0106] The speed V1 of the control target vehicle OV1 is lower than the speed V2 of the surrounding vehicle OV2, and the difference (V2-V1) between the speed V2 and the speed V1 is equal to or larger than a predetermined first speed difference threshold value Vth1.

[0107] When the predetermined first behavior condition is not satisfied (conditions C1 to C3 are all unsatisfied), the possibility that the control target vehicle OV1 turns right is low. Therefore, the PCSECU 10 sets the second time threshold Tth2 to the first value T1 (normal value).

[0108] On the other hand, when the predetermined first behavior condition is satisfied, the possibility that the control target vehicle OV1 turns right is high. Therefore, the PCSECU 10 sets the second time threshold value Tth2 to the second value T2. The second value T2 is smaller than the first value T1.

[0109] According to the above configuration, when the predetermined first behavior condition between the control object vehicle OV1 and the surrounding vehicle OV2 is satisfied, the PCSECU 10 sets the second time threshold Tth2 to a value (T2) that is smaller than the value (T1) when the predetermined first behavior condition is not satisfied. Therefore, when the predetermined first behavior condition is satisfied, the predetermined PCS execution condition is satisfied at a later timing than when the predetermined first behavior condition is not satisfied. That is, the predetermined PCS execution condition is difficult to be satisfied. Therefore, the possibility of PCS control being executed can be reduced.

[0110] In addition, when the host vehicle SV is turning right, the object information may include an error in the turning component of the host vehicle SV. However, since the behavior of the control object vehicle OV1 and the behavior of the surrounding vehicle OV2 both include an error in the turning component in the same manner, the PCSECU 10 can detect the above-mentioned behavior difference and determine whether the possibility of the control object vehicle turning right is high.

[0111] In addition, there may be more than three oncoming vehicles. Fig.10 In the example, the host vehicle SV is traveling in the first driving lane Ln1, and the host vehicle SV is about to turn right at the intersection Is2. Furthermore, a plurality of other vehicles OV1 to OV3 are traveling in the opposite lane relative to the first driving lane Ln1. The opposite lanes include the first opposite lane Lo1, the second opposite lane Lo2, and the third opposite lane Lo3. The first other vehicle OV1 is traveling in the first opposite lane Lo1, the second other vehicle OV2 is traveling in the second opposite lane Lo2, and the third other vehicle OV3 is traveling in the third opposite lane Lo3. In this example, the first opposite lane Lo1 is a right-turn lane.

[0112] In this example, PCSECU10 selects the first other vehicle OV1 as the control target vehicle, and selects the second other vehicle OV2 and the third other vehicle OV3 as the surrounding vehicles. Hereinafter, the first other vehicle OV1 is referred to as "control target vehicle OV1", the second other vehicle OV2 is referred to as "first surrounding vehicle OV2", and the third other vehicle OV3 is referred to as "second surrounding vehicle OV3". In the case where there are multiple surrounding vehicles OV2 and OV3 like this, PCSECU10 performs the following processing.

[0113] There is a case where the behavior of the first surrounding vehicle OV2 is greatly different from the behavior of the second surrounding vehicle OV3. For example, when the second surrounding vehicle OV3 turns left at the intersection Is2, the behavior (travel direction, acceleration, speed, etc.) of the second surrounding vehicle OV3 is greatly different from the behavior of the first surrounding vehicle OV2. If the PCSECU 10 uses such a behavior of the second surrounding vehicle OV3 to determine whether the predetermined first behavior condition is satisfied, it is impossible to accurately determine whether the control target vehicle OV1 is about to turn right.

[0114] Therefore, in the case where there are multiple surrounding vehicles OV2 and OV3, the PCSECU 10 determines whether the predetermined second behavior condition is satisfied. The predetermined second behavior condition is a condition for determining whether the behavior difference between the behaviors of the multiple surrounding vehicles OV2 and OV3 is small (i.e., whether the multiple surrounding vehicles OV2 and OV3 are traveling in a straight line in the same manner). The predetermined second behavior condition is satisfied when all of the conditions D1 to D3 described below are satisfied.

[0115] (Condition D1) The magnitude of the difference (|θs2 - θs3|) between the specific angle θs2 of the first surrounding vehicle OV2 and the specific angle θs3 of the second surrounding vehicle OV3 is smaller than a predetermined second angle difference threshold θth2 (a value close to zero).

[0116] (Condition D2) The acceleration a2 in the travel direction Dr2 of the first surrounding vehicle OV2 and the acceleration a3 in the travel direction Dr3 of the second surrounding vehicle OV3 are both values ​​greater than zero, and the difference between the acceleration a2 and the acceleration a3 (|a2-a3|) is smaller than the predetermined second acceleration difference threshold ath2.

[0117] (Condition D3) The difference (|V2-V3|) between the speed V2 of the first surrounding vehicle OV2 in the traveling direction Dr2 and the speed V3 of the second surrounding vehicle OV3 in the traveling direction Dr3 is smaller than a predetermined second speed difference threshold value Vth2.

[0118] When the predetermined second behavior condition is not satisfied, the PCSECU 10 sets the second time threshold Tth2 to the first value T1.

[0119] On the other hand, when the predetermined second behavior condition is satisfied, the PCSECU 10 determines whether the predetermined first behavior condition is satisfied between the control object vehicle OV1 and each of the plurality of surrounding vehicles OV2 and OV3. When the predetermined first behavior condition is satisfied between the control object vehicle OV1 and the first surrounding vehicle OV2, and when the predetermined first behavior condition is satisfied between the control object vehicle OV1 and the second surrounding vehicle OV3, the PCSECU 10 sets the second time threshold Tth2 to the second value T2.

[0120] When the predetermined first action condition for at least one of the multiple combinations of the control object vehicle and the surrounding vehicles (i.e., at least one of the combinations between the control object vehicle OV1 and the first surrounding vehicle OV2 and between the control object vehicle OV1 and the second surrounding vehicle OV3) is not met, PCSECU10 sets the second time threshold Tth2 to the first value T1.

[0121] As described above, when there are multiple surrounding vehicles OV2 and OV3, PCSECU10 determines whether the predetermined first behavior condition is satisfied when the predetermined second behavior condition is satisfied. That is, PCSECU10 determines whether the predetermined first behavior condition is satisfied when the behavior difference between the multiple surrounding vehicles OV2 and OV3 is small. Thus, PCSECU10 can accurately determine whether the controlled vehicle OV1 is about to turn right.

[0122] (Work)

[0123] The CPU 101 (hereinafter referred to as "CPU") of the PCS ECU 10 executes Fig.11 The CPU executes the "collision avoidance control (PCS control) execution routine" shown in the figure. When the CPU determines that the vehicle SV is about to turn right based on the operating condition of the right turn signal lamp and / or the driving state information, the CPU executes the "collision avoidance control (PCS control) execution routine" every predetermined time. Fig.11 routine.

[0124] Furthermore, the CPU acquires the running state information from the various sensors 11 to 14 and the vehicle surrounding information from the surrounding sensor 15 every time a predetermined time elapses, and stores these information in the RAM 103 .

[0125] At a predetermined timing, the CPU Fig.11 The process starts from step 1100 and enters step 1101, and determines whether there are more than one object in the surrounding area of ​​the vehicle SV based on the object information. If there are no more than one object, the CPU determines "no" in step 1101 and directly enters step 1195, temporarily terminating this routine.

[0126] In contrast, when there are more than one object, the CPU determines "yes" in step 1101 and proceeds to step 1102. In step 1102, the CPU extracts the oncoming vehicle from the objects identified in step 1101, and determines whether there is a control object vehicle as described above. Specifically, the CPU determines whether there is an oncoming vehicle for which the control object vehicle condition described above is satisfied among the extracted oncoming vehicles. In the case that there is no oncoming vehicle for which the control object vehicle condition is satisfied, the CPU determines "no" in step 1102 and directly proceeds to step 1195, temporarily terminating this routine.

[0127] If there is an oncoming vehicle for which the control target vehicle condition is satisfied, the CPU selects the oncoming vehicle as the control target vehicle. Furthermore, the CPU determines "yes" in step 1102 and proceeds to step 1103 to execute Fig.12 The "threshold setting routine" described later is shown. In this threshold setting routine, the CPU sets the second time threshold Tth2 to one of the first value T1 and the second value T2. After that, the CPU enters step 1104 to determine whether the above-mentioned predetermined PCS execution condition is met. Specifically, the CPU determines whether the time Tc is less than the second time threshold Tth2. When the predetermined PCS execution condition is not met, the CPU determines "no" in step 1104 and directly enters step 1195, temporarily terminating this routine.

[0128] On the other hand, when the predetermined PCS execution condition is satisfied, the CPU makes a "yes" determination in step 1104 and proceeds to step 1105 to execute PCS control. Thereafter, the CPU proceeds to step 1195 to temporarily terminate this routine.

[0129] Next, the CPU Fig.11 The "threshold setting routine" executed in step 1103 of the routine will be described. When the CPU proceeds to step 1103, Fig.12 The routine shown in step 1200 starts the processing of the routine and enters step 1201. The CPU determines whether there are more than one surrounding vehicles. Specifically, the CPU determines whether there is an oncoming vehicle other than the control target vehicle for which the surrounding vehicle condition is satisfied. If there is no oncoming vehicle for which the surrounding vehicle condition is satisfied, the CPU determines "No" in step 1201 and enters step 1206, setting the second time threshold Tth2 to the first value T1. Thereafter, the CPU enters step 1295 to end this routine and enters Fig.11 Step 1104 of the routine.

[0130] In contrast, when there is an oncoming vehicle for which the surrounding vehicle condition is satisfied, the CPU selects the oncoming vehicle as the surrounding vehicle. Furthermore, the CPU determines "yes" in step 1201 and proceeds to step 1202 to determine whether the number of surrounding vehicles is "1". When the number of surrounding vehicles is "1", the CPU determines "yes" in step 1202 and proceeds to step 1204. Furthermore, the CPU determines whether the above-mentioned predetermined first behavior condition between the control object vehicle and the surrounding vehicles is satisfied. Specifically, the CPU determines whether at least one of conditions C1 to C3 is satisfied between the behavior of the control object vehicle and the behavior of the surrounding vehicles. When the predetermined first behavior condition is not satisfied, the CPU determines "no" in step 1204 and proceeds to step 1206 to set the second time threshold Tth2 to the first value T1. Thereafter, the CPU proceeds to step 1295 to end this routine and proceed to step 1296. Fig.11 Step 1104 of the routine.

[0131] When the predetermined first action condition is satisfied, the CPU determines "yes" in step 1204 and proceeds to step 1205 to set the second time threshold Tth2 to the second value T2. Thereafter, the CPU proceeds to step 1295 to end this routine and proceed to step 1296. Fig.11 Step 1104 of the routine.

[0132] On the other hand, when the number of surrounding vehicles is not "1" in step 1202, the CPU determines "No" in step 1202 and proceeds to step 1203 to determine whether the above-mentioned predetermined second behavior condition is satisfied between multiple surrounding vehicles. Specifically, the CPU determines whether all conditions D1 to D3 are satisfied between multiple surrounding vehicles. When the predetermined second behavior condition is not satisfied, the CPU determines "No" in step 1203 and proceeds to step 1206 to set the second time threshold Tth2 to the first value T1. Thereafter, the CPU proceeds to step 1295 to end this routine and proceed to step 1296. Fig.11 Step 1104 of the routine.

[0133] If the predetermined second behavior condition is satisfied, the CPU determines "yes" in step 1203 and proceeds to step 1204. In this case, as described above, the CPU determines whether the predetermined first behavior condition between the control target vehicle and each of the plurality of surrounding vehicles is satisfied. If the predetermined first behavior condition between the control target vehicle and each of the plurality of surrounding vehicles is satisfied, the CPU determines "yes" in step 1204 and proceeds to step 1205, and sets the second time threshold Tth2 to the second value T2. Thereafter, the CPU proceeds to step 1295 to end this routine and proceed to step 1296. Fig.11 Step 1104 of the routine.

[0134] When the predetermined first action condition is not satisfied for at least one of the plurality of combinations of the control target vehicle and the surrounding vehicles, the CPU determines "No" in step 1204 and proceeds to step 1206 to set the second time threshold Tth2 to the first value T1. Thereafter, the CPU proceeds to step 1295 to terminate this routine and proceed to step 1296. Fig.11 Step 1104 of the routine.

[0135] The vehicle control device described above achieves the following effects. In the case where the control target vehicle OV1 starts to turn right at the intersection Is1 ( Figure 8 ) or the control target vehicle OV1 is still moving straight just before the intersection Is1 ( Fig. 9 ), the predicted trajectory of the control target vehicle OV1 (for example, referring to Figure 4 tr2) becomes a trajectory such that the controlled vehicle OV1 goes straight. Therefore, the predetermined PCS execution condition may be satisfied. According to the above configuration, when the predetermined first action condition is satisfied under this condition, the vehicle control device changes the predetermined PCS execution condition to a condition that is satisfied at a later timing than when the predetermined first action condition is not satisfied. Thereby, the possibility of executing PCS control under unnecessary conditions (i.e., conditions where the possibility of collision with the controlled vehicle OV1 is low) can be reduced.

[0136] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0137] (Variant 1)

[0138] CPU Fig.12 The second time threshold value Tth2 may also be set as follows in step 1205 of the routine. The CPU calculates the braking distance df according to a known method based on the current speed Vs of the vehicle SV. The braking distance df is the distance from the time point when the PCS control (braking force control) starts to the time point when the vehicle SV stops. Furthermore, the CPU sets the second time threshold value Tth2 according to the following formula 1. M is a predetermined margin. In addition, the second time threshold value Tth2 calculated according to formula 1 is smaller than the first value T1.

[0139] Tth2←(df+M) / Vs (1)

[0140] Fig.13 The first predicted trajectory tr1 and the second predicted trajectory tr2 calculated are overlapped on the two-dimensional map. Figure 7And the figure shown. On the first predicted trajectory tr1, the position that is "df+M" away from the intersection position Ps is called the "first position P1". When the second time threshold Tth2 calculated according to Formula 1 is used, the PCS control starts when the right corner SVa of the front part of the vehicle SV reaches the first position P1. As a result, the vehicle SV stops at a position just before the right corner SVa reaches the second predicted trajectory tr2 (that is, a position with a margin M away from the intersection position Ps). In this way, the CPU can also set the second time threshold Tth2 in such a way that the vehicle SV stops at the position (P1) just before the collision with the control object vehicle OV1. According to this configuration, when the predetermined first action condition is met, the timing of the predetermined PCS execution condition being met can be postponed to the timing when the vehicle SV can stop at the position just before reaching the second predicted trajectory tr2. The safety of the vehicle SV can be ensured while reducing the possibility of performing PCS control under unnecessary conditions.

[0141] (Variant 2)

[0142] The predetermined first behavior condition is not limited to the above example. The CPU may also determine that there is a predetermined behavior difference when there is a predetermined difference in the motion vector (travel direction and moving speed) between the control object vehicle OV1 and the surrounding vehicle OV2, or when there is a predetermined difference in the change per unit time of the motion vector (change in travel direction and change in moving speed) between the control object vehicle OV1 and the surrounding vehicle OV2.

[0143] For example, condition C1 may be any other condition as long as it is a condition for determining whether there is a difference between the traveling direction Dr1 of the control object vehicle OV1 and the traveling direction Dr2 of the surrounding vehicle OV2. For example, PCSECU10 may also calculate the lateral acceleration of the control object vehicle OV1 and the lateral acceleration of the surrounding vehicle OV2 based on the object information. Condition C1 may also be the following condition.

[0144] The lateral acceleration of the control target vehicle OV1 is a value corresponding to the right turn direction, and the lateral acceleration of the surrounding vehicle OV2 is zero (that is, the surrounding vehicle OV2 is traveling straight).

[0145] In another example, PCSECU10 may calculate the turning angle (or yaw rate) of the control target vehicle OV1 based on the historical record of the travel direction Dr1 of the control target vehicle OV1, and calculate the turning angle (or yaw rate) of the surrounding vehicle OV2 based on the historical record of the travel direction Dr2 of the surrounding vehicle OV2. Condition C1 may also be the following condition.

[0146] The magnitude of the difference between the turning angle (or yaw rate) of the control target vehicle OV1 and the turning angle (or yaw rate) of the surrounding vehicle OV2 is equal to or larger than a predetermined threshold value.

[0147] In addition, Figure 7 In the example of , PCSECU10 can also determine whether the surrounding vehicle OV2 is going straight based on the object information. In the case where the surrounding vehicle OV2 is not going straight (for example, the surrounding vehicle OV2 is turning left), PCSECU10 cannot use the predetermined first behavior condition to accurately determine whether the controlled vehicle OV1 is about to turn right. Therefore, in the case where the surrounding vehicle OV2 is turning left, PCSECU10 can also Fig.12 If a "No" is determined in step 1204 of the routine, the second time threshold Tth2 is set to the first value T1.

[0148] (Variant 3)

[0149] The surrounding vehicle condition is not limited to the above example. The PCSECU 10 recognizes the positions of a plurality of lane lines defining the oncoming lane based on the lane information included in the vehicle surrounding information. The PCSECU 10 may also set an oncoming vehicle traveling in a lane adjacent to the lane in which the control target vehicle is traveling as a surrounding vehicle.

[0150] (Variant 4)

[0151] The predetermined PCS execution condition is not limited to the above example. For example, the predetermined PCS execution condition may also be a condition that is satisfied when the distance ds is below a predetermined distance threshold. In this configuration, the PCSECU 10 may also change the predetermined PCS execution condition to a condition that is satisfied at a later timing than when the predetermined first action condition is not satisfied, when the predetermined first action condition is satisfied. For example, the PCSECU 10 may also set the predetermined distance threshold when the predetermined first action condition is satisfied to be smaller than when the predetermined first action condition is not satisfied.

[0152] (Variant 5)

[0153] The CPU may also start executing based on information from a navigation system (not shown). Fig.11 Routines and Fig.12 For example, the CPU may also start executing the routine when it is determined based on information from the navigation system that the vehicle SV is approaching an intersection or that the vehicle SV is traveling in a right-turn lane. Fig.11 Routines and Fig.12 routine.

[0154] (Variant 6)

[0155] In the above embodiment, an example of a country or region with traffic on the left side is described, but the above configuration can be applied to a country or region with traffic on the right side. In this case, the PCSECU 10 executes the following operation when it is determined that the vehicle SV is about to turn left: Fig.11 Routines and Fig.12 routine.

Claims

1. A vehicle control device comprising: a sensor that acquires information about an object existing in a surrounding area of ​​the host vehicle including at least a front area of ​​the host vehicle, that is, object information; and The control unit is composed of: When the host vehicle turns right or left, an oncoming vehicle that is moving toward the host vehicle and may collide with the host vehicle is selected as a control target vehicle based on the object information. executing collision avoidance control for avoiding a collision with the control target vehicle when a predetermined execution condition that is satisfied when there is a high possibility that the host vehicle will collide with the control target vehicle is satisfied, The control unit is configured as follows: Based on the object information, selecting at least one oncoming vehicle moving toward the host vehicle and existing around the control target vehicle as a surrounding vehicle, the oncoming vehicle being an oncoming vehicle traveling straight in a lane different from a lane in which the control target vehicle is traveling; determining whether a first behavior condition is satisfied, the first behavior condition being satisfied when there is a predetermined behavior difference between the behavior of the control target vehicle and the behavior of the surrounding vehicles; When the first action condition is satisfied, the execution condition is changed to a condition that is satisfied at a later timing than when the first action condition is not satisfied, The control unit is configured to determine that the behavior difference exists when there is a predetermined difference in motion vectors between the control object vehicle and the surrounding vehicles, or when there is a predetermined difference in the amount of change per unit time of the motion vectors between the control object vehicle and the surrounding vehicles.

2. The vehicle control device according to claim 1, The control unit is configured as follows: When there is a predetermined difference in traveling direction between the control object vehicle and the surrounding vehicles, or when there is a predetermined difference in moving speed between the control object vehicle and the surrounding vehicles, it is determined that there is a predetermined difference in motion vector between the control object vehicle and the surrounding vehicles. When there is a predetermined difference in the change in the direction of travel between the control object vehicle and the surrounding vehicles, or when there is a predetermined difference in the change in the moving speed between the control object vehicle and the surrounding vehicles, it is determined that there is a predetermined difference in the change per unit time of the motion vector between the control object vehicle and the surrounding vehicles.

3. The vehicle control device according to claim 1 or 2, The oncoming vehicle traveling straight is an oncoming vehicle having a lateral acceleration of zero.

4. The vehicle control device according to claim 1, The execution condition is a condition that is satisfied when the time required for the host vehicle to reach the track predicted to be passed by the control target vehicle becomes equal to or less than a time threshold. The control unit is configured to, when the first behavior condition is satisfied, set the time threshold to be smaller than when the first behavior condition is not satisfied.

5. The vehicle control device according to claim 4, The collision avoidance control includes a braking force control for applying a braking force to the wheels of the host vehicle, The control unit is configured to, when the first action condition is satisfied, calculating a braking distance which is a distance from a time point when the collision avoidance control is started to a time point when the host vehicle stops, Based on the braking distance, the time threshold is set to a value at which the host vehicle stops at a position immediately before reaching the trajectory.

6. The vehicle control device according to claim 1, The control unit is configured to, when a plurality of oncoming vehicles existing around the control target vehicle are selected as the surrounding vehicles, determining whether a second behavior condition is satisfied, the second behavior condition being satisfied when a behavior difference between the behaviors of the plurality of surrounding vehicles is small; When the second action condition is satisfied, determining whether the first action condition is satisfied, When the differences in angles formed by the respective traveling directions of the multiple surrounding vehicles and the reference axis are respectively smaller than predetermined angle difference thresholds, and the accelerations in the traveling directions of the multiple surrounding vehicles are respectively greater than zero and the differences in the accelerations in the traveling directions of the multiple surrounding vehicles are respectively smaller than predetermined acceleration difference thresholds, and the differences in the speeds in the traveling directions of the multiple surrounding vehicles are respectively smaller than predetermined speed difference thresholds, it is determined that the behavior difference between the behaviors of the multiple surrounding vehicles is small.

7. A vehicle control device comprising: a sensor that acquires information about an object existing in a surrounding area of ​​the host vehicle including at least a front area of ​​the host vehicle, that is, object information; and The control unit is composed of: When the host vehicle turns right or left, an oncoming vehicle that is moving toward the host vehicle and may collide with the host vehicle is selected as a control target vehicle based on the object information. executing collision avoidance control for avoiding a collision with the control target vehicle when a predetermined execution condition that is satisfied when there is a high possibility that the host vehicle will collide with the control target vehicle is satisfied, The control unit is configured as follows: Based on the object information, selecting at least one oncoming vehicle moving toward the host vehicle and existing around the control target vehicle as a surrounding vehicle, the oncoming vehicle being an oncoming vehicle traveling straight in a lane different from a lane in which the control target vehicle is traveling; determining whether a first behavior condition is satisfied, the first behavior condition being satisfied when there is a predetermined behavior difference between the behavior of the control target vehicle and the behavior of the surrounding vehicles; When the first action condition is satisfied, the execution condition is changed to a condition that is satisfied at a later timing than when the first action condition is not satisfied, The control unit is configured to determine that the first action condition is satisfied when at least one of the first condition, the second condition, and the third condition is satisfied, The first condition is a condition regarding a difference between a traveling direction of the control target vehicle and a traveling direction of the surrounding vehicles. The second condition is a condition regarding a difference between the acceleration of the control target vehicle in the traveling direction and the acceleration of the surrounding vehicles in the traveling direction. The third condition is a condition regarding a difference between a speed of the control target vehicle in the traveling direction and a speed of the surrounding vehicles in the traveling direction. The control unit is configured as follows: When the difference between the angle formed by the reference axis and the traveling direction of the control target vehicle and the angle formed by the reference axis and the traveling direction of the surrounding vehicle is greater than a predetermined angle difference threshold, it is determined that the first condition is satisfied, When the acceleration of the control target vehicle is a negative value and the acceleration of the surrounding vehicles is equal to or greater than zero, it is determined that the second condition is satisfied, When the speed of the control target vehicle is lower than the speed of the surrounding vehicles and the difference between the speed of the surrounding vehicles and the speed of the control target vehicle is equal to or larger than a predetermined speed difference threshold, it is determined that the third condition is satisfied.

8. The vehicle control device according to claim 7, The oncoming vehicle traveling straight is an oncoming vehicle having a lateral acceleration of zero.

9. The vehicle control device according to claim 7, The execution condition is a condition that is satisfied when the time required for the host vehicle to reach the track predicted to be passed by the control target vehicle becomes equal to or less than a time threshold. The control unit is configured to, when the first behavior condition is satisfied, set the time threshold to be smaller than when the first behavior condition is not satisfied.

10. The vehicle control device according to claim 9, The collision avoidance control includes a braking force control for applying a braking force to the wheels of the host vehicle, The control unit is configured to, when the first action condition is satisfied, calculating a braking distance which is a distance from a time point when the collision avoidance control is started to a time point when the host vehicle stops, Based on the braking distance, the time threshold is set to a value at which the host vehicle stops at a position immediately before reaching the trajectory.

11. The vehicle control device according to claim 7, The control unit is configured to, when a plurality of oncoming vehicles existing around the control target vehicle are selected as the surrounding vehicles, determining whether a second behavior condition is satisfied, the second behavior condition being satisfied when a behavior difference between the behaviors of the plurality of surrounding vehicles is small; When the second action condition is satisfied, determining whether the first action condition is satisfied, When the differences in angles formed by the respective traveling directions of the multiple surrounding vehicles and the reference axis are respectively smaller than the predetermined second angle difference threshold, and the accelerations in the traveling directions of the multiple surrounding vehicles are respectively greater than zero and the differences in the accelerations in the traveling directions of the multiple surrounding vehicles are respectively smaller than the predetermined second acceleration difference threshold, and the differences in the speeds in the traveling directions of the multiple surrounding vehicles are respectively smaller than the predetermined second speed difference threshold, it is determined that the behavior difference between the behaviors of the multiple surrounding vehicles is small.

Images