Deviation suppression control device, deviation suppression control method, and program

Abstract

The invention relates to a deviation suppression control device, a deviation suppression control method, and a program. When it is predicted that a deviation condition that the vehicle will deviate from the travel area or the vehicle has deviated from the travel area is satisfied, the deviation suppression control device executes deviation suppression control that controls the lateral travel state of the vehicle so as to suppress the vehicle from deviating from the travel area. When a suppression condition including at least a first condition that an object is present on the opposite side of the vehicle from the travel area is satisfied, the deviation suppression control device reduces the magnitude of the lateral velocity of the vehicle during the deviation suppression control compared to when the suppression condition is not satisfied. As a result, it is possible to reduce the likelihood that the driver feels uncomfortable even if the deviation suppression control is executed when there is an object on the opposite side of the vehicle in the deviation direction.

Description

Technical Field

[0001] The present invention relates to a deviation suppression control device that executes control of the lateral driving state of a vehicle to suppress deviation of the vehicle from a driving area when a deviation condition that the vehicle is predicted to deviate from the driving area or the vehicle has deviated from the driving area is satisfied, a deviation suppression control method in which a computer mounted on the vehicle executes deviation suppression control, and a program that causes a computer mounted on the vehicle to execute deviation suppression control. Background Art

[0002] Conventionally, a deviation suppression control device that executes deviation suppression control when a deviation condition is satisfied has been known. For example, a deviation suppression control device (hereinafter referred to as "conventional device") described in Patent Document 1 executes deviation suppression control in a first operation mode when the lateral speed, i.e., the approach speed, of the vehicle approaching the boundary of the driving area (e.g., a lane) is slow, and executes deviation suppression control in a second operation mode when the approach speed is high.

[0003] In the first operation mode, the vehicle does not decelerate, and in the second operation mode, the vehicle decelerates. In either the first operation mode or the second operation mode, the steering motor is controlled so that the vehicle faces the center of the driving area.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2017-197020 Summary of the Invention

[0007] In deviation suppression control, the traveling direction of the vehicle is changed from a deviation direction in which the vehicle deviates from the driving area to a return direction in which the vehicle returns to the driving area. When there is an object on the side opposite to the deviation direction of the vehicle, when the traveling direction of the vehicle is changed to the return direction, the vehicle will travel toward the object. In this case, the driver may feel uneasy. In the conventional device, an object existing on the side opposite to the deviation direction of the vehicle is not considered. Therefore, the driver may feel the above-mentioned uneasiness.

[0008] The present invention has been completed in order to address the foregoing problems. That is, an object is to provide a deviation suppression control device that can reduce the possibility that a driver feels uneasy even when deviation suppression control is executed when there is an object on the side opposite to the deviation direction of the vehicle.

[0009] The deviation suppression control device of the present invention (hereinafter referred to as "the device of the present invention") executes deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is satisfied (step 310 "Yes") (steps 500 to 595). The deviation suppression control device is configured such that when a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is satisfied (step 405 "Yes"), the magnitude of the lateral speed of the vehicle in the deviation suppression control is reduced compared to the case where the suppression condition is not satisfied (step 405 "No") (step 430).

[0010] According to the device of the present invention, when there is an object on the side opposite to the side where the vehicle deviates from the driving area, the suppression condition is satisfied. When the suppression condition is satisfied, the magnitude of the lateral speed of the vehicle in the deviation suppression control becomes smaller compared to the case where the suppression condition is not satisfied. As a result, the speed at which the vehicle approaches the object becomes slower, and the possibility of causing uneasiness to the driver can be reduced.

[0011] In one aspect of the device of the present invention, the deviation suppression control device is configured such that when the vehicle reaches a return target position set inside the boundary defining the driving area (step 325 "Yes"), the deviation suppression control is terminated (step 330), and when a second condition (step 415) that it is predicted that the object exists within a predetermined range of the vehicle that has reached the return target position on the premise that the suppression condition is not satisfied, and the first condition is satisfied, it is determined that the suppression condition is satisfied.

[0012] Even if there is an object that satisfies the first condition, when the second condition is not satisfied (that is, when there is no object within the predetermined range of the vehicle that has reached the return target position), the possibility that the vehicle comes into contact with the object is not high. Therefore, the possibility that the driver feels uneasy about the deviation suppression control is low. If, although the possibility that the driver feels uneasy about the deviation suppression control is low in this way, the magnitude of the lateral speed of the deviation suppression control is still reduced, the possibility that the driver finds the deviation suppression control troublesome is high. Thus, in this aspect, if the second condition is not satisfied, the suppression condition is not satisfied.

[0013] In one aspect of the device of the present invention, the deviation suppression control device is configured to, when the suppression condition is satisfied, reduce the magnitude of the lateral velocity during a period (T2) from a change point (CP) to a return target position (RP) set inside the boundary defining the travel region until the vehicle arrives at the return target position (RP), where the change point (CP) is a point at which the traveling direction of the vehicle changes from a deviation direction deviating from the travel region to a return direction returning to the travel region.

[0014] There is a high possibility that the driver feels uneasy when the vehicle travels toward an object that satisfies the first condition. In deviation suppression control, the vehicle travels in the deviation direction immediately after starting the deviation suppression control and travels in the return direction after reaching the change point (i.e., the vehicle travels toward the object). In order to reduce the possibility that the driver feels uneasy about the deviation suppression control, it is only necessary to reduce the magnitude of the lateral velocity during the period from the change point to when the vehicle reaches the return target position. In addition, the magnitude of the lateral velocity during the period from when the deviation condition is satisfied until the vehicle reaches the change point is not reduced. This is because it is highly likely that the lateral velocity during this period does not affect the driver's uneasiness, and if this period is extended, the period during which the vehicle deviates from the travel region will be extended.

[0015] In one aspect of the device of the present invention, the deviation suppression control device is configured to determine that the suppression condition is satisfied when the first condition is satisfied and a subtraction value obtained by subtracting the vehicle width from the width of the travel region is equal to or less than a predetermined first threshold value (step 420 “Yes”) or when a ratio of the vehicle width to the width of the travel region is equal to or greater than a predetermined second threshold value (step 420 “Yes”).

[0016] When neither the third condition nor the fourth condition is satisfied, the width of the travel region is relatively wide with respect to the vehicle width. Therefore, even if the vehicle approaches an object that satisfies the first condition at “the same lateral velocity as when the suppression condition is not satisfied”, the possibility that the driver feels uneasy is low. If the magnitude of the lateral velocity of the vehicle in the deviation suppression control becomes smaller in this case, the possibility that the driver feels troubled is high. Therefore, the suppression condition is made to be satisfied when the third condition or the fourth condition is satisfied.

[0017] In one aspect of the device of the present invention, the deviation suppression control device is configured to make the magnitude of the lateral velocity smaller as the distance between the object and the boundary on the opposite side of the boundary on the side where the vehicle deviates from among the left and right boundaries defining the travel region is shorter.

[0018] Since the shorter the above distance is, the closer the vehicle is to the above object, the driver's uneasiness increases. According to this solution, the magnitude of the lateral speed of the vehicle decreases according to the above distance. Thus, the possibility of causing uneasiness to the driver by the deviation suppression control can be further reduced.

[0019] The deviation suppression control method of the present invention is that when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is established (step 310 "Yes"), the computer mounted on the vehicle executes deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area (steps 500 to 595). The deviation suppression control method includes the following steps: a step in which the computer determines whether a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is established (step 405); and a step in which the computer, when the suppression condition is established (step 405 "Yes"), reduces the magnitude of the lateral speed of the vehicle in the deviation suppression control compared with the case where the suppression condition is not established (step 405 "No") (step 430).

[0020] The program of the present invention is that when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is established (step 310 "Yes"), the computer mounted on the vehicle is caused to execute deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area (steps 500 to 595). The program causes the computer to execute the following steps: a step of determining whether a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is established (step 405); and a step of reducing the magnitude of the lateral speed of the vehicle in the deviation suppression control when the suppression condition is established (step 405 "Yes") compared with the case where the suppression condition is not established (step 405 "No") (step 430).

[0021] According to the deviation suppression control method and program of the present invention, the speed at which the vehicle approaches the object becomes slower, and the possibility of causing uneasiness to the driver can be reduced.

[0022] In addition, in the above description, in order to help understand the invention, for the components of the invention corresponding to the embodiments described later, the names and / or reference numerals used in the embodiments are added in parentheses. However, each component of the invention is not limited to the embodiments defined by the above names and / or reference numerals. Other objects, other features, and accompanying advantages of the present invention should be easily understood from the following description of the embodiments of the present invention with reference to the drawings. Description of the Drawings

[0023] Figure 1 This is a schematic configuration diagram of a deviation suppression control device according to an embodiment of the present invention.

[0024] Figure 2 This is an explanatory diagram of an operation example of a deviation suppression control device according to an embodiment of the present invention.

[0025] Figure 3 is Figure 1 A flowchart of a start / end determination routine executed by the CPU of the ECU shown.

[0026] Figure 4 is Figure 1 A flowchart of a suppression condition determination subroutine executed by the CPU of the ECU shown.

[0027] Figure 5 is Figure 1 A flowchart of a deviation suppression control routine executed by the CPU of the ECU shown.

[0028] Explanation of reference numerals

[0029] 10 Deviation suppression control device; 20 ECU; 22 Front camera; 24 Millimeter wave radar; 32 Steering motor. Detailed implementation mode

[0030] As Figure 1 shown, the deviation suppression control device (hereinafter referred to as "this device 10") according to this embodiment is applied to the vehicle VA and includes Figure 1 the components shown.

[0031] The deviation suppression control ECU 20 is an ECU that executes the deviation suppression control described later, which is a type of autonomous driving. Hereinafter, it is denoted as "ECU 20".

[0032] In this specification, an "ECU" is an electronic control device having a microcomputer as a main part. An ECU is also referred to as a control unit, a controller, or a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, and an interface (I / F), etc. The functions of the ECU 20 can also be implemented by multiple ECUs.

[0033] The front camera 22 obtains image data by photographing the scenery in front of the vehicle VA. The front camera 22 sends the image data to the ECU 20.

[0034] The millimeter-wave radar 24 obtains radar object information by transmitting millimeter waves in front of the vehicle VA and receiving the reflected waves after the transmitted millimeter waves are reflected by the reflection points of an object. The radar object information includes "the position of the object relative to the vehicle VA" and "the relative speed Vr of the object relative to the vehicle VA". The millimeter-wave radar 24 sends the radar object information to the ECU 20.

[0035] The vehicle speed sensor 26 detects the vehicle speed Vs indicating the speed of the vehicle VA. The yaw rate sensor 28 detects the yaw rate Yr acting on the vehicle VA. The steering angle sensor 30 detects the steering angle θ of the steering wheel (front-wheel) of the vehicle VA. The ECU 20 obtains these detected values.

[0036] The steering motor 32 is assembled to the steering mechanism 34. The steering mechanism 34 is a mechanism for steering the steering wheel according to the operation of the steering wheel. The steering motor 32 generates an assist torque for assisting the operation of the steering wheel and an automatic steering torque for changing the steering angle θ of the steering wheel according to an instruction from the ECU 20.

[0037] Hereinafter, with reference to Figure 2 the deviation suppression control will be described.

[0038] The ECU 20 identifies the boundaries BL (right boundary RBL and left boundary LBL) that define (divide) the driving area TA in which the vehicle VA travels based on the image data. Examples of the boundary BL include white lines, guardrails, curbstones, and walls on the road. The ECU 20 sets reference lines (right reference line Rth and left reference line Lth) at positions that are a predetermined distance away from the boundary BL in a direction orthogonal to the boundary BL.

[0039] The ECU 20 determines that the deviation condition is satisfied and executes the deviation suppression control when either of the following condition 1 or condition 2 is satisfied.

[0040] Condition 1: The predicted travel route PR of the vehicle VA intersects the reference line (i.e., it is predicted that the vehicle VA will deviate from the reference line).

[0041] Condition 2: The vehicle VA has deviated from the reference line.

[0042] In the deviation suppression control, the ECU 20 obtains a target steering angle θtgt for suppressing the deviation of the vehicle VA from the reference line that it is about to deviate from (or has deviated from) (i.e., for returning the vehicle VA to the driving area TA). The ECU 20 controls the steering motor 32 to make the steering angle θ coincide with the target steering angle θtgt.

[0043] (Outline of operation)

[0044] When the suppression condition (the first condition) that an object (the other vehicle VB shown in Figure 2 ) exists on at least the side opposite to the deviation side (the anti-deviation side) from the vehicle VA is satisfied, the magnitude of the lateral speed of the vehicle VA in the deviation suppression control is reduced compared to the case where the suppression condition is not satisfied. The lateral speed of the vehicle VA refers to the speed in the vehicle width direction of the vehicle VA. Figure 2 As a result, the speed at which the vehicle VA approaches the object existing on the side opposite to the deviation side becomes smaller, and thus the possibility that the driver feels uneasy about the deviation suppression control can be reduced.

[0045]

[0046] (Operation)

[0047] When the deviation condition is satisfied and the suppression condition is not satisfied, the ECU 20 sets the normal driving route TR (refer to Figure 2 ) on which the vehicle VA travels in the deviation suppression control. Figure 2

[0048] First, the ECU 20 determines the lateral positions of the change position CP and the return target position RP with respect to the boundary BL based on the vehicle speed Vs, the position of the boundary BL with respect to the vehicle VA, the shape of the driving area TA, the deviation lateral speed, and the deviation lateral acceleration.

[0049] The change position CP is the position where the traveling direction of the vehicle VA changes from the deviation direction (the upper direction on the paper surface in Figure 2 ) of the deviation driving area TA to the return direction (the lower direction on the paper surface in Figure 2 ) of the return driving area TA. In other words, the change position CP is the position where the vehicle VA is most deviated. Figure 2 Figure 2

[0050] The return target position RP is a position that is a predetermined distance inward from the reference line.

[0051] The deviation lateral speed is the lateral speed of the vehicle VA when the deviation condition is satisfied.

[0052] The deviation lateral acceleration is the lateral acceleration of the vehicle VA when the deviation condition is satisfied.

[0053] Next, the ECU 20 determines the longitudinal positions of the change position CP and the return target position RP with respect to the boundary BL under the following constraint conditions.

[0054] <Constraint Conditions>

[0055] Constraint Condition 1: The lateral speed is below the preset upper limit lateral speed.

[0056] Constraint Condition 2: The lateral acceleration is below the preset upper limit lateral acceleration.

[0057] ​Constraint condition 3: The first time T1 required for the vehicle VA to reach the change position CP from the start position SP is below the first threshold time T1th. The start position SP is the position of the vehicle VA when the deviation condition is satisfied.

[0058] Constraint condition 4: The second time T2 required for the vehicle VA to reach the return target position RP from the change position CP is below the second threshold time T2th.

[0059] Next, the ECU 20 sets the route passing through the change position CP and the return target position RP as the normal driving route TR.

[0060] When the deviation condition is satisfied and the suppression condition is not satisfied, the ECU 20 obtains the target steering angle θtgt for the vehicle VA to pass through the normal driving route TR, and controls the steering motor 32 so that the steering angle θ becomes the target steering angle θtgt.

[0061] On the other hand, when the deviation condition is satisfied and the suppression condition is satisfied, the ECU 20 sets the suppression driving route TR'. The setting of the suppression driving route TR' is the same as the setting of the normal driving route TR except that the following constraint condition 4' is used instead of the constraint condition 4.

[0062] Constraint condition 4': The second time T2 is below the "third threshold time T3th which is longer than the second threshold time T2th".

[0063] Therefore, when the suppression condition is satisfied, for the setting of the suppression driving route TR', the constraint condition 4' which is looser than the constraint condition 4 is used. Therefore, when the suppression condition is satisfied, compared with the case where the suppression condition is not satisfied, the second time T2 becomes longer. Thus, when the suppression condition is satisfied, compared with the case where the suppression condition is not satisfied, the magnitude of the lateral speed of the vehicle VA during the period (the second time T2) from the change position CP to the return target position RP of the vehicle VA becomes smaller. As a result, the speed at which the vehicle VA approaches the object (the other vehicle VB) becomes slower, so the possibility of causing uneasiness to the driver by the deviation suppression control can be reduced.

[0064] In addition, since the vehicle VA travels in a direction away from the object (the other vehicle VB) during the period (the first time T1) from the start position SP to the change position CP of the vehicle VA, the lateral speed of the vehicle VA during this period does not affect the possibility of uneasiness of the driver much. Moreover, if the magnitude of the lateral speed of the vehicle VA during this period is reduced, the time for the vehicle VA to deviate from the driving area TA will be prolonged. Therefore, in the present embodiment, the same first time T1 is used whether the suppression condition is satisfied or not satisfied.

[0065] Next, the suppression condition will be described in detail.

[0066] When all of the above-mentioned first condition and the following second condition and third condition are satisfied, the ECU 20 determines that the suppression condition is satisfied.

[0067] Second condition: An object exists within a predetermined range AR of the vehicle VA that has reached the return target position RP on the premise that the suppression condition is not satisfied (on the premise that the vehicle VA has traveled along the normal travel route TR). The predetermined range AR is set in front of the vehicle VA.

[0068] Third condition: The magnitude (|WL - WV|) of the subtraction value obtained by subtracting the vehicle width WV of the vehicle VA from the width WL of the travel area TA is equal to or less than the threshold value Wth.

[0069] If the second condition is not satisfied (that is, if there is no object within the predetermined range AR of the vehicle VA that has reached the return target position RP on the normal travel route TR), the vehicle VA does not approach the object on the anti-deviation side. Therefore, the possibility that the driver feels uneasy is low. In this case, if the magnitude of the lateral speed of the vehicle VA in the deviation suppression control becomes small, the possibility that the driver feels troubled is high. Therefore, the second condition is included in the suppression condition.

[0070] If the third condition is not satisfied, the width WL of the travel area TA is relatively wide with respect to the vehicle width WV. Therefore, even if approaching the object on the anti-deviation side at the same lateral speed as when the suppression condition is not satisfied, the possibility that the driver feels uneasy is low. In this case, if the magnitude of the lateral speed of the vehicle VA in the deviation suppression control becomes small, the possibility that the driver feels troubled is high. Therefore, the third condition is included in the suppression condition.

[0071] (Specific operations)

[0072] <Start / end determination routine>

[0073] The CPU of the ECU 20 executes the routine shown in the flowchart every time a predetermined time elapses. Figure 3 The routine shown in the flowchart.

[0074] When an appropriate time point arrives, the CPU starts processing from step 300 of Figure 3 and the processing proceeds to step 305. In step 305, the CPU determines whether the execution flag Xexe is "0".

[0075] The execution flag Xexe is set to "1" when the deviation suppression control is executed, and is set to "0" when the deviation suppression control is not executed. Moreover, the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0076] When the execution flag Xexe is "0", the CPU determines "yes" in step 305, and the process proceeds to step 310. In step 310, the CPU determines whether the deviation condition holds.

[0077] When the deviation condition does not hold, the CPU determines "no" in step 310, and the process proceeds to step 395, where the CPU temporarily ends this routine. On the other hand, when the deviation condition holds, the CPU determines "yes" in step 310 and executes steps 315 and 320.

[0078] Step 315: The CPU sets the execution flag Xexe to "1".

[0079] Step 320: The CPU executes the inhibition condition determination subroutine. In the inhibition condition determination subroutine, it is determined whether the inhibition condition holds. The details of the inhibition condition determination subroutine will be described later.

[0080] Then, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0081] When the execution flag Xexe is "1" when the process enters step 305, the CPU determines "no" in step 305, and the process proceeds to step 325. In step 325, the CPU determines whether the vehicle VA has reached the return target position RP.

[0082] When the vehicle VA has not reached the return target position RP, the CPU determines "no" in step 325, and the process proceeds to step 395, where the CPU temporarily ends this routine. On the other hand, when the vehicle VA has reached the return target position RP, the CPU determines "yes" in step 325 and executes steps 330 and 335.

[0083] Step 330: The CPU sets the execution flag Xexe to "0".

[0084] Step 335: The CPU sets the inhibition flag Xsup to "0".

[0085] The inhibition flag Xsup is set to "1" when the inhibition condition holds and set to "0" when the inhibition condition does not hold. Moreover, the inhibition flag Xsup is set to "0" in the initial routine.

[0086] Then, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0087] <Inhibition Condition Determination Subroutine>

[0088] When the process enters Figure 3At step 320, the CPU starts processing from Figure 4 Step 400 and proceeds to step 405. In step 405, the CPU determines whether there is an object on the side opposite to the deviation side (i.e., determines whether the first condition is satisfied).

[0089] If there is an object on the side opposite to the deviation side, the CPU determines "Yes" in step 405 and executes steps 410 and 415.

[0090] Step 410: The CPU sets the normal driving route TR.

[0091] Step 415: The CPU determines whether the above object exists within the predetermined range AR of the vehicle VA that has reached the return target position RP under the following premise 1 and premise 2. In other words, in step 415, the CPU determines whether the second condition is satisfied.

[0092] Premise 1: The vehicle VA travels along the normal driving route TR and reaches the return target position RP.

[0093] Premise 2: The object continues to move in the "moving direction inferred based on the historical record of the object's position".

[0094] If the above object exists within the predetermined range AR of the vehicle VA that has reached the return target position RP, the CPU determines "Yes" in step 415 and the process proceeds to step 420. In step 420, the CPU determines whether the magnitude of the above subtraction value (|WL - WV|) is below the threshold value Wth (in other words, the CPU determines whether the third condition is satisfied).

[0095] If the magnitude of the above subtraction value (|WL - WV|) is below the threshold value Wth, the CPU determines "Yes" in step 420 and executes steps 425 and 430.

[0096] Step 425: The CPU sets the inhibition flag Xsup to "1".

[0097] Step 430: The CPU sets the inhibited driving route TR'.

[0098] Then, the process proceeds to step 495, the CPU temporarily ends this routine, and the process proceeds to Figure 3 Step 395 shown.

[0099] If there is no object on the side opposite to the deviation side when the process enters step 405, the CPU determines "No" in step 405 and the process proceeds to step 435. In step 435, the CPU sets the inhibition flag Xsup to "0". Then, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0100] When the process enters step 415 and there is no such object within the predetermined range AR of the vehicle VA that has reached the return target position RP, the CPU determines "No" in step 415, and the process enters step 435.

[0101] When the process enters step 420 and the magnitude of the subtraction value (|WL - WV|) is greater than the threshold value Wth, the CPU determines "No" in step 420, and the process enters step 435.

[0102] <Deviation suppression control routine>

[0103] The CPU of the ECU20 executes Figure 5 the routine shown in the flowchart at every predetermined time.

[0104] When an appropriate time point arrives, the CPU starts processing from Figure 5 step 500, and the process enters step 505. In step 505, the CPU determines whether the execution flag Xexe is "1".

[0105] When the execution flag Xexe is "0", the CPU determines "No" in step 505, and the process enters step 595, and the CPU temporarily ends this routine. When the execution flag Xexe is "1", the CPU determines "Yes" in step 505, and the process enters step 510. In step 510, the CPU determines whether the suppression flag Xsup is "0".

[0106] When the suppression flag Xsup is "0", the CPU determines "Yes" in step 510 and executes step 515 and step 520.

[0107] Step 515: The CPU obtains the target steering angle θtgt for the vehicle VA to travel along the normal travel route TR.

[0108] Step 520: The CPU controls the steering motor 32 to make the steering angle θ coincide with the target steering angle θtgt.

[0109] Then, the process enters step 595, and the CPU temporarily ends this routine.

[0110] When the suppression flag Xsup is "1", the CPU determines "No" in step 510, and the process enters step 525. In step 525, the CPU obtains the target steering angle θtgt for the vehicle VA to travel along the suppression travel route TR'. Then, the process enters step 520.

[0111] Based on the above content, when the suppression condition holds, compared with the case where the suppression condition does not hold, the magnitude of the lateral speed of the vehicle VA in the deviation suppression control becomes smaller. Thus, the speed of approaching the object on the anti-deviation side becomes slower, and the possibility of causing uneasiness to the driver by the deviation suppression control can be reduced.

[0112] The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0113] (First Modification Example)

[0114] For the ECU 20 of the deviation suppression control device 10 according to this modification example, it is also possible that when the suppression condition holds, the shorter the distance WB (refer to Figure 2 ) between the object satisfying the first condition of the suppression condition and the "boundary BL on the opposite side of the boundary BL on the side where the vehicle VA deviates (hereinafter referred to as the "opposite-side boundary BL")", the longer the second time T2 is made (that is, the smaller the magnitude of the lateral speed of the vehicle VA).

[0115] The shorter the above distance WB is, the closer the vehicle VA is to the above object, and thus the uneasiness of the driver increases. According to this modification example, the magnitude of the lateral speed of the vehicle VA becomes smaller according to the above distance WB. Thus, the possibility of causing uneasiness to the driver by the deviation suppression control can be further reduced.

[0116] (Second Modification Example)

[0117] The ECU 20 of the deviation suppression control device 10 according to this modification example uses the following fourth condition in place of the third condition of the suppression condition.

[0118] Fourth condition: The ratio RT of the vehicle width WV to the width WL of the driving area TA is above the threshold Rth.

[0119] When the fourth condition does not hold, the width WL is wider than the vehicle width WV, and when the fourth condition holds, the width WL is narrower than the vehicle width WV. Therefore, the fourth condition can be used in place of the third condition.

[0120] (Third Modification Example)

[0121] In the above-described embodiment, it is determined whether the suppression condition holds at the time point when the deviation condition holds, but it is not limited thereto. The ECU 20 of the deviation suppression control device 10 according to this modification example determines whether the suppression condition holds even after the time point when the suppression condition does not hold at the time point when the deviation condition holds.

[0122] (Fourth Modification Example)

[0123] In the above-described embodiment, when the suppression condition is satisfied, the second time T2 is longer than when the suppression condition is not satisfied, and the first time T1 remains unchanged regardless of whether the suppression condition is satisfied or not. The ECU 20 of the deviation suppression control device 10 of this modification may also extend the first time T1 in addition to extending the second time T2 when the suppression condition is satisfied.

[0124] Moreover, when the suppression condition is satisfied, instead of making the second time T2 longer than when the suppression condition is not satisfied, the magnitude of the upper limit lateral speed may be made smaller than when the suppression condition is not satisfied.

[0125] This device 10 can be applied to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. Moreover, this device 10 can also be applied to autonomous vehicles. Moreover, the present invention can also be regarded as a non-transitory storage medium that stores a program for implementing the functions of this device 10 and is readable by a computer.

Claims

1. A deviation suppression control device that, when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is satisfied, performs deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area. The deviation suppression control device is configured such that, when a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is satisfied, the magnitude of the lateral speed of the vehicle in the deviation suppression control is reduced compared to the case where the suppression condition is not satisfied.

2. The deviation suppression control device according to claim 1, configured such that when the vehicle reaches a return target position set inside the boundary that determines the driving area, the deviation suppression control is ended, and when a second condition that it is predicted that the object exists within a predetermined range of the vehicle that has reached the return target position on the premise that the suppression condition is not satisfied and the first condition is satisfied, it is determined that the suppression condition is satisfied.

3. The deviation suppression control device according to claim 1, configured such that when the suppression condition is satisfied, the magnitude of the lateral speed during the period from the change point to when the vehicle reaches a return target position set inside the boundary that determines the driving area in the deviation suppression control is reduced, and the change point is the point where the traveling direction of the vehicle changes from the deviation direction of deviating from the driving area to the return direction of returning to the driving area.

4. The deviation suppression control device according to claim 1, configured such that when the first condition is satisfied and a third condition that a subtraction value obtained by subtracting the vehicle width from the width of the driving area is equal to or less than a predetermined first threshold value or a fourth condition that the ratio of the vehicle width to the width of the driving area is equal to or more than a predetermined second threshold value is satisfied, it is determined that the suppression condition is satisfied.

5. The deviation suppression control device according to claim 1, configured such that the shorter the distance between the object and the boundary on the opposite side of the boundary on the side where the vehicle deviates from the left and right boundaries that determine the driving area, the smaller the magnitude of the lateral speed.

6. A deviation suppression control method in which, when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is satisfied, a computer mounted on the vehicle performs deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area. The deviation suppression control method includes the following steps: a step in which the computer determines whether a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is satisfied; and a step in which the computer reduces the magnitude of the lateral speed of the vehicle in the deviation suppression control when the suppression condition is satisfied compared to the case where the suppression condition is not satisfied.

7. A program that, when a deviation condition that it is predicted that the vehicle will deviate from the driving area or the vehicle has deviated from the driving area is satisfied, causes a computer mounted on the vehicle to execute deviation suppression control for controlling the lateral driving state of the vehicle to suppress the vehicle from deviating from the driving area. The program causes the computer to execute the following steps: A step of determining whether a suppression condition including at least a first condition that there is an object on the side opposite to the side where the vehicle deviates from the driving area is satisfied; and A step of reducing the magnitude of the lateral speed of the vehicle in the deviation suppression control when the suppression condition is satisfied as compared with the case where the suppression condition is not satisfied.

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