Vehicle control apparatus, vehicle control method, and program

Abstract

A vehicle control apparatus starts deceleration control to decelerate a vehicle in a case where a distance between a deceleration target in front of the vehicle based on map data and the vehicle is acquired and a deceleration start condition in which the distance is less than or equal to a first distance is satisfied. The vehicle control apparatus is configured to accelerate the vehicle based on an operation amount of an acceleration operator of the vehicle in a case where the acceleration operator is operated during execution of the deceleration control, and to determine whether a deceleration end condition is satisfied, end the deceleration control in a case where the deceleration end condition is satisfied, and stop the deceleration control in a case where the deceleration end condition is not satisfied. When the operation of the acceleration operator is finished, the deceleration control is restored.

Description

Technical Field

[0001] The present invention relates to a vehicle control device that starts deceleration control for decelerating a vehicle when a deceleration start condition is satisfied that the distance between a deceleration target and the vehicle is less than or equal to a first distance, a vehicle control method that starts deceleration control when the deceleration start condition is satisfied, and a program that starts deceleration control when the deceleration start condition is satisfied. Background Art

[0002] Conventionally, vehicle control devices that each perform travel assist control (sometimes referred to as "Adaptive Cruise Control (ACC)") are known. These vehicle control devices perform constant speed control as a travel assist control when there is no preceding vehicle, and perform following control as a travel assist control when there is a preceding vehicle. Constant speed control causes the vehicle to travel at a speed that matches a predetermined set speed. Following control causes the vehicle to travel so that it follows the preceding vehicle.

[0003] For example, a vehicle control device described in Japanese Unexamined Patent Application Publication No. 2009-161057 (hereinafter referred to as the "conventional device") performs acceleration suppression control to suppress vehicle acceleration when the vehicle is near a toll booth, intersection, or the like when driving assist control transitions from follow-up control to constant speed control. If an accelerator operator (accelerator pedal) is operated during execution of acceleration suppression control, the conventional device suspends acceleration suppression control and accelerates the vehicle in accordance with the amount of operation of the accelerator operator. When the operation of the accelerator operator is terminated, the conventional device resumes acceleration suppression control. Under the resumed acceleration suppression control, the conventional device accelerates the vehicle at a lower acceleration than under normal acceleration suppression control. Summary of the Invention

[0004] The inventors of the present application have developed a vehicle control device that executes deceleration control to decelerate a vehicle when the distance between the vehicle and a deceleration target, such as a toll booth or intersection, is less than or equal to a predetermined starting distance. If an accelerator operator is operated during the execution of the deceleration control, this vehicle control device, like conventional devices, suspends the deceleration control and accelerates the vehicle in response to the amount of operation of the accelerator operator.

[0005] If the driver operates the accelerator operator during the execution of the deceleration control, the driver is likely to have the following intentions: Figure 1 Harmony Figure 2 Any of . meaning Figure 1 : Intention to accelerate the vehicle due to erroneous start of deceleration control meaning Figure 2 : Intention to adjust the vehicle speed during deceleration control

[0006] In the driver's Figure 1 In the case where the accelerator operator is operated intentionally, since the deceleration control is started by mistake, the driver may not want to resume the deceleration control when the accelerator operator is stopped. Figure 2 In the case where the driver operates the accelerator operator, when the operation of the accelerator operator is completed, the driver is likely to want to execute the deceleration control again.

[0007] Conventional devices resume acceleration suppression control when the accelerator operation ends without determining the driver's intention in operating the accelerator. Consequently, vehicle travel assistance that meets the driver's intention may not be provided.

[0008] The present invention has been devised to solve the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control apparatus that is more likely to provide vehicle travel assistance that conforms to the intention of a driver who operates an accelerator operator.

[0009] According to the vehicle control device of the present invention (hereinafter referred to as "this device"), when the distance between the deceleration target in front of the vehicle and the vehicle based on map data (26b) is obtained and the deceleration start condition that the distance is less than or equal to the first distance is satisfied ("yes" in step 430), the deceleration control for decelerating the vehicle is started (step 435, step 440 to step 450). The vehicle control device is configured to, when an accelerator operator is operated during deceleration control ("Yes" in step 415, "Yes" in step 465), accelerate the vehicle based on the amount of operation of the vehicle's accelerator operator (step 460), determine whether a deceleration end condition is satisfied (step 470, step 510), end the deceleration control (step 520) if the deceleration end condition is satisfied ("Yes" in step 510), and resume the deceleration control when the operation of the accelerator operator is terminated if the deceleration end condition is not satisfied ("No" in step 510). The deceleration end condition includes at least a first condition that the time from the start of the deceleration control to the operation of the accelerator operator is less than or equal to a threshold time.

[0010] If deceleration control is mistakenly initiated, the driver is likely to operate the accelerator operator immediately after the deceleration control begins. In this case, the driver may not want to resume deceleration control after the accelerator operator is operated. The present device terminates deceleration control when deceleration termination conditions are satisfied, including at least a first condition that the time from the start of deceleration control to the operation of the accelerator operator is less than or equal to a threshold time. This makes it more likely that vehicle driving assistance will be provided in accordance with the driver's intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like numerals represent like elements, and in which: Figure 1 is a schematic system configuration diagram of a vehicle control apparatus according to an embodiment of the present invention; Figure 2 is an explanatory diagram of an actuation example of the vehicle control apparatus according to the embodiment of the present invention in a case where the deceleration end condition is not satisfied; Figure 3 is an explanatory diagram of an actuation example of the vehicle control apparatus according to the embodiment of the present invention in a case where a deceleration end condition is satisfied; Figure 4 is Figure 1 A flowchart of the ACC routine executed by the CPU of the ECU shown; and Figure 5 is Figure 1 Flowchart of the deceleration end condition determination subroutine executed by the CPU of the ECU shown. DETAILED DESCRIPTION

[0012] like Figure 1 As shown, a vehicle control device 10 according to the present embodiment (hereinafter referred to as "the present device 10") is applied to a vehicle VA and includes Figure 1 Parts shown.

[0013] The ECU 20 performs driving assist control, a type of autonomous driving. Under driving assist control, the ECU 20 performs constant speed control when there is no preceding vehicle ahead of the vehicle VA, and performs following control when there is a preceding vehicle ahead of the vehicle VA. Constant speed control causes the vehicle VA to travel such that the vehicle speed Vs matches the set vehicle speed Vset. The vehicle speed Vs indicates the speed of the vehicle VA. Following control causes the vehicle VA to travel such that the inter-vehicle distance Dv between the preceding vehicle and the vehicle VA matches the set distance Dset. This type of driving assist control is known as adaptive cruise control (ACC) and cruise control.

[0014] In this specification, "ECU 20" is an electronic control unit that includes a microcomputer as its main unit. ECU 20 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), ROM, RAM, an interface, etc. The functions implemented by ECU 20 can also be implemented by multiple ECUs.

[0015] The camera 22 acquires image data by imaging the field of view in front of the vehicle VA. The ECU 20 acquires image data from the camera 22.

[0016] The millimeter-wave radar 24 transmits millimeter waves in front of the vehicle VA. The millimeter-wave radar 24 receives reflected waves from an object, thereby identifying the object's position relative to the vehicle VA and its speed Vr relative to the vehicle VA. The ECU 20 obtains radar object information from the millimeter-wave radar 24. This radar object information includes the object's position and speed Vr relative to the vehicle VA.

[0017] The navigation device 26 includes a GNSS receiver 26a and a map data storage unit 26b. The GNSS receiver 26a receives signals from multiple artificial satellites and identifies the current position (latitude and longitude) of the vehicle VA based on the received signals. The map data storage unit 26b stores map data. The map data includes locations of deceleration targets DO, such as "toll booths on highways" and intersections.

[0018] The vehicle speed sensor 28 detects the vehicle speed Vs. The acceleration sensor 30 detects the acceleration G of the vehicle VA in the longitudinal direction. The operation amount sensor 31 detects the operation amount (depression amount) of the accelerator operator (accelerator pedal) of the vehicle VA. The ECU 20 obtains the detection values of the sensors.

[0019] The cruise switch 32 is operated by the driver to start or end the travel assist control.

[0020] The powertrain actuator 40 varies the driving force generated by a driving device (eg, an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 42 controls the braking force applied to the vehicle VA. Overview of Actuation

[0021] When a deceleration start condition described below is satisfied during execution of the travel assist control (ACC), the ECU 20 of the present apparatus 10 starts deceleration control to decelerate the vehicle VA. Deceleration start conditions

[0022] The ECU 20 refers to the map data stored in the map data storage unit 26 b and identifies a deceleration target DO that exists in the traveling direction of the vehicle VA from the current position of the vehicle VA and is closest to the vehicle VA. The ECU 20 then obtains a distance D between the deceleration target DO and the vehicle VA based on the position of the deceleration target DO and the current position of the vehicle VA. If the distance D is less than or equal to the first distance D1th, the ECU 20 determines that the deceleration start condition is satisfied.

[0023] As an example, under deceleration control, when the vehicle VA reaches a position a predetermined distance ahead of the deceleration target DO, the ECU 20 decelerates the vehicle VA to stop the vehicle VA (i.e., sets the vehicle speed Vs to "0 km / h"). Note that deceleration control is not limited to this example. For example, under deceleration control, the ECU 20 may decelerate the vehicle VA at a predetermined constant deceleration rate Gpre.

[0024] When the driver operates the accelerator operator (accelerator pedal) during execution of the travel assist control or the deceleration control, the ECU 20 suspends the travel assist control or the deceleration control and accelerates the vehicle VA based on the operation amount of the accelerator operator.

[0025] Furthermore, in this case, the ECU 20 determines whether the deceleration end condition that satisfies both the condition 1 and the condition 2 is satisfied. Condition 1: The deceleration target DO is not recognized based on the image data. Condition 2: The elapsed time T from the start of the deceleration control to the operation of the accelerator operator is less than or equal to the threshold time Tth. Note that condition 1 is sometimes referred to as the "second condition," and condition 2 is sometimes referred to as the "first condition."

[0026] In the case of erroneous start of deceleration control, it is likely that a deceleration target is registered in the map data, but in fact, there is no deceleration target. When deceleration control is erroneously started, the driver is likely to operate the accelerator operator immediately after the deceleration control is started. Therefore, when both conditions 1 and 2 are satisfied (i.e., when the deceleration end condition is satisfied), the driver is likely to operate the accelerator operator with the intention (intention) of accelerating the vehicle VA. Figure 1 ) to operate the acceleration operator because the deceleration control is started by mistake.

[0027] When the deceleration end condition is satisfied, the driver is likely to not want to resume the deceleration control after the operation of the accelerator operator is completed, because there is a possibility that the deceleration control was started by mistake. Therefore, the ECU 20 ends the deceleration control when the deceleration end condition is satisfied, and executes the travel assist control when the operation of the accelerator operator is completed.

[0028] On the contrary, if the deceleration end conditions are not met, the driver is unlikely to Figure 1 The driver may operate the accelerator with the intention (intention) to adjust the vehicle speed Vs during the deceleration control. Figure 2 ) to operate the accelerator. In this case, the driver believes that the deceleration control will be resumed after the operation of the accelerator to adjust the vehicle speed Vs is completed. Therefore, if the deceleration end condition is not met, the ECU 20 resumes the deceleration control when the operation of the accelerator is completed.

[0029] Therefore, the present apparatus 10 makes it possible to more likely provide vehicle travel assistance that conforms to the intention of the driver who operates the accelerator operator.

[0030] Note that if the deceleration end condition is satisfied but the exceptional condition that the distance D is less than a second distance D2th shorter than the first distance D1th is satisfied, the ECU 20 resumes the deceleration control after the accelerator operation is completed without terminating the deceleration control. This is because if the deceleration control is terminated after the accelerator operation is completed and the distance D is less than the second distance D2th, the driver may feel extremely uneasy if he or she wishes to resume the deceleration control. Actuation Example

[0031] Will refer to Figure 2 An example of actuation of the present device 10 in a case where the deceleration end condition is not satisfied is described. At time t1, the distance D is equal to the first distance D1th, and the deceleration start condition is satisfied. Therefore, the ECU 20 starts the deceleration control at time t1 and starts to decelerate the vehicle VA.

[0032] The driver starts operating the accelerator operator at time t2 while the deceleration control is being executed, and ends operating the accelerator operator at time t3. The ECU 20 accelerates the vehicle VA based on the operation amount of the accelerator operator during the period from time t2 to time t3.

[0033] At time t2, the ECU 20 determines whether the deceleration end condition is satisfied. At time t2, the following assumption is considered to be established. Assumption 1: The ECU 20 recognizes the deceleration target DO based on image data. Assumption 2: The elapsed time T is longer than the threshold time Tth. Assumption 3: The distance D is greater than or equal to the second distance D2th. The deceleration end condition is not satisfied due to assumptions 1 and 2. Furthermore, the exception condition is not satisfied due to assumption 3.

[0034] Therefore, when the operation of the accelerator operator ends at time t3, the ECU 20 returns to the deceleration control (resumption deceleration control) and decelerates the vehicle VA.

[0035] The vehicle VA has passed the deceleration target DO before time t4, and the ECU 20 performs constant speed control as travel assist control at time t4. Therefore, the vehicle VA is accelerated so that the vehicle speed Vs coincides with the set vehicle speed Vset.

[0036] Will refer to Figure 3 An example of actuation of the present device 10 in a case where the deceleration end condition is satisfied is described. At time t1, the deceleration start condition is satisfied, and the ECU 20 starts deceleration control. At time t5, the operation of the accelerator operator is started, and the ECU 20 determines whether the deceleration end condition is satisfied. At time t5, the following assumption is considered to be true. Assumption 4: The ECU 20 does not recognize the deceleration target DO based on the image data. Assumption 5: The elapsed time T is less than or equal to the threshold time Tth. Assumption 6: The distance D is greater than or equal to the second distance D2th. Therefore, due to assumptions 1 and 2, the deceleration end condition is satisfied, and due to assumption 3, the exception condition is not satisfied. At time t6, the operation of the accelerator operator ends, and the ECU 20 ends the deceleration control and returns to the travel assist control. At time t6, there is no preceding vehicle, so the ECU 20 executes the constant speed control as the travel assist control and accelerates the vehicle VA. specific actuation

[0037] Every time a predetermined time has passed, the CPU of the ECU 20 executes the following Figure 4 and Figure 5 The routine is shown in the flowchart. ACC routines

[0038] When the appropriate time comes, the CPU of the ECU 20 Figure 4 The processing starts at step 400 in FIG. 4 , and the CPU determines at step 405 whether the ACC flag Xacc is “1”.

[0039] If the cruise switch 32 is operated while the ACC flag Xacc is "0," the ACC flag Xacc is set to "1." If the cruise switch 32 is operated while the ACC flag Xacc is "1," the ACC flag Xacc is set to "0." Furthermore, the value of the ACC flag Xacc is set to "0" in the initial routine. The initial routine is executed by the CPU when the ignition key switch of the vehicle VA (not shown) is turned from the OFF position to the ON position.

[0040] In a case where the ACC flag Xacc is "0", the CPU determines "No" in step 405. The process proceeds to step 495, and the CPU temporarily ends the routine.

[0041] When the ACC flag Xacc is “1”, the CPU makes a “Yes” determination in step 405 , and executes steps 410 and 415 .

[0042] Step 410: The CPU obtains the ACC target acceleration Gacc. If described in detail, the CPU determines whether there is a leading vehicle based on the image data and the radar object information. The leading vehicle is a vehicle that is located within a predetermined distance in front of the vehicle VA and is traveling in the same lane as the lane in which the vehicle VA is traveling.

[0043] When there is no preceding vehicle, the CPU obtains a constant speed target acceleration Gset as the ACC target acceleration Gacc by applying the set vehicle speed Vset and the vehicle speed Vs to the following equation (1). The constant speed target acceleration Gset makes the vehicle speed Vs coincide with the set vehicle speed Vset. Gset=k1×(Vset-Vs)……(1) In the formula (1), k1 represents a predetermined gain (coefficient).

[0044] When there is a preceding vehicle, the CPU applies the set vehicle speed Vset, the vehicle speed Vs, and the relative speed Vr of the preceding vehicle to the following equation (2) to obtain the following target acceleration Gflw as the ACC target acceleration Gacc. The following target acceleration Gflw makes the inter-vehicle distance Dv coincide with the set distance Dset. Gflw=ka1×(k2×(Dv-Dset)+k3×Vr)……(2) In the formula (2), ka1, k2, and k3 represent predetermined gains (coefficients).

[0045] Step 415 : The CPU determines whether the accelerator operator has been operated based on the detection value of the operation amount sensor 31 . In a case where the accelerator operator is not operated, the CPU determines "NO" in step 415, and the process proceeds to step 420. In step 420, the CPU determines whether the deceleration flag Xdec is "0".

[0046] The deceleration flag Xdec is set to "1" when the deceleration control is started, and is set to "0" when the deceleration control is ended. Note that the deceleration flag Xdec is set to "0" when the ACC flag Xacc is set to "1" and in the initial routine.

[0047] When the deceleration flag Xdec is “0”, the CPU makes a “Yes” determination in step 420 , and executes steps 425 and 430 . Step 425: The CPU executes ACC control. If described in detail, the CPU controls the powertrain actuator 40 and the brake actuator 42 so that the acceleration G coincides with the ACC target acceleration Gacc.

[0048] Step 430: The CPU determines whether the deceleration start condition is met. If described in detail, the CPU refers to the map data and acquires the distance D between the deceleration target DO and the vehicle VA. In a case where the distance D is less than or equal to the first distance D1th, the CPU determines that the deceleration start condition is satisfied.

[0049] In a case where the deceleration start condition is not satisfied, the CPU determines “NO” in step 430 . The process proceeds to step 495 , and the CPU temporarily ends the routine.

[0050] In a case where the deceleration start condition is satisfied, the CPU determines “Yes” in step 430 . The process proceeds to step 435 and the CPU sets the deceleration flag Xdec to “1.” Thereafter, the process proceeds to step 495 and the CPU temporarily ends the routine.

[0051] In a case where the deceleration flag Xdec is “1” when the processing proceeds to step 420 , the CPU makes a “Yes” determination in step 420 and executes steps 440 and 445 . Step 440: The CPU obtains the deceleration target acceleration Gdec. If described in detail, the CPU acquires the deceleration target acceleration Gdec that causes the vehicle VA to stop a predetermined distance ahead of the deceleration target DO. Step 445: The CPU determines whether the deceleration target acceleration Gdec is smaller than the ACC target acceleration Gacc. In the present embodiment, when the vehicle VA is traveling forward, the acceleration G has a positive value, and when the vehicle VA is traveling backward, the acceleration G has a negative value.

[0052] If the deceleration target acceleration Gdec is less than the ACC target acceleration Gacc, the CPU determines "Yes" in step 445 and proceeds to step 450. In step 450, the CPU executes deceleration control. Specifically, the CPU controls the powertrain actuator 40 and the brake actuator 42 so that the acceleration G matches the deceleration target acceleration Gdec. Thereafter, the CPU proceeds to step 495 and temporarily terminates the routine.

[0053] In contrast, in a case where the deceleration target acceleration Gdec is greater than or equal to the ACC target acceleration Gacc, the CPU determines “NO” in step 445 , and the processing proceeds to step 425 .

[0054] In a case where the accelerator operator is operated when the processing proceeds to step 415 , the CPU determines “Yes” in step 415 , and executes steps 455 to 465 .

[0055] Step 455: The CPU obtains the operation acceleration Gap based on the operation amount AP of the accelerator operator. Step 460: The CPU performs override control. If described in detail, the CPU controls the powertrain actuator 40 and the brake actuator 42 so that the acceleration G coincides with the operating acceleration Gap. Step 465: The CPU determines whether the deceleration flag Xdec is "1".

[0056] If the deceleration flag Xdec is "1," the CPU determines "Yes" in step 465 and proceeds to step 470. In step 470, the CPU executes the deceleration end condition determination subroutine. In this deceleration end condition determination subroutine, the CPU determines whether the deceleration end condition has been satisfied. Details of the deceleration end condition determination subroutine will be described below. Thereafter, the CPU proceeds to step 495, and the CPU temporarily terminates the routine.

[0057] In a case where the deceleration flag Xdec is “0”, the CPU determines “NO” in step 465. The process proceeds to step 495, and the CPU temporarily ends the routine. Deceleration end condition judgment subroutine

[0058] When processing Figure 4 At step 470 in the CPU, Figure 5 The process starts at step 500 in the flowchart and proceeds to step 505. In step 505, the CPU determines whether the deceleration target DO is identifiable based on the image data. If described in detail, when the image data includes an image similar to an image of a pre-registered deceleration target DO, the CPU identifies the deceleration target DO based on the image data.

[0059] When the deceleration target DO is not identified based on the image data (ie, when Condition 1 is satisfied), the CPU determines "NO" in step 505 and proceeds to step 510. In step 510, the CPU determines whether the elapsed time T is less than or equal to a threshold time Tth.

[0060] If the elapsed time T is less than or equal to the threshold time Tth (i.e., if condition 2 is satisfied), the deceleration end condition is satisfied. In this case, the CPU makes a "yes" determination in step 510, and the process proceeds to step 515. In step 515, the CPU determines whether the distance D is less than the second distance D2th.

[0061] In the case where the distance D is greater than or equal to the second distance D2th (i.e., in the case where the exception condition is not satisfied), the CPU determines "No" in step 515, and the processing proceeds to step 520. In step 520, the CPU sets the deceleration flag Xdec to "0". The processing proceeds to step 595, and the CPU temporarily ends the routine. Thereafter, the processing proceeds to Figure 4 495 . As a result, if the deceleration end condition is satisfied and the exception condition is not satisfied, the deceleration flag Xdec is "0." Therefore, after the accelerator operation ends, deceleration control is not executed. Travel assist control is resumed. That is, after the accelerator operation ends, the vehicle VA travels at the ACC target acceleration Gacc.

[0062] Meanwhile, if the distance D is less than the second distance D2th when the process proceeds to step 515 (i.e., if the exception condition is satisfied), the CPU makes a "Yes" determination in step 515. The process proceeds to step 595, and the CPU temporarily terminates the routine. Consequently, if the deceleration termination condition is satisfied and the exception condition is satisfied, the deceleration flag Xdec remains at "1." Therefore, after the operation of the accelerator operator is terminated, deceleration control is resumed.

[0063] In the case where the deceleration target DO is identified based on the image data when the processing proceeds to step 505 (i.e., when condition 1 is not satisfied), the CPU determines "yes" in step 505. The processing proceeds to step 595, and the CPU temporarily ends the routine. In the case where the elapsed time T is longer than the threshold time Tth when the processing proceeds to step 510 (i.e., when condition 2 is not satisfied), the CPU determines "no" in step 510. The processing proceeds to step 595, and the CPU temporarily ends the routine. Therefore, in the case where the deceleration end condition is not satisfied, the deceleration flag Xdec remains "1". Therefore, after the operation of the accelerator operator is completed, the deceleration control is resumed.

[0064] According to this aspect, deceleration control ends when the deceleration termination condition is met. Therefore, after the accelerator operation is completed, the vehicle VA travels at the ACC target acceleration Gacc. Conversely, if the deceleration termination condition is not met, deceleration control does not end. Therefore, after the accelerator operation is completed, the vehicle VA decelerates at the deceleration target acceleration Gdec. This makes it possible to determine whether to resume or terminate deceleration control in accordance with the intention of the driver operating the accelerator. Consequently, it is more likely that driving assistance will be provided that is consistent with the intention of the driver operating the accelerator.

[0065] While this embodiment has described an example in which deceleration control is executed while driving assist control is in effect, the present invention is not limited to this example. Even when the driver is operating a non-automatic driving mode, deceleration control can be initiated when the deceleration start condition is satisfied. Note that even in this case, if the driver operates the accelerator during deceleration control, deceleration control is terminated as in the embodiment if the deceleration end condition is satisfied and the exception condition is not satisfied.

[0066] The device 10 can be applied to vehicles such as engine cars, hybrid electric vehicles, plug-in hybrid electric vehicles, fuel cell electric vehicles, and pure electric vehicles. In addition, the present invention can also be understood as a computer-readable non-transitory storage medium storing a program that realizes the functions of the device 10.

Claims

1. A vehicle control device that starts deceleration control for decelerating the vehicle when a distance between a deceleration target ahead of the vehicle and the vehicle is acquired based on map data and a deceleration start condition is satisfied that the distance is less than or equal to a first distance, wherein The vehicle control device is configured as When an accelerator operator is operated during execution of the deceleration control, the vehicle is accelerated based on the amount of operation of the accelerator operator of the vehicle, and a deceleration end condition is determined to be satisfied, the deceleration end condition including at least a first condition that a time from the start of the deceleration control to the operation of the accelerator operator is less than or equal to a threshold time. When the deceleration end condition is satisfied, the deceleration control is ended, and If the deceleration end condition is not satisfied, the deceleration control is resumed when the operation of the accelerator operator is ended.

2. The vehicle control device according to claim 1, wherein The vehicle control apparatus is configured to determine that the deceleration end condition is satisfied when both the first condition and a second condition that the deceleration target is not recognized based on an image captured by a camera mounted on the vehicle are satisfied.

3. The vehicle control device according to claim 1, wherein The vehicle control apparatus is configured to resume the deceleration control without ending the deceleration control if the operation of the accelerator operator ends, if the distance is less than a second distance shorter than the first distance even though the deceleration ending condition is satisfied.

4. A vehicle control method, wherein, upon obtaining a distance between a deceleration target ahead of the vehicle and the vehicle based on map data and satisfying a deceleration start condition that the distance is less than or equal to a first distance, a computer initiates deceleration control for decelerating the vehicle, the computer being mounted on the vehicle, the vehicle control method comprising: when an accelerator operator is operated during execution of the deceleration control, the computer accelerates the vehicle based on an amount of operation of the accelerator operator of the vehicle, and determines whether a deceleration end condition is satisfied, the deceleration end condition including at least a first condition that a time from the start of the deceleration control to the operation of the accelerator operator is less than or equal to a threshold time; When the deceleration end condition is satisfied, the computer ends the deceleration control; as well as If the deceleration end condition is not satisfied, the computer resumes the deceleration control when the operation of the accelerator operator is ended.

5. A program for causing a computer to start deceleration control for decelerating the vehicle when a distance between a deceleration target ahead of the vehicle and the vehicle is acquired based on map data and a deceleration start condition of the distance being less than or equal to a first distance is satisfied, the computer being mounted on the vehicle, wherein The program causes the computer to execute When an accelerator operator is operated during execution of the deceleration control, the vehicle is accelerated based on the amount of operation of the accelerator operator of the vehicle, and a deceleration end condition is determined to be satisfied, the deceleration end condition including at least a first condition that a time from the start of the deceleration control to the operation of the accelerator operator is less than or equal to a threshold time. When the deceleration end condition is satisfied, the deceleration control is ended, and If the deceleration end condition is not satisfied, the deceleration control is resumed when the operation of the accelerator operator is ended.

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