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

Abstract

A departure suppression control device executes departure suppression control for controlling a lateral traveling state of a vehicle to prevent the vehicle from deviating from a traveling range when a departure condition is satisfied. The departure condition is satisfied when the vehicle is predicted to deviate from the traveling range or when the vehicle has deviated from the traveling range. When a suppression condition including a first condition is satisfied, the departure suppression control device reduces a magnitude of a lateral speed of the vehicle in the departure suppression control compared to when the suppression condition is not satisfied. The first condition is satisfied when an object is located in an opposite area to a deviation side where the vehicle deviates from the traveling range.

Claims

[1] Departure suppression control device (10) configured to execute a deviation suppression control for controlling a lateral travel state of a vehicle (VA) to prevent the vehicle from deviating from a travel range (TA) (step 500 to step 595) when a deviation condition is satisfied ("Yes" at step 310), wherein the deviation condition is a condition satisfied when the vehicle is predicted to deviate from the travel range or when the vehicle has deviated from the travel range, where, the departure suppression control device is configured to, when a suppression condition including a first condition is satisfied ("Yes" in step 405), decrease a magnitude of a lateral speed of the vehicle in the departure suppression control (step 430) compared to when the suppression condition is not satisfied ("No" in step 405), wherein the first condition is a condition satisfied when an object is located in an opposite area opposite to a departure side at which the vehicle deviates from the traveling area. [2] Deviation suppression control device according to claim 1, where, the deviation suppression control device is configured to: to terminate the deviation suppression control (step 330) when the vehicle reaches a target return position set within a boundary defining the travel range (“Yes” in step 325); and to determine that the suppression condition is satisfied when the first condition and a second condition are satisfied, wherein the second condition is a condition satisfied in a case where the object is predicted to be within a predetermined range of the vehicle when the vehicle reaches the target return position, on an assumption that the suppression condition is not satisfied (step 415). [3] Deviation suppression control device according to claim 1, where, the deviation suppression control device is configured to, when the suppression condition is satisfied, reduce the magnitude of the lateral velocity during a time (T2) required for the vehicle to reach a target return position (RP) set within a boundary defining the travel range from a change position (CP), wherein the change position is a position at which a travel direction of the vehicle is changed from a deviation direction in which the vehicle deviates from the travel range to a return direction in which the vehicle returns to the travel range in the deviation suppression control. [4] Deviation suppression control device according to claim 1, where, the deviation suppression control device is configured to determine that the suppression condition is met when the first condition is met and a third condition or a fourth condition is met (“Yes” in step 420), where, the third condition is met when a subtraction value obtained by subtracting a vehicle width of the vehicle from a width of the driving range is equal to or less than a predetermined first threshold value, the fourth condition is met when a ratio of the vehicle width to the width of the driving range is equal to or greater than a predetermined second threshold value. [5] Deviation suppression control device according to claim 1, where, the deviation suppression control device is configured to decrease the magnitude of the lateral velocity as an object distance (WB) decreases, wherein the object distance is a distance between the object and an opposite boundary on an opposite side of a boundary from which the vehicle deviates, from a left boundary and a right boundary defining the traveling range. [6] A departure suppression control method executed by a computer (20) installed in a vehicle to execute departure suppression control for controlling a lateral traveling state of the vehicle to prevent the vehicle from deviating from a traveling range (TA) (step 500 to step 595) when a departure condition is satisfied ("Yes" at step 310), the departure condition being a condition satisfied when the vehicle is predicted to deviate from the traveling range or when the vehicle has deviated from the traveling range, comprising: a first step of determining whether or not a suppression condition including a first condition is satisfied, the first condition being a condition that is satisfied when an object is located in an opposite area opposite to a departure side where the vehicle deviates from the travel area (step 405); and a second step of decreasing a magnitude of a lateral velocity of the vehicle in the departure suppression control (step 430) compared to when the suppression condition is not satisfied ("No" in step 405) when the suppression condition is satisfied ("Yes" in step 405). [7] A program that causes a computer (20) installed in a vehicle to execute a departure suppression control for controlling a lateral travel state of the vehicle to prevent the vehicle from deviating from a travel range (TA) (step 500 to step 595) when a departure condition is satisfied ("Yes" in step 310), the departure condition being a condition that is satisfied when the vehicle is predicted to deviate from the travel range or when the vehicle has deviated from the travel range, the program causing the computer to implement the following processes: Determining whether or not a suppression condition including a first condition is satisfied, the first condition being a condition that is satisfied when an object is located in an opposite area opposite to a deviation side at which the vehicle deviates from the travel area (step 405); and Decreasing a magnitude of a lateral speed of the vehicle in the departure suppression control (step 430) compared to when the suppression condition is not satisfied (“No” in step 405) when the suppression condition is satisfied (“Yes” in step 405).

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