Vehicle controller

Abstract

To provide a vehicle controller capable of performing appropriate alerting notification when there is a possibility that an own vehicle may deviate from a lane and collide with an oncoming vehicle.SOLUTION: When determining based on a travel prediction route of an own vehicle 100 and a travel prediction route of an oncoming vehicle 200 that there is a possibility that the own vehicle may collide with the oncoming vehicle, a vehicle controller 10 performs alerting notification intended to alert an operator of the own vehicle or an operator of the oncoming vehicle. When a collision prediction time that is a time until the own vehicle collides with the oncoming vehicle falls below a first threshold time, if a lane deviation prediction time that is a time until the own vehicle deviates from a lane is equal to or longer than a second threshold time, the vehicle controller performs the alerting notification. When the collision prediction time falls below the first threshold time, if the lane deviation prediction time falls below the second threshold time, the vehicle controller performs the alerting notification in the even that the lane deviation prediction time falls below a third threshold time shorter than the second threshold time.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] A vehicle control device is known that issues an alert (attention warning alert) to an operator of a vehicle to alert the operator of the vehicle to the possibility of a collision (possibility of collision) between the vehicle and an oncoming vehicle when there is a high possibility that the vehicle will deviate from its lane and collide with an oncoming vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-85805 A Summary of the Invention

[0004] In a situation where the time when the host vehicle is predicted to depart from the lane and collide with the oncoming vehicle becomes shorter to a certain time, and as a result, it is determined that the host vehicle may depart from the lane and collide with the oncoming vehicle, if the time until the host vehicle departs from the lane is relatively long and the time from the host vehicle departs from the lane to the collision with the oncoming vehicle is relatively long, the operator of the host vehicle or the operator of the oncoming vehicle can relatively easily perform an appropriate driving operation to avoid the collision between the host vehicle and the oncoming vehicle. Therefore, in such a situation, it is considered that it is unnecessary to issue a warning to the operator of the host vehicle or the operator of the oncoming vehicle.

[0005] Therefore, if a warning alert were to be issued uniformly when there is a high possibility that the vehicle will deviate from its lane or collide with an oncoming vehicle, as in conventional vehicle control devices, there is a possibility that unnecessary warning alerts would be issued.

[0006] An object of the present invention is to provide a vehicle control device that can provide an appropriate warning notification when the host vehicle deviates from its lane and there is a possibility of colliding with an oncoming vehicle.

[0007] The vehicle control device according to the present invention includes a control device that issues an attention alert to alert an operator of the host vehicle or an operator of the oncoming vehicle about the possibility of a collision between the host vehicle and the oncoming vehicle when it is determined that the host vehicle may collide with the oncoming vehicle based on a predicted travel route of the host vehicle and a predicted travel route of an oncoming vehicle. The control device is configured to issue the attention alert when a predicted collision time, which is the time until the host vehicle collides with the oncoming vehicle, becomes less than a first threshold time and a predicted lane departure time, which is the time until the host vehicle deviates from the lane, is equal to or greater than a second threshold time. Furthermore, the control device is configured to issue the attention alert when the predicted lane departure time becomes less than a third threshold time, which is shorter than the second threshold time, when the predicted collision time becomes less than the first threshold time and the predicted lane departure time is less than the second threshold time.

[0008] In a situation where the time when the host vehicle is predicted to depart from the lane and collide with the oncoming vehicle becomes shorter to a certain time, and as a result, it is determined that the host vehicle may depart from the lane and collide with the oncoming vehicle, if the time until the host vehicle departs from the lane is relatively long and the time from the host vehicle departs from the lane to the collision with the oncoming vehicle is relatively long, the operator of the host vehicle or the operator of the oncoming vehicle can relatively easily perform an appropriate driving operation to avoid the collision between the host vehicle and the oncoming vehicle. Therefore, in such a situation, it is considered that it is unnecessary to issue a warning to the operator of the host vehicle or the operator of the oncoming vehicle.

[0009] On the other hand, in a situation where the time between the vehicle's departure from its lane and the collision with an oncoming vehicle is short, it is considered preferable to issue a warning to the operator of the vehicle or the operator of the oncoming vehicle. Also, in a situation where the time between the vehicle's departure from its lane and the collision with an oncoming vehicle is short, it is considered preferable to issue a warning to the operator of the vehicle or the operator of the oncoming vehicle.

[0010] According to the vehicle control device of the present invention, when the collision prediction time is less than the first threshold time and the lane departure prediction time at that time is equal to or greater than the second threshold time, an attention call notification is issued. That is, when the time until the collision between the vehicle and an oncoming vehicle is shortened to a certain time, if the time from the departure of the vehicle from the lane to the collision with the oncoming vehicle is short, an attention call notification is issued. This makes it possible to issue an appropriate attention call notification.

[0011] Furthermore, according to the vehicle control device of the present invention, if the lane departure predicted time is equal to or greater than the third threshold time when the collision predicted time becomes less than the first threshold time, then when the lane departure predicted time becomes less than the third threshold time, a warning notification is issued. That is, when the time until the collision between the vehicle and an oncoming vehicle becomes short to a certain time, if the time until the vehicle departs from the lane is short, a warning notification is issued. This allows an appropriate warning notification to be issued.

[0012] Furthermore, in the vehicle control device of the present invention, the control device may be configured not to implement the warning notification when the collision prediction time is less than the first threshold time and the lane departure prediction time is less than the second threshold time and is equal to or greater than the third threshold time.

[0013] In a situation where the time when the host vehicle is predicted to depart from the lane and collide with the oncoming vehicle becomes shorter to a certain time, and as a result, it is determined that the host vehicle may depart from the lane and collide with the oncoming vehicle, if the time until the host vehicle departs from the lane is relatively long and the time from the host vehicle departs from the lane to the collision with the oncoming vehicle is relatively long, the operator of the host vehicle or the operator of the oncoming vehicle can relatively easily perform an appropriate driving operation to avoid the collision between the host vehicle and the oncoming vehicle. Therefore, in such a situation, it is considered that a warning notification to the operator of the host vehicle or the operator of the oncoming vehicle is unnecessary.

[0014] According to the vehicle control device of the present invention, when the collision prediction time is less than the first threshold time and the lane departure prediction time is less than the second threshold time and equal to or greater than the third threshold time, no notification is made. That is, if the time until the host vehicle collides with the oncoming vehicle is relatively long when the time until the host vehicle collides with the oncoming vehicle is shortened to a certain time, and the time until the host vehicle collides with the oncoming vehicle after departing the lane is relatively long, no attention call notification is made until the time until the host vehicle collides with the oncoming vehicle becomes extremely short. Therefore, unnecessary attention call notification can be suppressed.

[0015] In addition, in the vehicle control device of the present invention, the control device may be configured to perform automatic steering to return the vehicle to the lane by automatically steering the vehicle when the vehicle deviates from the lane after the warning alert is issued.

[0016] According to the vehicle control device of the present invention, when the host vehicle deviates from the lane, the host vehicle can automatically return to the original lane.

[0017] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a vehicle control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Diagram 3] FIG. 3A shows a situation where the vehicle may collide with an oncoming vehicle immediately after it deviates from its lane, and FIG. 3B shows a situation where the vehicle is about to deviate from its lane. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a vehicle control device 10. The vehicle control device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle control device 10 will be described using an example in which the operator of the host vehicle 100 is a person who gets into the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100). Similarly, the vehicle control device 10 will be described using an example in which the operator of the oncoming vehicle 200 is a person who gets into the oncoming vehicle 200 and drives the oncoming vehicle 200 (i.e., the driver of the oncoming vehicle 200).

[0020] However, the operator of the host vehicle 100 may be a person who drives the host vehicle 100 remotely without being in the host vehicle 100 (i.e., a remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle control device 10 is mounted on the host vehicle 100 and on a remote operation facility installed outside the host vehicle 100 in order to remotely drive the host vehicle 100, and the functions of the vehicle control device 10 described below are shared between the vehicle control device 10 mounted on the host vehicle 100 and the vehicle control device 10 mounted on the remote operation facility. Similarly, the operator of the oncoming vehicle 200 may be a person who drives the oncoming vehicle 200 remotely without being in the oncoming vehicle 200 (i.e., a remote operator of the oncoming vehicle 200).

[0021] As shown in FIG. 1, the vehicle control device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface. The CPU is adapted to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle control device 10 stores in the storage medium a program that realizes various controls executed by the vehicle control device 10.

[0022] In this example, the vehicle control device 10 has only one ECU 90, but it may also be configured to have multiple ECUs and to share the functions of the vehicle control device 10 described below among each ECU.

[0023] Furthermore, the vehicle control device 10 may be configured so that the program stored in the storage medium can be updated via wireless communication with an external device (for example, Internet communication).

[0024] The host vehicle 100 is equipped with a traveling device 20. The traveling device 20 includes a drive device 21, a braking device 22, and a steering device 23.

[0025] The drive device 21 is a device that outputs a drive force (drive torque) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The vehicle control device 10 can control the drive force output from the drive device 21 by controlling the operation of the drive device 21.

[0026] The braking device 22 is a device that outputs a braking force (braking torque) applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The vehicle control device 10 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0027] The steering device 23 is a device that outputs a steering force (steering torque) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The vehicle control device 10 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0028] Furthermore, the host vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 34, a brake pedal operation amount sensor 35, a steering wheel 36, a steering shaft 37, a steering angle sensor 38, a vehicle speed detection device 39, a surrounding information detection device 40, an inter-vehicle communication device 50, and an alarm device 60.

[0029] The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31, and is electrically connected to the ECU 90. The vehicle control device 10 acquires the operation amount of the accelerator pedal 31 as an accelerator pedal operation amount AP from the accelerator pedal operation amount sensor 32. The vehicle control device 10 acquires a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the traveling speed of the host vehicle 100, and controls the operation of the drive device 21 so that a driving force equivalent to the required driving force is applied from the drive device 21 to the host vehicle 100.

[0030] The brake pedal operation amount sensor 35 is a sensor that detects the operation amount of the brake pedal 34, and is electrically connected to the ECU 90. The vehicle control device 10 acquires the operation amount of the brake pedal 34 as a brake pedal operation amount BP from the brake pedal operation amount sensor 35. The vehicle control device 10 acquires a required braking force (required braking torque) based on the brake pedal operation amount BP, and controls the operation of the braking device 22 so that a braking force equivalent to the required braking force is applied from the braking device 22 to the host vehicle 100.

[0031] The steering angle sensor 38 is a sensor that detects the rotation angle of the steering shaft 37 with respect to the neutral position, and is electrically connected to the ECU 90. The vehicle control device 10 obtains the rotation angle of the steering shaft 37 from the steering angle sensor 38 as a steering angle θ.

[0032] The vehicle control device 10 obtains a required steering force (required steering torque) based on the steering angle θ and the traveling speed of the vehicle 100, and controls the operation of the steering device 23 so that a steering force equivalent to the required steering force is applied from the steering device 23 to the vehicle 100.

[0033] The vehicle speed detection device 39 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 39 is electrically connected to the ECU 90. The vehicle control device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 39.

[0034] The surrounding information detection device 40 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes an image sensor 41 and an electromagnetic wave sensor 42. The image sensor 41 is a sensor that captures an image of the surroundings of the vehicle 100 to obtain image information, and in this example, is a camera sensor 411. The electromagnetic wave sensor 42 is a sensor that obtains target information about targets in the surroundings of the vehicle 100, and in this example, is a millimeter wave radar 421.

[0035] The camera sensor 411 and the millimeter wave radar 421 are electrically connected to the ECU 90. The vehicle control device 10 acquires image information related to the periphery of the host vehicle 100 by the camera sensor 411 as periphery detection information IS, and acquires target information related to targets in the periphery of the host vehicle 100 by the millimeter wave radar 421 as periphery detection information IS.

[0036] The inter-vehicle communication device 50 is a device that performs wireless communication with other vehicles around the host vehicle 100. The inter-vehicle communication device 50 is electrically connected to the ECU 90. The vehicle control device 10 performs wireless communication with other vehicles around the host vehicle 100 via the inter-vehicle communication device 50.

[0037] The notification device 60 is a device that issues various notifications to the driver of the vehicle 100. In this example, the notification device 60 includes an audio device 61 and a display device 62.

[0038] The acoustic device 61 is a device that outputs an alarm sound or a voice, and is, for example, a buzzer or a speaker. The acoustic device 61 is electrically connected to the ECU 90. The vehicle control device 10 can output various alarm sounds or various voices from the acoustic device 61.

[0039] The display device 62 is a device that displays images, and is, for example, a display. The display device 62 is electrically connected to the ECU 90. The vehicle control device 10 can use the display device 62 to display various images.

[0040] <Vehicle control device operation> Next, a description will be given of the operation of the vehicle control device 10. In a situation where it is determined that there is no possibility of the host vehicle 100 colliding with the oncoming vehicle 200, the vehicle control device 10 issues a warning notification when the time until the host vehicle 100 deviates from the lane becomes less than a predetermined time.

[0041] The attention-call notification here is a notification for calling the driver of the vehicle 100's attention that there is a possibility that the vehicle 100 will depart from the lane. The vehicle control device 10 issues an attention-call notification to the driver of the vehicle 100 by outputting an alarm sound or an attention-call voice from the audio device 61 or displaying an attention-call image on the display device 62.

[0042] Furthermore, when the vehicle 100 deviates from the lane after issuing the attention-call notification, the vehicle control device 10 automatically steers the vehicle 100 to return the vehicle 100 to the original lane. Therefore, automatic steering is one type of automatic driving.

[0043] Furthermore, the vehicle control device 10 executes the routine shown in FIG. 2 at a predetermined calculation period, so that when predetermined conditions are met in a situation where it is determined that there is a possibility of a collision between the vehicle 100 and an oncoming vehicle 200, a warning alert is issued and automatic steering is performed.

[0044] Therefore, at a predetermined timing, the vehicle control device 10 starts the process from step S200 of the routine shown in Fig. 2, and proceeds to step S205 to determine whether the host vehicle 100 is traveling. When the host vehicle speed V is greater than zero, the vehicle control device 10 determines that the host vehicle 100 is traveling.

[0045] If the vehicle control device 10 determines "Yes" in step S205, the process proceeds to step S210, where the vehicle control device 10 determines whether or not the collision prediction time Tcol is less than the first threshold time T1. That is, if the collision prediction time Tcol is less than the first threshold time T1, the vehicle control device 10 determines whether or not there is a possibility of a collision between the host vehicle 100 and the oncoming vehicle 200.

[0046] The collision prediction time Tcol is a time predicted to be required for the host vehicle 100 to collide with the oncoming vehicle 200. For example, in the example shown in Fig. 3A and Fig. 3B, the collision prediction time Tcol is a time required for the host vehicle 100 to travel the distance Dcol to a point Pcol where the host vehicle 100 is predicted to collide with the oncoming vehicle 200. The vehicle control device 10 acquires the collision prediction time Tcol by calculation based on the host vehicle travel predicted path R1 and the oncoming vehicle travel predicted path R2, the host vehicle speed V, the travel speed of the oncoming vehicle 200, and the like. The vehicle control device 10 also acquires the travel speed of the oncoming vehicle 200 based on the surrounding detection information IS.

[0047] 3A, the host vehicle predicted route R1 is a route that the host vehicle 100 is predicted to travel in the future, and the oncoming vehicle predicted route R2 is a route that the oncoming vehicle 200 is predicted to travel in the future. The vehicle control device 10 acquires the host vehicle predicted route R1 from the steering angle θ of the host vehicle 100, etc., and acquires the oncoming vehicle predicted route R2 based on the surrounding detection information IS.

[0048] The first threshold time T1 is a time that is appropriately set as a time appropriate for avoiding a collision between the host vehicle 100 and the oncoming vehicle 200.

[0049] If the vehicle control device 10 determines "Yes" in step S210, the process proceeds to step S215, where it determines whether the lane departure predicted time Tdep is equal to or longer than the second threshold time T2. That is, the vehicle control device 10 determines whether the time from when the host vehicle 100 deviates from the lane to when the host vehicle 100 collides with the oncoming vehicle 200 is short.

[0050] The lane departure predicted time Tdep is a time predicted to be required for the host vehicle 100 to deviate from the lane. For example, in the example shown in Fig. 3(A) and Fig. 3(B), the lane departure predicted time Tdep is a time required for the host vehicle 100 to travel a distance Ddep to a point Pdep where the host vehicle 100 is predicted to deviate from the lane.

[0051] The vehicle control device 10 acquires the lane departure predicted time Tdep by calculation based on the host vehicle travel predicted route R1, the position of a center line CL provided on the road on which the host vehicle 100 is traveling, the host vehicle speed V, etc. The vehicle control device 10 acquires the position of the center line CL based on the surrounding detection information IS.

[0052] The second threshold time T2 is a time that is set appropriately and is set to a time that is shorter than the first threshold time T1.

[0053] When the vehicle control device 10 judges "Yes" in step S215, the process proceeds to step S225, and the vehicle control device 10 issues an attention-call notification. Note that (A) in Fig. 3 shows a scene in which the vehicle control device 10 judges "Yes" in step S215.

[0054] The attention calling notification here is a notification for calling the attention of the driver of the host vehicle 100 and the driver of the oncoming vehicle 200 about the possibility of a collision between the host vehicle 100 and the oncoming vehicle 200. Note that the attention calling notification may be a notification for calling the attention of only one of the driver of the host vehicle 100 and the driver of the oncoming vehicle 200.

[0055] The vehicle control device 10 outputs an alarm sound or an attention calling voice from the audio device 61 or displays an attention calling image on the display device 62 to notify the driver of the vehicle 100 of the attention calling.

[0056] Furthermore, the vehicle control device 10 transmits a signal requesting an attention-call notification to the oncoming vehicle 200 via the vehicle-to-vehicle communication device 50. The vehicle control device of the oncoming vehicle 200 that receives the signal outputs an alarm sound or an attention-call voice from an audio device of the oncoming vehicle 200, or displays an attention-call image on a display device of the oncoming vehicle 200, thereby issuing an attention-call notification to the driver of the oncoming vehicle 200.

[0057] On the other hand, if the vehicle control device 10 determines "No" in step S215, the process proceeds to step S220, where the vehicle control device 10 determines whether the lane departure predicted time Tdep is less than the third threshold time T3. That is, the vehicle control device 10 determines whether the host vehicle 100 is about to depart from the lane.

[0058] The third threshold time T3 is a time that is set appropriately and is set to a time that is shorter than the second threshold time T2.

[0059] When the vehicle control device 10 judges "Yes" in step S220, the process proceeds to step S225, and as described above, issues an attention-call notification to the driver of the host vehicle 100 and the driver of the oncoming vehicle 200. Note that (B) of FIG. 3 shows a scene in which the vehicle control device 10 judges "Yes" in step S220.

[0060] After issuing a warning notification in step S225, the vehicle control device 10 advances the process to step S230 and determines whether or not the automatic steering condition Cstr is satisfied. In this example, the automatic steering condition Cstr is a condition that the host vehicle 100 deviates from the lane.

[0061] If the vehicle control device 10 judges "Yes" in step S230, the process proceeds to step S235 and performs automatic steering. As described above, automatic steering is a process of automatically steering the host vehicle 100 so that the host vehicle 100 returns to the original lane. Next, the vehicle control device 10 proceeds to step S295 and temporarily ends the process of this routine.

[0062] On the other hand, if the vehicle control device 10 judges "No" in step S230, the process proceeds to step S245, and if automatic steering is being performed at this point, the automatic steering is stopped. Next, the vehicle control device 10 proceeds to step S295, and temporarily ends the process of this routine.

[0063] Furthermore, if the vehicle control device 10 judges "No" in step S205, step S210, or step S220, the process proceeds to step S240, and if an attention call notification is being performed at this point, the attention call notification is stopped. Next, the process proceeds to step S245, and if automatic steering is being performed at this point, the automatic steering is stopped. Next, the vehicle control device 10 proceeds to step S295, and temporarily ends the processing of this routine.

[0064] The operation of the vehicle control device 10 is as described above.

[0065] In a situation where the time that the host vehicle 100 is predicted to deviate from the lane and collide with the oncoming vehicle 200 becomes shorter to a certain time, and as a result, it is determined that the host vehicle 100 may deviate from the lane and collide with the oncoming vehicle 200, if the time until the host vehicle 100 deviates from the lane is relatively long and the time from the host vehicle 100 deviating from the lane to the collision with the oncoming vehicle 200 is relatively long, the driver of the host vehicle 100 or the driver of the oncoming vehicle 200 can relatively easily perform an appropriate driving operation to avoid a collision between the host vehicle 100 and the oncoming vehicle 200. Therefore, in such a situation, it is considered that it is unnecessary to issue a warning to the driver of the host vehicle 100 or the driver of the oncoming vehicle 200.

[0066] On the other hand, in a situation where the time from when the host vehicle 100 deviates from the lane to when it collides with the oncoming vehicle 200 is short, it is considered preferable to issue an attention call notification to the driver of the host vehicle 100 or the driver of the oncoming vehicle 200. Also, in a situation where the time from when the host vehicle 100 deviates from the lane to when it collides with the oncoming vehicle 200 is short, it is considered preferable to issue an attention call notification to the driver of the host vehicle 100 or the driver of the oncoming vehicle 200.

[0067] According to the vehicle control device 10, when the collision prediction time Tcol becomes shorter than the first threshold time T1 and the lane departure prediction time Tdep at that time is equal to or longer than the second threshold time T2, an attention call notification is issued. That is, when the time until the collision between the host vehicle 100 and the oncoming vehicle 200 is shortened to a certain time, if the time from when the host vehicle 100 deviates from the lane to when the host vehicle 100 collides with the oncoming vehicle 200 is short, an attention call notification is issued. This makes it possible to issue an appropriate attention call notification.

[0068] Moreover, according to the vehicle control device 10, if the lane departure predicted time Tdep is equal to or greater than the third threshold time T3 when the collision predicted time Tcol becomes less than the first threshold time T1, then when the lane departure predicted time Tdep becomes less than the third threshold time T3, an attention call notification is issued. That is, when the time until the collision between the host vehicle 100 and the oncoming vehicle 200 becomes short to a certain time, if the time until the host vehicle 100 departs from the lane is short, an attention call notification is issued. This makes it possible to issue an appropriate attention call notification.

[0069] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0070] 10...vehicle control device, 40...peripheral information detection device, 41...image sensor, 411...camera, 42...electromagnetic wave sensor, 421...millimeter wave radar, 50...vehicle-to-vehicle communication device, 60...alarm device, 61...acoustic device, 62...display device, 90...ECU, 100...own vehicle, 200...oncoming vehicle

Claims

1. A vehicle control device including a control device that issues a warning notification to a driver of the vehicle or an operator of the oncoming vehicle to warn the driver of the vehicle of a possibility of a collision between the vehicle and the oncoming vehicle when the vehicle determines that the vehicle may collide with the oncoming vehicle based on a predicted travel route of the vehicle and a predicted travel route of the oncoming vehicle, The control device includes: When a predicted collision time, which is a time until the host vehicle collides with the oncoming vehicle, becomes less than a first threshold time, and a predicted lane departure time, which is a time until the host vehicle deviates from the lane, is equal to or greater than a second threshold time, the warning notification is implemented. When the collision prediction time becomes shorter than the first threshold time, if the lane departure prediction time is shorter than the second threshold time, the attention alert is issued when the lane departure prediction time becomes shorter than a third threshold time that is shorter than the second threshold time. It is configured as follows: Vehicle control device.

2. The vehicle control device according to claim 1, The control device is configured not to perform the attention call notification when the collision prediction time is shorter than the first threshold time and the lane departure prediction time is shorter than the second threshold time and is equal to or longer than the third threshold time. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The control device is configured to perform automatic steering to return the host vehicle to the lane by automatically steering the host vehicle when the host vehicle deviates from the lane after the attention alert is issued. Vehicle control device.

Images