Vehicle controller

Abstract

To provide a vehicle controller that, when a driver is performing an intentional steering manipulation in order to overtake a right-turning vehicle, left-turning vehicle, or hazard lamp-flickering vehicle, minimizes a possibility that the driver may feel deviation control annoying.SOLUTION: When a preceding vehicle requirement is established, compared with when the preceding vehicle requirement is not established, a vehicle controller suppresses at least one of deviation alarm and deviation control. The preceding vehicle requirement includes a requirement that another vehicle is detected ahead of a self vehicle and a left flank distance from a left boundary of a travel area to another vehicle or a right flank distance from a right boundary of the travel area to another vehicle is equal to or larger than a first threshold distance, a requirement that a vehicle speed of another vehicle is equal to or smaller than a threshold vehicle speed, and a requirement that both a left blinker and a right blinker of another vehicle are working, only a right blinker of another vehicle which is approaching a right side of the travel area is working, or only a left blinker of another vehicle which is approaching a left side of the travel area is working. When all of these requirements are established, the preceding vehicle requirement is regarded to be established.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes at least one of a departure warning regarding departure of a host vehicle from a driving area and a departure control for preventing the host vehicle from departing from the driving area. [Background technology]

[0002] Conventionally, there has been known a vehicle control device that executes at least one of departure warning and departure control when it is predicted that the host vehicle will depart from the driving area or when an execution condition that is satisfied when the host vehicle departs from the driving area is satisfied. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") starts departure control when the execution condition is satisfied. When the host vehicle departs from the driving area or the amount of driver's steering operation intervention in the direction of the deviation becomes equal to or exceeds a predetermined value, the conventional device interrupts the departure control to reduce the possibility that the driver will find the departure control annoying.

[0003] For example, if the driver notices a vehicle traveling parallel in the adjacent lane and stops changing lanes, and the departure control is suspended, the driver may feel uncomfortable. For this reason, the conventional device makes the departure control less likely to be suspended by setting the above-mentioned predetermined value to a value larger than normal when an obstacle (e.g., a vehicle traveling parallel in the adjacent lane) is detected to the side of the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-30398 A Summary of the Invention

[0005] There may be another vehicle (right-turning vehicle) stopped (or moving slowly) on the right side in front of the "driving area in which the vehicle is traveling" in order to make a right turn, and there may be another vehicle (left-turning vehicle) stopped (or moving slowly) on the left side in front of the driving area in order to make a left turn. Furthermore, there may be another vehicle (hazard vehicle) stopped (or moving slowly) with its hazard lights on, on the right or left side in front of the driving area. When such another vehicle is present, the driver may perform an intentional steering operation to overtake the other vehicle. If departure control is executed while the driver is performing an intentional steering operation, the driver may find the steering operation annoying.

[0006] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control device that reduces the possibility that the driver feels bothered by departure control when the driver is performing an intentional steering operation to overtake a right-turning vehicle, a left-turning vehicle, or a vehicle with hazard lights.

[0007] The vehicle control device of the present invention (hereinafter referred to as the "device of the present invention") is A camera (22) for capturing images of a scene ahead of the vehicle and acquiring image data; a control unit (20) that, when it is predicted that the host vehicle will depart from the driving area of ​​the host vehicle specified based on the image data (step 325 "Yes") or when the host vehicle departs from the driving area (step 360 "Yes"), executes at least one of a departure warning regarding the departure of the host vehicle from the driving area and a departure control for suppressing the departure of the vehicle from the driving area (step 350), The control unit A first condition (step 420) is that another vehicle is detected ahead of the host vehicle, and a left lateral distance from a left boundary of the driving area to the other vehicle or a right lateral distance from a right boundary of the driving area to the other vehicle is equal to or greater than a first threshold distance; A second condition (step 430) is that the speed of the other vehicle is equal to or less than a threshold speed; and a third condition that both the left and right turn signals of the other vehicle are activated (step 435), that only the right turn signal of the other vehicle is activated if the left lateral distance is equal to or greater than the first threshold distance (step 445 “Yes”) (step 450), or that only the left turn signal of the other vehicle is activated if the right lateral distance is equal to or greater than the first threshold distance (step 445 “No”) (step 465); If any of the above conditions is satisfied (step 335 “Yes”, step 510 “Yes”), at least one of the departure warning and the departure control is suppressed (steps 340 to 355, step 515, step 520) more than if at least one of the first condition, the second condition, and the third condition is not satisfied (step 335 “No”, step 510 “No”). It is structured as follows.

[0008] When a right-turning vehicle, a left-turning vehicle, or a vehicle with hazard lights is present ahead of the vehicle, there is a high possibility that all of the first to third conditions are met (the preceding vehicle condition described below is met). According to the device of the present invention, when all of the first to third conditions are met, departure warning and departure control are suppressed more than when at least one of the first to third conditions is not met. This reduces the possibility that the driver will find departure control annoying when performing intentional steering operations to pass a right-turning vehicle, a left-turning vehicle, or a vehicle with hazard lights. [Brief description of the drawings]

[0009] [Figure 1] 1 is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is an explanatory diagram of an example of operation of the vehicle control device according to the embodiment of the present invention. [Diagram 3] 2 is a flowchart of a departure control routine executed by a CPU of the ECU shown in FIG. 1 . [Figure 4] 2 is a flowchart of a preceding vehicle condition determination subroutine executed by a CPU of the ECU shown in FIG. 1 . [Diagram 5]6 is a flowchart of a departure control routine executed by a CPU of an ECU of a vehicle control device according to a first modified example of an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] As shown in FIG. 1, a vehicle control device 10 according to this embodiment (hereinafter referred to as "the device 10") is applied to a host vehicle SV, and includes the components shown in FIG.

[0011] The ECU 20 executes departure control, which is a type of automatic driving. The departure control is a control for preventing the host vehicle SV from departing from a driving area TA (see FIG. 2).

[0012] In this specification, "ECU 20" is an electronic control device having a microcomputer as a main part. The ECU 20 is also called a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The functions realized by the ECU 20 may be realized by multiple ECUs.

[0013] The camera 22 captures an image of the scenery ahead of the host vehicle SV to obtain image data. The ECU 20 obtains the image data from the camera 22.

[0014] The millimeter wave radar 24 transmits millimeter waves ahead of the host vehicle SV. The millimeter wave radar 24 receives reflected waves of the transmitted millimeter waves reflected by an object, thereby identifying the "position of the object with respect to the host vehicle SV" and the "relative speed Vr of the object with respect to the host vehicle SV." The ECU 20 acquires radar object information including the position and relative speed Vr of the object with respect to the host vehicle SV from the millimeter wave radar 24.

[0015] The vehicle speed sensor 26 detects the host vehicle speed Vs representing the speed of the host vehicle SV. The yaw rate sensor 28 detects the yaw rate Yr of the host vehicle SV. The steering amount sensor 30 detects the steering amount SA of the steering wheel SW (see FIG. 2). The steering torque sensor 32 detects the steering torque Tr of the steering wheel SW. The acceleration sensor 34 detects the acceleration Gx in the longitudinal direction of the host vehicle SV and the acceleration Gy in the transverse direction of the host vehicle SV. The ECU 20 acquires the detection values ​​of these sensors.

[0016] The steering motor 40 is incorporated in a steering mechanism 42. The steering mechanism 42 is a mechanism for steering the steered wheels in response to the operation of the steering wheel SW. In response to an instruction from the ECU 20, the steering motor 40 causes the steering mechanism 42 to generate an assist torque for assisting the operation of the steering wheel, and causes the steering mechanism 42 to generate an automatic steering torque for changing the steering angle of the steered wheels.

[0017] The display device 44 displays a departure warning screen, which will be described later. The speaker 46 issues a departure warning sound, which will be described later.

[0018] <Deviation Control> The deviation control will be described below with reference to FIG. The ECU 20 recognizes the boundaries BL (right boundary RBL and left boundary LBL) of the traveling area TA in which the host vehicle SV is traveling based on the image data. Examples of the boundaries BL include white lines on the road, guard rails, curbs, and walls. The ECU 20 sets reference lines RL (right reference line RRL and left reference line LRL) at a position a predetermined reference distance Dref away from the boundary BL in a direction perpendicular to the boundary BL.

[0019] When either of the following conditions E1 and E2 is satisfied, the ECU 20 determines that the execution condition is satisfied, and executes at least one of the departure warning and the departure control. Condition E1: The predicted course PR of the vehicle SV intersects with the reference line RL when the course distance Dpr along the predicted course PR is less than a predetermined threshold distance Dth (if this condition E1 is met, the ECU 20 predicts that the vehicle SV will depart from the driving area TA). Condition E2: The host vehicle SV deviates from the reference line RL. As an example, the ECU 20 acquires the predicted course PR based on the host vehicle speed Vs and the yaw rate Yr.

[0020] The ECU 20 acquires a target steering angle θtgt for preventing the host vehicle SV from departing from (or having deviated from) the reference line RL (i.e., for returning the host vehicle SV to the inside of the reference line RL). When the target steering angle θtgt is greater than a predetermined upper limit steering angle θlmt, the ECU 20 sets the target steering angle θtgt to the upper limit steering angle θlmt. The ECU 20 controls the steering motor 40 so that the steering angle θ coincides with the target steering angle θtgt.

[0021] <Intentional steering conditions> Even if the above-mentioned execution condition is satisfied, the ECU 20 does not execute departure control if a predetermined intended steering condition is satisfied. The ECU 20 determines that the intended steering condition is satisfied when at least one of the following conditions S1 to S3 is satisfied. Condition S1: The steering amount SA in the departure direction is equal to or greater than a threshold steering amount SAth. Condition S2: A departure lateral speed Vyd, which indicates the lateral speed of the host vehicle SV in the departure direction, is equal to or greater than a threshold lateral speed Vydth. Condition S3: The departure lateral acceleration Gyd, which represents the lateral acceleration of the host vehicle SV in the departure direction, is equal to or greater than a threshold lateral acceleration Gydth. The departure lateral acceleration Gyd is acquired based on the acceleration Gy detected by the acceleration sensor 34. The departure lateral velocity Vyd is acquired based on an integral value obtained by integrating the acceleration Gy over time. In the following embodiment, the ECU 20 is described as determining that the intended steering condition is satisfied when the condition S1 is satisfied.

[0022] (Overview of operation) When a preceding vehicle ahead of the host vehicle SV satisfies a predetermined preceding vehicle condition, the ECU 20 suppresses departure control by making it easier for the intended steering condition to be met compared to when the preceding vehicle does not satisfy the preceding vehicle condition.

[0023] The ECU 20 determines that the preceding vehicle condition is satisfied when any one of the following conditions P1 to P3 is satisfied.

[0024] Condition P1: Another vehicle (hereinafter referred to as the "preceding vehicle") PV is detected in front of the host vehicle SV, and the left lateral distance DL (see Figure 2) or the right lateral distance DR (see Figure 2) is greater than the first threshold distance D1th and less than the second threshold distance D2th.

[0025] The left lateral distance DL represents the distance from the left boundary LBL to the preceding vehicle PV. The right lateral distance DR represents the distance from the right boundary RBL to the preceding vehicle PV. The second threshold distance D2th is set to a value larger than the first threshold distance D1th. For example, it is desirable that the first threshold distance D1th is set to a value half the width of a general road, and the second threshold distance D2th is set to a value obtained by adding a predetermined margin distance to the vehicle width of the host vehicle SV. When the left lateral distance DL or the right lateral distance DR is longer than the second threshold distance D2th, the host vehicle SV can overtake the preceding vehicle PV without departing from the driving lane TL. For this reason, when the left lateral distance DL or the right lateral distance DR is longer than the second threshold distance D2th, the preceding vehicle condition is not satisfied, so that the departure control is not suppressed.

[0026] Condition P2: A preceding vehicle speed Vspv, which indicates the speed of the preceding vehicle PV, is equal to or less than a threshold vehicle speed Vsth. The preceding vehicle speed Vspv is obtained based on the relative speed Vr of the preceding vehicle PV and the host vehicle speed Vs.

[0027] Condition P3: The left and right turn signals of the preceding vehicle PV are activated, or the right turn signal of the preceding vehicle PV is activated when the left lateral distance DL is greater than or equal to the first threshold distance D1th and less than the second threshold distance D2th, or the left turn signal of the preceding vehicle PV is activated when the right lateral distance DR is greater than or equal to the first threshold distance D1th and less than the second threshold distance D2th.

[0028] When any of the above conditions P1 to P3 is satisfied (i.e., when the preceding vehicle condition is satisfied), the preceding vehicle PV is a right-turning vehicle stopped or moving slowly on the right side of the traveling area TA, a left-turning vehicle stopped or moving slowly on the left side of the traveling area TA, or a hazard vehicle stopped or moving slowly on the right or left side of the traveling area TA. When such a preceding vehicle PV exists, it is highly likely that the driver will intentionally steer the host vehicle SV so as to deviate from the traveling area TA in order to overtake such a preceding vehicle PV. If departure control is executed while the driver is performing such steering, it is highly likely that the driver will find the departure control annoying.

[0029] Therefore, in this embodiment, when the preceding vehicle condition is satisfied, the intended steering condition is made more likely to be satisfied than when the preceding vehicle condition is not satisfied, thereby suppressing departure control. This makes it difficult for departure control to be executed while the driver is performing the steering, thereby reducing the possibility that the driver will find the departure control bothersome.

[0030] (Example of operation) At time t1 shown in Fig. 2, the driver starts to turn the steering wheel SW to the left in order to overtake the preceding vehicle PV. At time t1, the execution condition has not yet been met.

[0031] At time t2, the predicted path PR intersects with the left reference line LRL with the path distance Dpr being equal to or less than the threshold distance Dth, so that the condition E1 is satisfied. Therefore, the ECU 20 determines that the execution condition is satisfied. At time t2, the left lateral distance DL of the preceding vehicle PV is equal to or greater than the first threshold distance D1th and equal to or less than the second threshold distance D2th, so that condition P1 is satisfied. Furthermore, the preceding vehicle speed Vspv is equal to or less than the threshold vehicle speed Vsth, so that condition P2 is satisfied. Furthermore, the right turn signal of the preceding vehicle PV is activated, so that condition P3 is satisfied. Therefore, the ECU 20 determines that the preceding vehicle condition is satisfied.

[0032] When the preceding vehicle condition is satisfied, the ECU 20 makes it easier to satisfy the intended steering condition, as described above. As an example, when the preceding vehicle condition is satisfied, the ECU 20 sets the threshold steering amount SAth to a second steering amount SA2th that is smaller than the first steering amount SA1th used when the preceding vehicle condition is satisfied.

[0033] In this example, the intended steering condition is satisfied even after time t2, making it easier for the intended steering condition to be satisfied, and even if the execution condition is satisfied, the intended steering condition is satisfied, so departure control is not executed.

[0034] (Specific operation) <Deviation Control> The CPU of the ECU 20 executes a routine shown in the flowchart of FIG. 3 every time a predetermined time elapses. When the appropriate time arrives, the CPU begins processing at step 300 in FIG.

[0035] Step 305: The CPU acquires image data from the camera 22 and acquires radar object information from the millimeter wave radar 24. Step 310: The CPU recognizes the left boundary LBL and the right boundary RBL of the traveling area TA based on the image data. Step 315: The CPU sets a left reference line LRL and a right reference line RRL at positions spaced apart by a reference distance Dref from the left boundary LBL and the right boundary RBL, respectively. Step 320: The CPU obtains a predicted path PR based on the host vehicle speed Vs and the yaw rate Yr. Step 325: The CPU determines whether or not the predicted path PR intersects with the reference line RL with the path distance Dpr being equal to or less than the threshold distance Dth.

[0036] If the course distance Dpr is equal to or less than the threshold distance Dth and the predicted course PR intersects with the reference line RL, the CPU predicts that the host vehicle SV will depart from the traveling area TA. In this case, the CPU determines "Yes" in step 325 and executes steps 330 and 335.

[0037] Step 330: The CPU executes a preceding vehicle condition determination subroutine for determining whether or not the preceding vehicle condition is satisfied, as shown in FIG 4. The preceding vehicle condition determination subroutine will be described with reference to FIG 4. Step 335: The CPU determines whether or not the preceding vehicle condition is met.

[0038] If the preceding vehicle condition is not met, the CPU determines “No” in step 335 and executes steps 340 and 345 . Step 340: The CPU sets the threshold steering amount SAth to the first steering amount SA1th. Step 345: The CPU determines whether or not the steering amount SA is equal to or greater than the threshold steering amount SAth.

[0039] If the steering amount SA is less than the threshold steering amount SAth, the CPU determines "No" in step 345 and proceeds to step 350. In step 350, the CPU executes departure control. After that, the CPU proceeds to step 395 and temporarily ends this routine.

[0040] If the steering amount SA is equal to or greater than the threshold steering amount SAth, the CPU proceeds to step 395 and temporarily ends this routine. As a result, the CPU does not execute departure control.

[0041] If the preceding vehicle condition is satisfied when the CPU proceeds to step 335, the CPU determines "Yes" in step 335 and proceeds to step 355. In step 355, the CPU sets the threshold steering amount SAth to "a second steering amount SA2th smaller than the first steering amount SA1th." After that, the CPU proceeds to step 345.

[0042] When the CPU proceeds to step 325, if the path distance Dpr is equal to or less than the threshold distance Dth and the predicted path PR does not intersect with the reference line RL, the CPU determines "No" in step 325 and proceeds to step 360. In step 360, the CPU determines whether the host vehicle SV has deviated from either the left reference line LRL or the right reference line RRL.

[0043] If the host vehicle SV deviates from either the left reference line LRL or the right reference line RRL, the CPU determines "Yes" in step 360 and proceeds to step 330. On the other hand, if the host vehicle SV does not deviate from either the left reference line LRL or the right reference line RRL, the CPU determines "No" in step 360. After that, the CPU proceeds to step 395 and temporarily ends this routine.

[0044] <Subroutine for determining preceding vehicle conditions> When the CPU proceeds to step 330 in FIG. 3, it starts the process from step 400 in FIG.

[0045] Step 405: The CPU acquires the left lateral distance DL and the right lateral distance DR of the preceding vehicle PV based on the image data and the radar object information. In detail, the CPU obtains the distance from the left boundary LBL to a point of the preceding vehicle PV that is closest to the left boundary LBL as the left lateral distance DL. If the preceding vehicle PV deviates from the left boundary LBL, the CPU sets the left lateral distance DL to "0." Similarly, the CPU obtains the distance from the right boundary RBL to a point of the preceding vehicle PV that is closest to the right boundary RBL as the right lateral distance DR, and sets the right lateral distance DR to "0" if the preceding vehicle PV deviates from the right boundary RBL.

[0046] Step 410: The CPU determines whether the left lateral distance DL is equal to or greater than the right lateral distance DR.

[0047] If the left lateral distance DL is equal to or greater than the right lateral distance DR, the CPU determines “Yes” in step 410 and executes steps 415 and 420 .

[0048] Step 415: The CPU sets the lateral distance D to the left lateral distance DL. Step 420: The CPU determines whether the lateral distance D is equal to or greater than the first threshold distance D1th and equal to or less than the second threshold distance D2th.

[0049] When the lateral distance D is equal to or greater than the first threshold distance D1th and equal to or less than the second threshold distance D2th, the CPU determines “Yes” in step 420 and executes steps 425 and 430.

[0050] Step 425: The CPU obtains a preceding vehicle speed Vspv based on the host vehicle speed Vs and the relative speed Vr of the preceding vehicle PV.

[0051] Step 430: The CPU determines whether the preceding vehicle speed Vspv is equal to or lower than the threshold vehicle speed Vsth.

[0052] If the preceding vehicle speed Vspv is equal to or lower than the threshold vehicle speed Vsth, the CPU determines "Yes" in step 430 and proceeds to step 435. In step 435, it determines based on the image data whether both the left and right turn signals of the preceding vehicle PV are operating.

[0053] If both the left and right blinkers of the preceding vehicle PV are operating, the CPU determines "Yes" in step 435 and proceeds to step 440. In step 440, the CPU determines that the preceding vehicle condition is satisfied. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0054] When the CPU proceeds to step 435 , if both the left and right blinkers of the preceding vehicle PV are not operating, the CPU makes a “No” determination in step 435 and proceeds to step 445 .

[0055] In step 445, the CPU determines whether the left lateral distance DL is equal to or greater than the right lateral distance DR.

[0056] If the left lateral distance DL is equal to or greater than the right lateral distance DR, the CPU determines "Yes" in step 445 and proceeds to step 450. In step 450, the CPU determines whether the right blinker of the preceding vehicle PV is operating.

[0057] If the right blinker of the preceding vehicle PV is operating, the CPU judges "Yes" in step 450, proceeds to step 440, and judges that the preceding vehicle condition is satisfied. On the other hand, if the right blinker of the preceding vehicle PV is not operating, the CPU judges "No" in step 450, and proceeds to step 455. In step 455, the CPU judges that the preceding vehicle condition is not satisfied. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0058] When the left lateral distance DL is less than the right lateral distance DR when the CPU proceeds to step 410 (i.e., the right lateral distance DR is longer than the left lateral distance DL), the CPU determines "No" in step 410 and proceeds to step 460. In step 460, the CPU sets the lateral distance D to the right lateral distance DR. After that, the CPU proceeds to step 420.

[0059] If the left lateral distance DL is less than the right lateral distance DR when the CPU proceeds to step 445, the CPU determines "No" in step 445 and proceeds to step 465. In step 465, the CPU determines whether the left turn signal of the preceding vehicle PV is operating.

[0060] If the left blinker of the preceding vehicle PV is operating, the CPU judges "Yes" in step 465, proceeds to step 440, and judges that the preceding vehicle condition is satisfied. On the other hand, if the left blinker of the preceding vehicle PV is not operating, the CPU judges "No" in step 465, proceeds to step 455, and judges that the preceding vehicle condition is not satisfied.

[0061] If the lateral distance D is less than the first threshold distance D1th or greater than the second threshold distance D2th when the CPU proceeds to step 420, the CPU judges "No" in step 420, proceeds to step 455, and determines that the preceding vehicle condition is not met.

[0062] If the preceding vehicle speed Vspv is equal to or lower than the threshold vehicle speed Vsth when the CPU proceeds to step 430, the CPU determines "No" in step 430, proceeds to step 455, and determines that the preceding vehicle condition is not satisfied.

[0063] In addition, if there is no preceding vehicle in the first place, the CPU determines that the preceding vehicle condition is not satisfied.

[0064] (First Modification) When the preceding vehicle condition is satisfied, the ECU 20 of this modification suppresses departure control by making it more difficult to satisfy the execution condition than when the preceding vehicle condition is not satisfied. This makes it more difficult for departure control to be executed while the driver is steering to overtake the preceding vehicle, thereby reducing the possibility that the driver will find the departure control annoying.

[0065] The CPU of ECU 20 in this modified example executes a departure control routine shown in Fig. 5 instead of the departure control routine shown in Fig. 3. In Fig. 5, the same processes as those shown in Fig. 3 are given the same reference numerals, and descriptions of those processes will be omitted.

[0066] When an appropriate time arrives, the CPU starts the process from step 500 in Fig. 5, and executes steps 305 and 310 shown in Fig. 5. After that, in step 505, the CPU executes a preceding vehicle condition determination subroutine. This preceding vehicle condition determination subroutine is the same as the routine shown in Fig. 4, so a description thereof will be omitted. Next, the CPU proceeds to step 510, where it determines whether or not the preceding vehicle condition is established.

[0067] If the preceding vehicle condition is not satisfied, the CPU determines "No" in step 510 and proceeds to step 515. In step 515, the CPU sets the first reference line RL1 as the reference line RL, and executes steps 320 and 325 shown in Fig. 5. In detail, the CPU sets a first left reference line and a first right reference line as a left reference line LRL and a right reference line RRL at positions separated by a first reference distance Dref1 from the left boundary LBL and the right boundary RBL, respectively.

[0068] When the predicted course PR intersects with the reference line RL, the CPU judges "Yes" in step 325 shown in FIG. 5, and judges in step 345 shown in FIG. 5 whether the steering amount SA is equal to or less than the threshold steering amount SAth.

[0069] If the steering amount SA is less than the threshold steering amount SAth, the CPU executes departure control in step 350 shown in Fig. 5. After that, the CPU proceeds to step 595 and temporarily ends this routine. On the other hand, if the steering amount SA is equal to or greater than the threshold steering amount SAth, the CPU proceeds to step 595 and temporarily ends this routine.

[0070] If the predicted path PR intersects with the reference line RL, the CPU determines "No" in step 325 shown in Fig. 5, and determines whether or not the host vehicle SV has deviated from the reference line RL in step 360 shown in Fig. 5. If the host vehicle SV has deviated from the reference line RL, the CPU proceeds to step 345 shown in Fig. 5, and if the host vehicle SV has not deviated from the reference line RL, the CPU proceeds to step 595 and temporarily ends this routine.

[0071] If the preceding vehicle condition is satisfied when the CPU proceeds to step 510, the CPU determines "Yes" in step 510, sets the second reference line RL2 as the reference line RL, and proceeds to step 320 shown in Fig. 5. In detail, the CPU sets the second left reference line LRL and the second right reference line RRL at positions that are separated by the second reference distance Dref2 from the left boundary LBL and the right boundary RBL, respectively. The second reference distance Dref2 is set to a value such that the second reference line L2th is located more outward with respect to the host vehicle SV than the first reference line L1th (i.e., such that the condition E1 is less likely to be satisfied).

[0072] When the preceding vehicle condition is satisfied, the CPU may make it more difficult for the execution condition to be satisfied by shortening the threshold distance Dth of condition E1 compared to when the preceding vehicle condition is not satisfied.

[0073] (Second Modification) In this modification, when the preceding vehicle condition is satisfied, the upper limit steering angle θlmt is made smaller than when the preceding vehicle condition is not satisfied, thereby suppressing departure control. This reduces the likelihood that departure control will be bothersome to the driver, even if it is executed while the driver is steering to overtake the preceding vehicle.

[0074] (Third Modification) In this modified example, the ECU 20 performs a departure warning instead of departure control or simultaneously with the departure warning. In the departure warning, the ECU 20 causes the display device 44 to display a departure warning screen for warning the driver that the host vehicle SV has departed from the driving area TA. In the departure warning, the ECU 20 may cause the speaker 46 to emit a departure warning sound for warning the driver that the host vehicle SV has departed from the driving area TA. Note that the ECU 20 may simultaneously display the departure warning screen and emit the departure warning sound.

[0075] This modification is applicable to the first and second modifications. When this modification is applied to the second modification, the ECU 20 suppresses the departure warning by lowering the attention-attracting level of the departure warning when the preceding vehicle condition is satisfied compared to when the preceding vehicle condition is not satisfied. For example, the ECU 20 displays the departure warning screen in white when the preceding vehicle condition is satisfied, and displays the departure warning screen in red when the preceding vehicle condition is not satisfied. The ECU 20 reduces the volume of the departure warning sound when the preceding vehicle condition is satisfied compared to when the preceding vehicle condition is not satisfied.

[0076] (Fourth Modification) In the above embodiment, the ECU 20 determines that the condition S1 of the intended steering condition is satisfied when the steering amount SA in the departure direction is equal to or greater than the threshold steering amount SAth, but the ECU 20 in this modified example may determine that the above condition S1 is satisfied when the steering torque Tr in the departure direction is equal to or greater than the threshold torque Trth.

[0077] (Fifth Modification) In the above embodiment, the ECU 20 sets the longer of the left lateral distance DL and the right lateral distance DR as the lateral distance D and determines whether the lateral distance D is equal to or larger than the first threshold distance D1th and equal to or smaller than the second threshold distance D2th in steps 410 to 420 and step 460 shown in Fig. 4 to determine whether the preceding vehicle condition P1 is satisfied, but is not limited thereto. For example, the ECU 20 may determine whether the left lateral distance DL or the right lateral distance DR is equal to or larger than the first threshold distance D1th and equal to or smaller than the second threshold distance D2th.

[0078] The present device 10 is applicable to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. Furthermore, the present device 10 is applicable to autonomous vehicles. [Explanation of symbols]

[0079] 10 vehicle control device, 20 ECU, 22 camera, 24 millimeter wave radar, 40 steering motor, 44 display device, 46 speaker

Claims

1. A camera that captures images of the scenery ahead of the vehicle and acquires image data; a control unit that, when it is predicted that the host vehicle will depart from a driving area of ​​the host vehicle specified based on the image data, or when an execution condition that is established when the host vehicle departs from the driving area is established, executes at least one of a departure warning regarding the departure of the host vehicle from the driving area and a departure control for suppressing the departure of the vehicle from the driving area; The control unit a first condition that another vehicle is detected ahead of the host vehicle, and a left lateral distance from a left boundary of the traveling area to the other vehicle or a right lateral distance from a right boundary of the traveling area to the other vehicle is equal to or greater than a first threshold distance; A second condition is that the vehicle speed of the other vehicle is equal to or lower than a threshold vehicle speed; and a third condition that both a left turn signal and a right turn signal of the other vehicle are activated, or that only a right turn signal of the other vehicle is activated when the left lateral distance is equal to or greater than the first threshold distance, or that only a left turn signal of the other vehicle is activated when the right lateral distance is equal to or greater than the first threshold distance; when any one of the first condition, the second condition, and the third condition is satisfied, at least one of the departure warning and the departure control is suppressed more than when at least one of the first condition, the second condition, and the third condition is not satisfied. A vehicle control device configured as above.

2. The vehicle control device according to claim 1, The control unit When the left lateral distance is equal to or greater than the first threshold distance, it is determined that the first condition is satisfied when the left lateral distance is equal to or less than a second threshold distance that is set to a value greater than the first threshold distance; When the right lateral distance is equal to or greater than the first threshold distance, it is determined that the first condition is satisfied when the right lateral distance is equal to or less than a second threshold distance that is set to a value greater than the first threshold distance. A vehicle control device configured as above.

3. The vehicle control device according to claim 1, The control unit Even if the execution condition is satisfied, if an intended steering condition for determining that the driver intentionally steers the vehicle so as to deviate from the driving area is satisfied, the departure control is not executed, When any one of the first condition, the second condition, and the third condition is satisfied, the intended steering condition is more likely to be satisfied than when at least one of the first condition, the second condition, and the third condition is not satisfied. A vehicle control device configured as above.

4. The vehicle control device according to claim 1, the control unit is configured to make it more difficult for the execution condition to be satisfied when all of the first condition, the second condition, and the third condition are satisfied than when at least one of the first condition, the second condition, and the third condition is not satisfied. Vehicle control device.

5. The vehicle control device according to claim 1, The control unit is configured to, when any one of the first condition, the second condition, and the third condition is satisfied, lower a warning level of the departure warning when the departure warning is executed, and to reduce a control amount of the departure control when the departure control is executed, compared to a case where at least one of the first condition, the second condition, and the third condition is not satisfied. Vehicle control device.

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