Vehicle control device

Abstract

To provide a vehicle control device enabling vehicle control to be easily permitted thereby enabling collision risk to be reduced when at least one of the condition of a driver and the travel state of a vehicle is in an abnormal state.SOLUTION: A vehicle control device performs vehicle control for reducing collision risk when an object having the collision risk of colliding with a vehicle is present. The vehicle control device prohibits execution of vehicle control when the operation of the driver related to the vehicle behavior satisfies predetermined prohibition conditions, permits execution of the vehicle control even if the prohibition conditions are satisfied when an acceleration operation to accelerate the vehicle satisfies predetermined permission conditions, and facilitates satisfaction of the permission conditions when both the condition of the driver and the travel state of the vehicle are in a normal state in a case where at least one of the condition of the driver and the travel state of the vehicle is in an abnormal state.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes vehicle control for reducing a collision risk when an object that poses a risk of colliding with a vehicle is present. [Background technology]

[0002] Conventionally, vehicle control devices that execute vehicle control to reduce a collision risk have been known. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines whether the duration of a state in which the vehicle speed is equal to or greater than a predetermined speed is equal to or greater than a predetermined time when the accelerator opening is equal to or greater than a predetermined opening while vehicle control is being executed. If the duration is less than the predetermined time, the conventional device determines that the driver has an intention to accelerate, and prohibits execution of vehicle control. On the other hand, if the duration is equal to or greater than the predetermined time, the conventional device determines that the driver does not have an intention to accelerate, and permits execution of vehicle control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-108822 Summary of the Invention

[0004] When at least one of the driver's condition and the vehicle's running condition is abnormal, the driver may continue to accelerate without intending to accelerate. In such a case, it is necessary to permit vehicle control as soon as possible. However, in the conventional device, once vehicle control is prohibited, it is not possible to permit vehicle control until the prohibition continues for a predetermined time or more.

[0005] The present invention has been made to address the above-mentioned problems. That is, an object of the present invention is to provide a vehicle control device that can reduce the risk of a collision by making it easier to permit vehicle control when at least one of the driver's state and the vehicle's running state is in an abnormal state.

[0006] The vehicle control device of the present invention (hereinafter also referred to as the "device of the present invention") executes vehicle control to reduce the collision risk (step 335) when an object that poses a risk of colliding with the vehicle is present (step 320 "Yes"). The vehicle control device includes: If the driver's operation related to the vehicle behavior satisfies a predetermined prohibition condition (step 410 "Yes"), the execution of the vehicle control is prohibited (step 415, step 420, step 325). If the acceleration operation for accelerating the vehicle satisfies a predetermined permission condition (step 430 "Yes", step 435, step 455 "Yes"), even if the prohibition condition is established, the execution of the vehicle control is permitted (step 460). When the simplification condition that at least one of the driver's state and the vehicle's running state is abnormal is satisfied (step 445 "Yes", step 450 "Yes"), the permission condition is made more likely to be satisfied (step 465, step 470) than when the simplification condition is not satisfied (step 445 "No", step 450 "No"); It is structured as follows.

[0007] When the simplified condition that at least one of the driver's state and the vehicle's running state is abnormal is satisfied, the permission condition is more likely to be satisfied than when the simplified condition is not satisfied. As a result, when at least one of the driver's state and the vehicle's running state is abnormal, the permission condition is more likely to be satisfied, and the possibility of vehicle control being executed quickly increases, thereby reducing the collision risk. [Brief description of the drawings]

[0008] [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 showing a vehicle control routine executed by a CPU of the ECU shown in FIG. 1. [Figure 4] 2 is a flowchart showing a prohibition determination routine executed by a CPU of the ECU shown in FIG. 1 . [Diagram 5] 2 is a flowchart showing an abnormal state determination routine executed by a CPU of the ECU shown in FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] As shown in FIG. 1, a vehicle control device according to this embodiment (hereinafter referred to as "the device 10") is applied to a vehicle VA, and includes the components shown in FIG.

[0010] When there is an object that poses a risk of collision with the vehicle VA, the ECU 20 executes vehicle control to reduce the risk of collision. As an example, the vehicle control is deceleration control to decelerate the vehicle VA. Note that the vehicle control may be warning control to notify the driver of the risk of collision, or turning control to automatically turn the vehicle VA to avoid the object that poses a risk of collision.

[0011] In this specification, "ECU" refers to an electronic control device having a microcomputer as its main component. The ECU is also called a controller or a computer. The microcomputer includes a CPU (processor), ROM, RAM, and an interface (I / F), etc. The CPU realizes various functions by executing instructions (routines) stored in the memory (ROM). At least one function realized by the ECU 20 may be realized by multiple ECUs.

[0012] The camera 22 acquires image data by capturing an image of a scene ahead of the vehicle VA. The camera 22 acquires camera object information and boundary information based on the image data. The camera object information includes the position of an object located ahead of the vehicle VA relative to the vehicle VA. The boundary information includes the position of a boundary BL that defines the driving lane TA relative to the vehicle VA. Examples of the boundary BL include white lines on the road, guard rails, curbs, walls, etc. The camera 22 transmits the image data, camera object information, and boundary information to the ECU 20.

[0013] The millimeter wave radar 24 transmits millimeter waves ahead of the vehicle VA and receives waves reflected by an object to obtain radar object information including the “position of the object with respect to the vehicle VA” and the “relative speed Vr of the object with respect to the vehicle VA”. The millimeter wave radar 24 transmits the radar object information to the ECU 20.

[0014] The vehicle speed sensor 26 detects the vehicle speed Vs representing the speed of the vehicle VA. The acceleration sensor 28 detects the acceleration G in the longitudinal direction of the vehicle VA. In this embodiment, the acceleration G is a positive value when the vehicle VA accelerates, and a negative value when the vehicle VA decelerates. The steering angle sensor 30 detects the steering angle θ of a steering wheel (not shown). The accelerator operation amount sensor 32 detects the operation amount AP of an accelerator pedal (not shown). The operation of the accelerator pedal is sometimes called an "acceleration operation." The acceleration operation is a type of operation related to the behavior of the vehicle VA performed by the driver. The ECU 20 acquires the detection values ​​of these sensors 26 to 32.

[0015] The driver's seat camera 34 captures an image of an area including the face of a driver seated in the driver's seat of the vehicle VA to obtain driver's seat image data. The driver's seat camera 34 transmits the driver's seat image data to the ECU 20.

[0016] The navigation device 36 has a GNSS (Global Navigation Satellite System) receiver 36a and a map data storage unit 36b. The GNSS receiver 36a 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 36b stores map data. The map data is data related to the permitted travel direction of the lane of the road and the speed limit Vsth of the lane.

[0017] The power train actuator 40 changes the driving force generated by a drive device (e.g., an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 42 controls the braking force applied to the wheels of the vehicle VA. The steering motor 44 is incorporated in a steering mechanism 46. The steering mechanism 46 is a mechanism for steering the steered wheels in response to the operation of the steering wheel. In response to an instruction from the ECU 20, the steering motor 44 generates an assist torque in the steering mechanism 46 for assisting the operation of the steering wheel, and generates an automatic steering torque in the steering mechanism 46 for changing the steering angle of the steered wheels.

[0018] The display device 48 displays a warning screen for notifying the driver that there is a collision risk due to warning control. The speaker 50 emits a buzzer sound for notifying the driver that there is a collision risk due to warning control.

[0019] (Overview of operation) When the driver's operation related to the behavior of the vehicle VA satisfies a predetermined prohibition condition, the ECU 20 prohibits the execution of vehicle control and controls the vehicle VA according to the operation. As an example, the prohibition condition is satisfied when the operation amount AP is equal to or greater than a first threshold operation amount APth1. When the prohibition condition is satisfied during the execution of the vehicle control, the ECU 20 ends the vehicle control. When the prohibition condition is satisfied before the execution of the vehicle control, the ECU 20 does not execute the vehicle control even if an object that poses a collision risk is present.

[0020] When the permission condition is satisfied that the duration T during which the operation amount AP is equal to or greater than the first threshold operation amount APth1 is equal to or greater than the threshold time Tth, the ECU 20 permits the execution of vehicle control.

[0021] When the simplification condition is satisfied that at least one of the driver's state and the vehicle VA's running state is abnormal, the ECU 20 makes it easier to satisfy the permission condition than when the simplification condition is not satisfied (i.e., when both the driver's state and the vehicle VA's running state are normal). The ECU 20 determines that the driver's state is abnormal based on the driver's seat image data when the driver is dozing, fainting, or having convulsions. The ECU 20 determines that the vehicle VA's running state is abnormal when the vehicle VA deviates from the boundary BL (when the vehicle VA is running outside the running lane TA), when the vehicle VA is running in the wrong direction, or when the vehicle speed Vs is equal to or greater than the speed limit.

[0022] In the present embodiment, the ECU 20 makes it easier for the permission condition to be satisfied by making the threshold time Tth used when the simplified condition is satisfied shorter than the threshold time Tth used when the simplified condition is not satisfied.

[0023] This makes it easier to perform vehicle control when at least one of the driver's condition and the running condition of the vehicle VA is in an abnormal state, thereby reducing the risk of a collision.

[0024] As shown in Fig. 2, when the driver's state is normal and the vehicle VA is in a normal running state, the threshold time Tth is set to the normal time Tn. When the driver's state is abnormal and the vehicle VA is in a normal running state, the threshold time Tth is set to a time (Tn-Ta) obtained by subtracting a first time Ta from the normal time Tn. When the driver's state is normal and the vehicle VA is in an abnormal running state, the threshold time Tth is set to a time (Tn-Tb) obtained by subtracting a second time Tb from the normal time Tn.

[0025] When the driver's state is abnormal and the vehicle VA is in an abnormal state, the threshold time Tth is set to a time (Tn-Ta-Tb) obtained by subtracting the first time Ta and the second time Tb from the normal time Tn. In other words, when both the driver's state and the vehicle VA are in an abnormal state, the threshold time Tth is smaller (the permission condition is more likely to be satisfied) than when either the driver's state or the vehicle VA is in an abnormal state. When both the driver's state and the vehicle VA are in an abnormal state, the degree of urgency is higher than when either the driver's state or the vehicle VA is in an abnormal state, so by making the permission condition more likely to be satisfied, vehicle control is more likely to be executed.

[0026] (Example of operation) An example of the operation of the device 10 will now be described with reference to FIG. At a time point prior to time t1, the ECU 20 executes vehicle control. At time t1, the operation amount AP becomes equal to or greater than the first threshold operation amount APth1, and the prohibition condition is satisfied. Therefore, the ECU 20 ends the vehicle control that it has been executing.

[0027] At time t2, the duration T during which the operation amount AP is equal to or greater than the first threshold operation amount APth1 becomes equal to or greater than the threshold time Tth, and the ECU 20 permits the execution of vehicle control. In this case, since an object that poses a collision risk is present, the ECU 20 executes vehicle control. The ECU 20 determines that the driver's condition is abnormal and the vehicle VA is running normally, and sets the threshold time Tth to the time (Tn-Ta).

[0028] (Specific operation) The CPU of the ECU 20 executes the routines shown in the flowcharts of FIGS. 3 to 5 every time a predetermined time elapses.

[0029] <Vehicle control routine> When the appropriate time arrives, the CPU starts processing at step 300 in FIG. Step 305: The CPU obtains the camera object information and the radar object information, and identifies the position of the object based on the camera object information and the radar object information. Step 310: The CPU determines whether the value of the execution flag Xexe is “0” or not. The value of the execution flag Xexe is set to "1" when vehicle control is started, and is set to "0" when vehicle control is ended. The value of the execution flag Xexe is set to "0" in the initialization routine. The initialization routine is executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the OFF position to the ON position.

[0030] If the value of the execution flag Xexe is “0”, the CPU determines “Yes” in step 310 and executes steps 315 and 320 . Step 315: The CPU obtains the TTC (Time To Collision) of each object based on the camera object information and the radar object information. The TTC represents the time it takes for the vehicle VA to collide with the object. In detail, the CPU obtains the TTC by dividing the distance D between the vehicle VA and the object by the relative speed Vr. The smaller the TTC, the higher the collision risk. Step 320: The CPU determines whether the minimum TTC is less than or equal to a predetermined collision time Tcon.

[0031] If the minimum TTC is greater than the collision time Tcon, the CPU determines that there is no object that poses a collision risk, and determines "No" in step 320. After that, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0032] If the minimum TTC is equal to or less than the collision time Tcon, the CPU determines that an object with a collision risk exists, and determines "Yes" in step 320. Then, the process proceeds to step 325, where the CPU determines whether the value of the prohibition flag Xphb is "0". The value of the prohibition flag Xphb is set to "0" when the execution of vehicle control is permitted, and is set to "1" when the execution of vehicle control is prohibited. The value of the prohibition flag Xphb is set to "0" in the initialization routine.

[0033] If the value of the prohibition flag Xphb is “0”, the CPU determines “Yes” in step 325 and executes steps 330 and 335 . Step 330: The CPU sets the value of the execution flag Xexe to “1”. Step 335: The CPU executes vehicle control. In vehicle control, the CPU controls the power train actuator 40 and the brake actuator 42 so that the acceleration G coincides with a predetermined negative acceleration Gpd. Thereafter, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0034] When the value of the prohibition flag Xphb is "1", the CPU determines "No" in step 325. After that, the process proceeds to step 395, and the CPU temporarily ends this routine. Therefore, when the value of the prohibition flag Xphb is "1", vehicle control is not executed even if an object that poses a collision risk is present.

[0035] On the other hand, if the value of the execution flag Xexe is "1" when the process proceeds to step 310, the CPU determines "No" in step 310, and the process proceeds to step 340. In step 340, the CPU determines whether or not the control end condition is satisfied. In detail, the CPU determines that the control end condition is satisfied when either of the following conditions E1 and E2 is satisfied.

[0036] Condition E1: A predetermined time has elapsed since the vehicle VA was stopped. Condition E2: There is no risk of collision with an object.

[0037] If the control end condition is not satisfied, the CPU judges "No" in step 340, and the process proceeds to step 335. If the control end condition is satisfied, the CPU judges "Yes" in step 340, and the process proceeds to step 345. In step 345, the CPU sets the value of the execution flag Xexe to "0". After that, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0038] <Prohibition Judgment Routine> When an appropriate time arrives, the CPU starts the process from step 400 in Fig. 4, and the process proceeds to step 405. In step 405, the CPU determines whether or not the value of the prohibition flag Xphb is "0".

[0039] When the value of the prohibition flag Xphb is "0", the CPU determines "Yes" in step 405, and the process proceeds to step 410. In step 410, the CPU determines whether the operation amount AP is equal to or greater than a first threshold operation amount APth1.

[0040] If the operation amount AP is less than the first threshold operation amount APth1, the CPU determines that the prohibition condition is not satisfied. In this case, the CPU determines "No" in step 410, the process proceeds to step 495, and the CPU temporarily ends this routine. If the operation amount AP is equal to or greater than the first threshold operation amount APth1, the CPU determines that the prohibition condition is satisfied. In this case, the CPU determines "Yes" in step 410, and executes steps 415 to 425.

[0041] Step 415: The CPU sets the value of the prohibition flag Xphb to “1”. Step 420: The CPU sets the value of the execution flag Xexe to “0”. Step 425: The CPU sets the value of a timer T to “0.” The timer T is a timer for counting the duration T during which the operation amount AP is equal to or greater than the first threshold operation amount APth1. Thereafter, the process proceeds to step 495, where the CPU temporarily ends this routine.

[0042] If the value of the prohibition flag Xphb is "1" when the process proceeds to step 405, the CPU determines "No" in step 405, and the process proceeds to step 430. In step 430, the CPU determines whether the operation amount AP is equal to or greater than a first threshold operation amount APth1.

[0043] When the operation amount AP is equal to or greater than the first threshold operation amount APth1, the CPU judges as “Yes” in step 430 and executes steps 435 to 445.

[0044] Step 435: The CPU adds to the timer T "a predetermined time ta which is the execution interval of this routine." Step 440: The CPU sets the threshold time Tth to the normal time Tn. Step 445: The CPU determines whether the value of the driver state flag Xda is "1" or not.

[0045] The value of the driver state flag Xda is set to "1" when the driver's state is abnormal, and is set to "0" when the driver's state is normal. The value of the driver state flag Xda is set to "0" in the initialization routine.

[0046] If the value of the driver state flag Xda is "0", the CPU determines "No" in step 445, and the process proceeds to step 450. In step 450, the CPU determines whether the value of the driving state flag Xva is "1" or not.

[0047] The value of the running condition flag Xva is set to "1" when the running condition of the vehicle VA is abnormal, and is set to "0" when the running condition of the vehicle VA is normal. The value of the running condition flag Xva is set to "0" in the initialization routine.

[0048] If the value of the running state flag Xva is "0", the CPU determines "No" in step 450, and the process proceeds to step 455. In step 455, the CPU determines whether the timer T is equal to or greater than the threshold time Tth.

[0049] If the timer T is less than the threshold time Tth, the CPU judges "No" in step 455, and the process proceeds to step 495, where the CPU ends this routine. On the other hand, if the timer T is equal to or greater than the threshold time Tth, the CPU judges "Yes" in step 455, and the process proceeds to step 460. In step 460, the CPU sets the value of the prohibition flag Xphb to "0." That is, the CPU permits the execution of vehicle control. After that, the process proceeds to step 495, where the CPU ends this routine.

[0050] If the value of the driver state flag Xda is "1" when the process proceeds to step 445, the CPU determines "Yes" in step 445, and the process proceeds to step 465. In step 465, the CPU sets the threshold time Tth to "a value (Tn-Ta) obtained by subtracting the first time Ta from the threshold time Tth set to the normal time Tn in step 440." The process then proceeds to step 450.

[0051] If the value of the driving state flag Xva is "1" when the process proceeds to step 450, the CPU determines "Yes" in step 450, and the process proceeds to step 470. In step 470, the CPU sets the threshold time Tth to "a value obtained by subtracting the second time Tb from the current threshold time Tth". Thereafter, the process proceeds to step 455. If the value of the driver state flag Xda is "0", the current threshold time Tth is set to the normal time Tn, and if the value of the driver state flag is "1", the current threshold time Tth is set to the above value (Tn-Ta).

[0052] When the operation amount AP is less than the first threshold operation amount APth1 when the process proceeds to step 430, the CPU determines "No" in step 430 and executes steps 475 and 480. Step 475: The CPU sets the timer T to “0”. Step 480: The CPU determines whether the operation amount AP is equal to or less than a second threshold operation amount APth2 that is set to a value smaller than the first threshold operation amount APth1.

[0053] If the operation amount AP is greater than the second threshold operation amount APth2, the CPU determines "No" in step 480, and the process proceeds to step 495, where the CPU temporarily ends this routine. If the operation amount AP is equal to or less than the second threshold operation amount APth2, the CPU determines "Yes" in step 480, and the process proceeds to step 460, where the CPU sets the value of the prohibition flag Xphb to "0."

[0054] <Abnormal state determination routine> When the appropriate time arrives, the CPU starts processing at step 500 in FIG. Step 505: The CPU acquires the driver's seat image data. Step 510: The CPU determines whether the value of the driver state flag Xda is "0" or not.

[0055] If the value of the driver condition flag Xda is "0", the CPU determines "Yes" in step 510, and the process proceeds to step 515. In step 515, the CPU determines whether or not the driver's condition is abnormal, based on the driver's seat image data.

[0056] If the driver's condition is normal, the CPU determines "No" in step 515, and the process proceeds to step 520. In step 520, the CPU determines whether the value of the driving condition flag Xva is "0" or not.

[0057] If the value of the driving state flag Xva is "0", the CPU determines "Yes" in step 520, and the process proceeds to step 525. In step 525, the CPU determines whether or not the vehicle VA is traveling outside the driving lane TA, based on the boundary information acquired from the camera 22. In detail, if the vehicle VA deviates from the boundary BL, the CPU determines that the vehicle VA is traveling outside the driving lane TA.

[0058] If the vehicle VA is traveling within the travel lane TA, the CPU determines "No" in step 525, and the process proceeds to step 530. In step 530, the CPU determines whether the vehicle VA is traveling in the wrong direction. In detail, the CPU refers to the map data stored in the map data storage unit 36b to obtain the "permitted travel direction in which the lane in which the vehicle VA is traveling permits travel," and if the travel direction of the vehicle VA is not the permitted travel direction, it determines that the vehicle VA is traveling in the wrong direction.

[0059] If the vehicle VA is not traveling in the wrong direction, the CPU determines "No" in step 530, and the process proceeds to step 535. In step 535, the CPU determines whether the vehicle speed Vs is equal to or greater than the speed limit Vsth. In detail, the CPU obtains the speed limit Vsth for the current position of the vehicle VA in the lane in which the vehicle VA is traveling based on the map data stored in the map data storage unit 36b, and determines whether the vehicle speed Vs is equal to or greater than the speed limit Vsth.

[0060] If the vehicle speed Vs is less than the speed limit Vsth, the CPU makes a "No" determination in step 535, and the process proceeds to step 595, where the CPU temporarily ends this routine.

[0061] If the driver's state is abnormal when the process proceeds to step 515, the CPU determines "Yes" in step 515, and the process proceeds to step 540. In step 540, the CPU sets the value of the driver state flag Xda to "1". After that, the process proceeds to step 520.

[0062] When the process proceeds to step 525, if the vehicle VA is traveling outside the traveling lane TA, the CPU determines "Yes" in step 525, and the process proceeds to step 545. In step 545, the CPU sets the value of the traveling state flag Xva to "1." After that, the process proceeds to step 595, and the CPU temporarily ends this routine.

[0063] When the process proceeds to step 530, if the vehicle VA is traveling in the wrong direction, the CPU determines "Yes" in step 530, and the process proceeds to step 545. When the process proceeds to step 535, if the vehicle speed Vs is equal to or greater than the speed limit Vsth, the CPU determines "Yes" in step 535, and the process proceeds to step 545.

[0064] If the value of the driver condition flag Xda is "1" when the process proceeds to step 510, the CPU determines "No" in step 510, and the process proceeds to step 550. In step 550, the CPU determines, based on the driver's seat image data, whether the driver's abnormal condition has been resolved and the driver's condition has returned to a normal condition.

[0065] If the driver's condition is abnormal, the CPU determines "No" in step 550, and the process proceeds to step 520. On the other hand, if the driver's condition has become normal, the CPU determines "Yes" in step 550, and the process proceeds to step 555. In step 555, the CPU sets the value of the driver condition flag Xda to "0", and the process proceeds to step 520.

[0066] If the value of the running state flag Xva is "1" when the process proceeds to step 520, the CPU determines "No" in step 520, and the process proceeds to step 560. In step 560, the CPU determines whether any of the following conditions R1 to R3 is satisfied. Condition R1: The vehicle VA is traveling in the travel lane TA. Condition R2: Vehicle VA is not traveling in the wrong direction. Condition R3: The vehicle speed Vs is less than the speed limit Vsth.

[0067] When at least one of conditions R1 to R3 is not satisfied, the CPU determines that the driving state of the vehicle VA is still in an abnormal state. In this case, the CPU determines "No" in step 560, and the process proceeds to step 595 where the CPU temporarily ends this routine. On the other hand, when all of conditions R1 to R3 are satisfied, the CPU determines that the driving state of the vehicle VA has become normal, and the process proceeds to step 565. In step 565, the CPU sets the value of the driving state flag Xva to "0". Thereafter, the process proceeds to step 595 and this routine is temporarily ended.

[0068] According to the present embodiment, the threshold time Tth (steps 465, 470) when the facilitation condition that at least one of the driver's state and the driving state of the vehicle VA is in an abnormal state is satisfied is smaller than the threshold time Tth (step 440) when the facilitation condition is not satisfied. Thereby, when at least one of the driver's state and the driving state of the vehicle VA is in an abnormal state, the time required to permit the execution of vehicle control can be made as short as possible.

[0069] <First Modification Example> In the above embodiment, when the operation amount AP is equal to or greater than the first threshold operation amount APth1, it is determined that the prohibition condition is satisfied (see step 410 shown in FIG. 4), and when the operation amount AP is equal to or greater than the first threshold operation amount APth1 (see step 430) and the duration T is equal to or greater than the threshold time Tth, it is determined that the permission condition is satisfied. The "first threshold operation amount APth1 used in the prohibition condition (step 410)" and the "first threshold operation amount APth1 used in the permission condition (step 430)" may be different values. In this case, the threshold operation amount (prohibition threshold operation amount) used in the prohibition condition is set to a value smaller than the threshold operation amount (permission threshold operation amount) used in the permission condition. In the above embodiment, the permission threshold operation amount and the prohibition threshold operation amount are set to the same value. In this modification example, since the prohibition threshold operation amount is set to a value smaller than the permission threshold operation amount, the prohibition threshold operation amount may be set to a value equal to or less than the permission threshold operation amount.

[0070] <Second Modification> In the above embodiment, when the simplified condition is met, the permission condition may be made more likely to be met by making the first threshold operation amount APth1 used in the permission condition smaller than when the simplified condition is not met.

[0071] <Third Modification> The prohibition condition may be satisfied when the operation amount of the brake pedal becomes equal to or greater than a threshold operation amount, instead of the operation amount AP, or may be satisfied when the steering angle θ becomes equal to or greater than a threshold angle θth.

[0072] <Fourth Modification> In the above embodiment, when the TTC is equal to or less than the collision time Tcon, it is determined that an object with a collision risk exists, and vehicle control is executed, but this is not limited to the above. For example, when the distance between the vehicle VA and the object is equal to or less than the threshold distance, it may be determined that an object with a collision risk exists, and vehicle control may be executed.

[0073] <Fifth Modification> The prohibition determination routine may be executed when vehicle control is being executed (that is, when the value of the execution flag Xexe is "1").

[0074] The device 10 can be applied to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. Furthermore, the device 10 can also be applied to autonomous vehicles. [Explanation of symbols]

[0075] 10 vehicle control device, 20 ECU, 32 accelerator operation amount sensor, 34 driver's seat camera, 40 power train actuator, 42 brake actuator.

Claims

1. A vehicle control device that executes vehicle control to reduce a collision risk when an object that has a collision risk with a vehicle is present, The vehicle control device includes: When a driver's operation related to the behavior of the vehicle satisfies a predetermined prohibition condition, the execution of the vehicle control is prohibited; When an acceleration operation for accelerating the vehicle satisfies a predetermined permission condition, even if the prohibition condition is established, execution of the vehicle control is permitted; When a simplification condition that at least one of the driver's state and the vehicle's running state is in an abnormal state is satisfied, the permission condition is made more likely to be satisfied than when the simplification condition is not satisfied. A vehicle control device configured as above.

2. The vehicle control device according to claim 1, The vehicle control device includes: When a duration during which the operation amount of the acceleration operation is equal to or greater than a predetermined permitted threshold operation amount is equal to or greater than a predetermined threshold time, it is determined that the acceleration operation satisfies the permitted condition, When the simplification condition is satisfied, the threshold time is set to be shorter than when the simplification condition is not satisfied. A vehicle control device configured as above.

3. The vehicle control device according to claim 2, the vehicle control device is configured to determine that the prohibition condition is satisfied when the operation amount is equal to or greater than a predetermined prohibition threshold operation amount that is set to a value equal to or less than the permitted threshold operation amount, Vehicle control device.

4. The vehicle control device according to claim 1, The vehicle control device is configured to make it easier for the permission condition to be satisfied when both the driver's state and the vehicle's running state are abnormal, compared to when either one of the driver's state and the vehicle's running state is abnormal. Vehicle control device.

5. The vehicle control device according to claim 1, The vehicle control device includes: If the driver is dozing, fainting, or having a convulsion, the driver's condition is determined to be abnormal; When the vehicle is traveling outside a travel lane, when the vehicle is traveling in the wrong direction in the travel lane, or when the vehicle is traveling at a speed equal to or faster than a speed limit, the vehicle is determined to be in an abnormal traveling state. A vehicle control device configured as above.

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