Vehicle control apparatus, vehicle control method, and program

Abstract

To provide a vehicle control apparatus capable of increasing the possibility of supporting traveling of a vehicle according to an intention when a driver operates an acceleration operation element.SOLUTION: A vehicle control apparatus acquires a distance between a deceleration target ahead of a vehicle and the vehicle on the basis of map data, and starts deceleration control to decelerate the vehicle when a deceleration start condition is satisfied that the distance is equal to or less than a first distance. When an acceleration operation element of the vehicle is operated during execution of the deceleration control, the vehicle control apparatus accelerates the vehicle on the basis of an operation amount of the acceleration operation element, and determines whether a deceleration termination condition is satisfied including at least a first condition that a time from the start of the deceleration control until the acceleration operation element is operated is equal to or less than a threshold time. When the deceleration termination condition is satisfied, the vehicle control apparatus terminates the deceleration control. When the deceleration termination condition is not satisfied, the vehicle control apparatus resumes the deceleration control when the operation of the acceleration operation element is terminated.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that starts deceleration control to decelerate a vehicle when a deceleration start condition is met that the distance between an object to be decelerated and the vehicle is less than or equal to a first distance, a vehicle control method that starts deceleration control when the deceleration start condition is met, and a program that starts deceleration control when the deceleration start condition is met. [Background technology]

[0002] Conventionally, vehicle control devices that perform driving assistance control (sometimes referred to as "ACC (Adpative Cruise Control)") have been known. Such vehicle control devices perform constant speed control as driving assistance control when there is no preceding vehicle, and perform follow-up control as driving assistance control when there is a preceding vehicle. Constant speed control is control that causes the vehicle to travel so that the vehicle speed, which indicates the speed of the vehicle, matches a preset set vehicle speed. Follow-up control is control that causes the vehicle to travel so that it follows the preceding vehicle.

[0003] For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") executes acceleration suppression control to suppress vehicle acceleration if the vehicle is located near a toll booth, intersection, etc. when driving assistance control transitions from tracking control to constant speed control. If the acceleration operator (accelerator pedal) is operated while the acceleration suppression control is being executed, the conventional device suspends the acceleration suppression control and accelerates the vehicle according to the amount of operation of the acceleration operator. When the operation of the acceleration operator is terminated, the conventional device resumes the acceleration suppression control. In the resumed acceleration suppression control, the conventional device accelerates the vehicle at a slower acceleration than in normal acceleration suppression control. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-161057 Summary of the Invention

[0005] The inventors have been studying a vehicle control device that executes deceleration control to decelerate the vehicle when the distance between the vehicle and an object to be decelerated, such as a toll booth or an intersection, falls below a predetermined starting distance. When an acceleration operator is operated during execution of deceleration control, this vehicle control device, like a conventional device, suspends the deceleration control and accelerates the vehicle according to the amount of operation of the acceleration operator.

[0006] When the driver operates the acceleration operator while deceleration control is being executed, the driver is likely to have either of the following intentions 1 and 2. Intention 1: The intention is to accelerate the vehicle because deceleration control was initiated incorrectly. Intention 2: To adjust the vehicle speed during deceleration control

[0007] If the driver operates the acceleration operator with Intention 1, deceleration control is started by mistake, and the driver is likely not to want deceleration control to be resumed when the operation of the acceleration operator ends. On the other hand, if the driver operates the acceleration operator with Intention 2, the driver is likely to want deceleration control to be executed again when the operation of the acceleration operator ends.

[0008] The conventional device resumes acceleration suppression control when the driver stops operating the acceleration operator without determining the driver's intention when operating the acceleration operator, which may result in the vehicle not being able to provide driving assistance in line with the driver's intention.

[0009] 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 increases the possibility of providing vehicle driving assistance in accordance with the driver's intention when operating the acceleration operator.

[0010] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") comprises: The distance between the vehicle and an object to be decelerated ahead of the vehicle is obtained based on the map data (26b), and if the deceleration start condition is met that the distance is equal to or less than a first distance (step 430 "Yes"), deceleration control to decelerate the vehicle is started (step 435, steps 440 to 450). The vehicle control device includes: If an acceleration operator of the vehicle is operated during execution of the deceleration control (step 415 "Yes", step 465 "Yes"), the vehicle is accelerated based on the amount of operation of the acceleration operator (step 460), and it is determined whether or not a deceleration termination condition is met, the condition including at least a first condition that the time from the start of the deceleration control until the operation of the acceleration operator is equal to or less than a threshold time (step 470, step 510), If the deceleration end condition is met (step 510 "Yes"), the deceleration control is ended (step 520). If the deceleration end condition is not met (step 510 "No"), the deceleration control is resumed when the operation of the acceleration operator is finished. It is structured as follows.

[0011] If deceleration control is started by mistake, the driver is likely to operate the acceleration operator immediately after the start of deceleration control. In this case, the driver does not want deceleration control to be resumed after the operation of the acceleration operator is completed. According to this device, when a deceleration termination condition is met, the deceleration control is terminated, the condition including at least a first condition that the time from the start of deceleration control until the operation of the acceleration operator is equal to or less than a threshold time. This increases the likelihood that vehicle driving assistance will be performed in accordance with the driver's intentions. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention; [Figure 2] 10A and 10B are explanatory diagrams illustrating an example of operation of the vehicle control device according to the embodiment of the present invention when a deceleration end condition is not met. [Figure 3]5 is an explanatory diagram of an example of operation of the vehicle control device according to the embodiment of the present invention when a deceleration end condition is met. FIG. [Figure 4] 2 is a flowchart of an ACC routine executed by a CPU of the ECU shown in FIG. 1. [Figure 5] 2 is a flowchart of a deceleration end condition determination subroutine executed by a CPU of the ECU shown in FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0013] 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 vehicle VA, and includes the components shown in FIG.

[0014] The ECU 20 executes cruise assist control, which is a type of automatic driving. In cruise assist control, the ECU 20 executes constant speed control when there is no preceding vehicle ahead of the vehicle VA, and executes adaptive cruise control when there is a preceding vehicle ahead of the vehicle VA. The constant speed control is a control that causes the vehicle VA to travel so that the vehicle speed Vs, which represents the speed of the vehicle VA, matches a set vehicle speed Vset. The adaptive cruise control is a control that causes the vehicle VA to travel so that the inter-vehicle distance Dv between the preceding vehicle and the vehicle VA matches a set distance Dset. Such cruise assist control is known as ACC (Adpative Cruise Control) and cruise control.

[0015] In this specification, "ECU 20" refers to an electronic control device that includes a microcomputer as its main component. The ECU 20 is also referred to as 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.

[0016] The camera 22 captures an image of the scenery ahead of the vehicle VA to obtain image data. The ECU 20 obtains the image data from the camera 22.

[0017] The millimeter-wave radar 24 transmits millimeter waves ahead of the vehicle VA. The millimeter-wave radar 24 receives the transmitted millimeter waves reflected by an object, thereby identifying the "position of the object relative to the vehicle VA" and the "relative speed Vr of the object relative to the vehicle VA." The ECU 20 acquires radar object information including the position and relative speed Vr of the object relative to the vehicle VA from the millimeter-wave radar 24.

[0018] The navigation device 26 has a GNSS receiver 26a and a map data storage unit 26b. The GNSS receiver 26a receives signals from multiple artificial satellites and determines the current position (latitude and longitude) of the vehicle VA based on the received signals. The map data storage unit 26b stores map data. The positions of deceleration objects DO, such as "expressway toll booths" and intersections, are registered in this map data.

[0019] The vehicle speed sensor 28 detects the vehicle speed Vs. The acceleration sensor 30 detects the acceleration G in the longitudinal direction of the vehicle VA. The operation amount sensor 31 detects the operation amount (depression amount) of the acceleration operation element (accelerator pedal) of the vehicle VA. The ECU 20 acquires the detection values ​​of these sensors.

[0020] The cruise switch 32 is operated by the driver to start or end the driving assistance control.

[0021] The power train actuator 40 changes the driving force generated by a drive device (for example, an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 42 controls the braking force applied to the vehicle VA.

[0022] (Overview of operation) The ECU 20 of the present device 10 starts deceleration control to decelerate the vehicle VA when a deceleration start condition described below is met while the cruise assist control (ACC) is being executed.

[0023] <Deceleration start conditions> The ECU 20 refers to the map data stored in the map data storage unit 26b and identifies the deceleration object DO that is closest to the vehicle VA and exists in the traveling direction of the vehicle VA from the current position of the vehicle VA. The ECU 20 then acquires the distance D between the deceleration object DO and the vehicle VA based on the position of the deceleration object DO and the current position of the vehicle VA. If the distance D is equal to or less than the first distance D1th, the ECU 20 determines that the deceleration start condition is met.

[0024] As an example, in the deceleration control, the ECU 20 decelerates the vehicle VA so that the vehicle VA stops when it reaches a position a predetermined distance ahead of the deceleration object DO (i.e., so that the vehicle speed Vs becomes "0 km / h"). Note that the deceleration start control is not limited to the above example. For example, in the deceleration start control, the ECU 20 may decelerate the vehicle VA at a preset constant deceleration Gpre.

[0025] If the driver operates the acceleration operator (accelerator pedal) while driving support control or deceleration control is being executed, ECU 20 interrupts driving support control or deceleration control and accelerates the vehicle VA based on the amount of operation of the acceleration operator.

[0026] Furthermore, in this case, the ECU 20 determines whether or not the deceleration end condition, that is, whether both the condition 1 and the condition 2 are satisfied, is satisfied. Condition 1: The deceleration object DO is not recognized based on the image data. Condition 2: The elapsed time T from the start of deceleration control until the acceleration operator is operated is equal to or less than a threshold time Tth. Condition 1 may be referred to as the "second condition," and condition 2 may be referred to as the "first condition."

[0027] When deceleration control is started erroneously, it is highly likely that a deceleration target is registered in the map data, but that the target does not actually exist. When deceleration control is started erroneously, it is highly likely that the driver will operate the acceleration operator immediately after the start of deceleration control. Therefore, when both Condition 1 and Condition 2 are met (i.e., when the deceleration end condition is met), it is highly likely that the driver operated the acceleration operator with the intention of accelerating the vehicle VA (intention 1 above) because deceleration control was started erroneously.

[0028] When the deceleration end condition is satisfied, it is highly likely that the deceleration control was started by mistake, and therefore the driver is highly likely not to want the deceleration control to be resumed after the operation of the acceleration operator is completed. Therefore, when the deceleration end condition is satisfied, the ECU 20 ends the deceleration control, and executes the driving support control when the operation of the acceleration operator is completed.

[0029] On the other hand, if the deceleration end condition is not satisfied, it is unlikely that the driver operated the acceleration operator with the above-mentioned intention 1, and it is more likely that the driver operated the acceleration operator with the intention of adjusting the vehicle speed Vs during deceleration control (the above-mentioned intention 2). In this case, the driver believes that the deceleration control will resume after the operation of the acceleration operator to adjust the vehicle speed Vs is completed. Therefore, if the deceleration end condition is not satisfied, the ECU 20 resumes the deceleration support control when the operation of the acceleration operator is completed.

[0030] Therefore, the present device 10 can increase the possibility of providing vehicle driving assistance in accordance with the driver's intention when operating the acceleration operator.

[0031] Even if the deceleration termination condition is satisfied, if an exceptional condition is satisfied that the distance D is less than a second distance D2th that is shorter than the first distance D1th, the ECU 20 resumes the deceleration control after the operation of the acceleration operator is completed without terminating the deceleration control. This is because if the deceleration control is terminated after the operation of the acceleration operator is completed when the distance D is less than the second distance D2th, the driver is likely to feel very uneasy if he or she wishes to resume the deceleration control.

[0032] (Example of operation) An example of the operation of the device 10 when the deceleration end condition is not met will be described with reference to FIG. At time t1, the distance D becomes equal to the first distance D1th, and the deceleration start condition is met. Therefore, at time t1, the ECU 20 starts deceleration control to decelerate the vehicle VA.

[0033] At time t2 during the execution of deceleration control, the driver starts operating the acceleration operator, and at time t3, the driver stops operating the acceleration operator. During the period from time t2 to time t3, ECU 20 accelerates vehicle VA based on the amount of operation of the acceleration operator.

[0034] At time t2, the ECU 20 determines whether the deceleration end condition is met. It is assumed that the following assumptions are met at time t2. Assumption 1: The ECU 20 recognizes the deceleration object DO based on the image data. Assumption 2: The elapsed time T is longer than the threshold time Tth. Assumption 3: The distance D is equal to or greater than the second distance D2th. The deceleration end condition is not met due to assumptions 1 and 2. Furthermore, the exception condition is not met due to assumption 3.

[0035] Therefore, when the operation of the acceleration operator ends at time t3, the ECU 20 returns to the deceleration control (resumes the deceleration control) and decelerates the vehicle VA.

[0036] At time t4, the vehicle VA passes the deceleration object DO, and the ECU 20 is executing constant speed control as the driving support control, so the vehicle VA accelerates so that the vehicle speed Vs coincides with the set vehicle speed Vset.

[0037] An example of the operation of the device 10 when the deceleration end condition is met will be described with reference to FIG. At time t1, the deceleration start condition is met, and the ECU 20 starts deceleration control. At time t5, the operation of the acceleration operator is started, and the ECU 20 determines whether the deceleration end condition is met. At time t5, the following assumptions are made: Assumption 4: The ECU 20 does not recognize the deceleration object DO based on the image data. Assumption 5: The elapsed time T is equal to or less than the threshold time Tth. Assumption 6: The distance D is equal to or greater than the second distance D2th. Therefore, the deceleration end condition is satisfied based on assumptions 1 and 2, and the exception condition is not satisfied based on assumption 3. At time t6, the operation of the acceleration operator ends, and the ECU 20 ends the deceleration control and returns to the cruise assist control. Since there is no preceding vehicle at time t6, the ECU 20 executes the constant speed control as the cruise assist control, and accelerates the vehicle VA.

[0038] (Specific operation) The CPU of the ECU 20 executes the routines shown in the flowcharts of FIGS. 4 and 5 every time a predetermined time elapses.

[0039] <ACCルーチン> When an appropriate time arrives, the CPU of the ECU 20 starts the process from step 400 in FIG. 4, and in step 405, the CPU determines whether the ACC flag Xacc is "1".

[0040] If the cruise switch 32 is operated when the ACC flag Xacc is "0", the ACC flag Xacc is set to "1", and if the cruise switch 32 is operated when the ACC flag Xacc is "1", the ACC flag Xacc is set to "0". Furthermore, in the initial routine, the value of the ACC flag Xacc is set to "0." The initial 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.

[0041] If the ACC flag Xacc is "0", the CPU determines "No" in step 405, and the process proceeds to step 495, where the CPU temporarily ends this routine.

[0042] If the ACC flag Xacc is “1”, the CPU determines “Yes” in step 405 and executes steps 410 and 415 .

[0043] Step 410: The CPU acquires the ACC target acceleration Gacc. Specifically, the CPU determines whether or not a preceding vehicle is present based on the image data and radar object information. A preceding vehicle is a vehicle located within a predetermined distance ahead of the vehicle VA and traveling in the same lane as the vehicle VA.

[0044] If there is no preceding vehicle, the CPU applies the set vehicle speed Vset and the vehicle speed Vs to the following equation (1) to obtain the constant speed target acceleration Gset as the ACC target acceleration Gacc for matching the vehicle speed Vs with the set vehicle speed Vset. Gset = k1 × (Vset - Vs) (1) In the above equation (1), k1 is a predetermined gain (coefficient).

[0045] When a preceding vehicle is present, the CPU applies the set vehicle speed Vset, vehicle speed Vs, and relative speed Vr of the preceding vehicle to the following equation (2) to obtain the following target acceleration Gflw as the ACC target acceleration Gacc, which is used to make the inter-vehicle distance Dv equal to the set distance Dset. Gflw=ka1×(k2×(Dv-Dset)+k3×Vr) ···(2) In the above equation (2), ka1, k2, and k3 are predetermined gains (coefficients).

[0046] Step 415: The CPU determines based on the detection value of the operation amount sensor 31 whether or not the acceleration operation button has been operated. If the acceleration operator has not been operated, the CPU determines "No" in step 415, and the process proceeds to step 420. In step 420, the CPU determines whether the deceleration flag Xdec is "0".

[0047] The deceleration flag Xdec is set to "1" when deceleration control starts, and is set to "0" when deceleration control ends. The deceleration flag Xdec is set to "0" when the ACC flag Xacc is set to "1" or in the initial routine.

[0048] If the deceleration flag Xdec is “0”, the CPU determines “Yes” in step 420 and executes steps 425 and 430 . Step 425: The CPU executes the ACC control. Specifically, the CPU controls the power train actuator 40 and the brake actuator 42 so that the acceleration G matches the ACC target acceleration Gacc.

[0049] Step 430: The CPU determines whether the deceleration start condition is met. Specifically, the CPU refers to the map data to obtain the distance D between the deceleration object DO and the vehicle VA, and determines that the deceleration start condition is met if the distance D is equal to or less than the first distance D1th.

[0050] If the deceleration start condition is not met, the CPU determines "No" in step 430, and the process proceeds to step 495, where the CPU temporarily ends this routine.

[0051] If the deceleration start condition is met, the CPU determines "Yes" in step 430, and proceeds to step 435 where the CPU sets the deceleration flag Xdec to "1." Thereafter, the process proceeds to step 495 where the CPU temporarily ends this routine.

[0052] If the deceleration flag Xdec is “1” when the process proceeds to step 420 , the CPU determines “Yes” in step 420 and executes steps 440 and 445 . Step 440: The CPU obtains the deceleration target acceleration Gdec. Specifically, the CPU acquires a deceleration target acceleration Gdec for stopping the vehicle VA a predetermined distance before the object to be decelerated DO. Step 445: The CPU determines whether the deceleration target acceleration Gdec is less than the ACC target acceleration Gacc. In this embodiment, when the vehicle VA travels forward, the acceleration G has a positive value, and when the vehicle VA travels backward, the acceleration G has a negative value.

[0053] If the deceleration target acceleration Gdec is less than the ACC target acceleration Gacc, the CPU determines "Yes" in step 445, and the process proceeds to step 450. In step 450, the CPU executes deceleration control. Specifically, the CPU controls the powertrain actuator 40 and the brake actuator 42 so that the acceleration G matches the deceleration target acceleration Gdec. Thereafter, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0054] On the other hand, if the deceleration target acceleration Gdec is equal to or greater than the ACC target acceleration Gacc, the CPU determines “No” in step 445 and the process proceeds to step 425 .

[0055] If the acceleration operator is operated when the process proceeds to step 415, the CPU determines "Yes" in step 415 and executes steps 455 to 465.

[0056] Step 455: The CPU obtains the operation acceleration Gap based on the operation amount AP of the acceleration operator. Step 460: The CPU executes override control. Specifically, the CPU controls the power train actuator 40 and the brake actuator 42 so that the acceleration G matches the operation acceleration Gap. Step 465: The CPU determines whether the deceleration flag Xdec is “1” or not.

[0057] If the deceleration flag Xdec is "1", the CPU determines "Yes" in step 465, and the process proceeds to step 470. In step 470, the CPU executes a deceleration end condition determination subroutine. In the deceleration end condition determination subroutine, the CPU determines whether the deceleration end condition is met. The details of the deceleration end condition determination subroutine will be described later. Thereafter, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0058] If the deceleration flag Xdec is "0", the CPU determines "No" in step 465, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0059] <Deceleration end condition determination subroutine> When the process proceeds to step 470 in Fig. 4, the CPU starts the process from step 500 in Fig. 5, and the process proceeds to step 505. In step 505, the CPU determines whether or not the decelerating object DO can be recognized based on the image data. In detail, if the image data contains an image similar to an image of the decelerating object DO registered in advance, the CPU recognizes the decelerating object DO based on the image data.

[0060] If the deceleration object DO is not recognized based on the image data (i.e., if the above condition 1 is met), the CPU determines "No" in step 505, and the process proceeds to step 510. In step 510, the CPU determines whether the elapsed time T is equal to or less than the threshold time Tth.

[0061] If the elapsed time T is equal to or less than the threshold time Tth (i.e., if the above condition 2 is met), the deceleration end condition is met. In this case, the CPU determines "Yes" in step 510, and the process proceeds to step 515. In step 515, the CPU determines whether the above distance D is less than the second distance D2th.

[0062] If the distance D is equal to or greater than the second distance D2th (i.e., the exceptional condition is not met), the CPU determines "No" in step 515 and proceeds to step 520. In step 520, the CPU sets the deceleration flag Xdec to "0," and the process proceeds to step 595, where the CPU temporarily terminates this routine. Thereafter, the process proceeds to step 495 shown in FIG. 4. As a result, if the deceleration termination condition is met and the exceptional condition is not met, the deceleration flag Xdec becomes "0," so that deceleration control is not executed after operation of the acceleration operator is completed, and the process returns to driving assistance control. In other words, after operation of the acceleration operator is completed, the vehicle VA travels at the ACC target acceleration Gacc.

[0063] On the other hand, if the distance D is equal to or greater than the second distance D2th when the process proceeds to step 515 (i.e., if the above-mentioned exceptional condition is met), the CPU determines "Yes" in step 515, the process proceeds to step 595, and the CPU temporarily ends this routine. As a result, the deceleration end condition is met, but if the exceptional condition is met, the deceleration flag Xdec remains "1," so deceleration control resumes after the operation of the acceleration operator is completed.

[0064] When the processing proceeds to step 505, if the deceleration object DO is recognized based on the image data (i.e., the above condition 1 is not met), the CPU determines "Yes" in step 505, the processing proceeds to step 595, and the CPU temporarily ends this routine. When the processing proceeds to step 510, if the elapsed time T is longer than the threshold time Tth (i.e., the above condition 2 is not met), the CPU determines "No" in step 510, the processing proceeds to step 595, and the CPU temporarily ends this routine. Therefore, if the deceleration end condition is not met, the deceleration flag Xdec remains "1", and therefore deceleration control is resumed after the operation of the acceleration operator is completed.

[0065] According to this aspect, when the deceleration end condition is met, the deceleration control ends, and the vehicle VA travels at the ACC target acceleration Gacc after operation of the acceleration operator ends. On the other hand, when the deceleration end condition is not met, the deceleration control does not end, and the vehicle VA decelerates at the deceleration target acceleration Gdec after operation of the acceleration operator ends. This makes it possible to determine whether to resume or end the deceleration control in accordance with the driver's intention when the driver operated the acceleration operator. This increases the likelihood that driving assistance will be provided in accordance with the driver's intention when the driver operated the acceleration operator.

[0066] In the above embodiment, an example has been described in which deceleration control is executed when driving assistance control is executed, but the present invention is not limited to this. Even when the driver is manually driving, deceleration control may be started when the deceleration start condition is met. Note that even in this case, as in the above embodiment, if the driver operates the acceleration operator during execution of deceleration control, the deceleration control is ended if the deceleration end condition is met and the exception condition is not met.

[0067] 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 present invention can also be understood as a non-transitory storage medium on which a program for realizing the functions of the device 10 is stored and which can be read by a computer. [Explanation of symbols]

[0068] 10...vehicle control device, 20...ECU, 22...camera, 24...millimeter wave radar, 26b...map data storage unit, 40...power train actuator, 42...brake actuator

Claims

1. a vehicle control device that acquires a distance between a vehicle and an object to be decelerated ahead of the vehicle based on map data, and starts deceleration control to decelerate the vehicle when a deceleration start condition is met that the distance is equal to or shorter than a first distance; The vehicle control device includes: If an acceleration operator of the vehicle is operated during execution of the deceleration control, the vehicle is accelerated based on the amount of operation of the acceleration operator, and it is determined whether or not a deceleration termination condition is established, the condition including at least a first condition that the time from the start of the deceleration control until the operation of the acceleration operator is equal to or shorter than a threshold time, When the deceleration end condition is satisfied, the deceleration control is ended. If the deceleration end condition is not satisfied, the deceleration control is resumed when the operation of the acceleration operator is ended. A vehicle control device configured as above.

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

3. 2. The vehicle control device according to claim 1, The vehicle control device is configured not to terminate the deceleration control when the distance is less than a second distance that is shorter than the first distance even if the deceleration termination condition is met, and to resume the deceleration control when the operation of the acceleration operator is terminated. Vehicle control device.

4. A vehicle control method, comprising: acquiring a distance between a vehicle and an object to be decelerated ahead of the vehicle based on map data; and, when a deceleration start condition is satisfied that the distance is equal to or shorter than a first distance, a computer mounted on the vehicle starts deceleration control to decelerate the vehicle, The vehicle control method includes: a step in which, when an acceleration operator of the vehicle is operated during execution of the deceleration control, the computer accelerates the vehicle based on the operation amount of the acceleration operator, and determines whether or not a deceleration termination condition is established, the condition including at least a first condition that the time from the start of the deceleration control until the operation of the acceleration operator is equal to or less than a threshold time; when the deceleration termination condition is satisfied, the computer terminates the deceleration control; If the deceleration end condition is not satisfied, the computer resumes the deceleration control when the operation of the acceleration operator is ended; A vehicle control method comprising:

5. a program for acquiring a distance between a vehicle and an object to be decelerated ahead of the vehicle based on map data, and causing a computer mounted on the vehicle to start deceleration control for decelerating the vehicle when a deceleration start condition is met that the distance is equal to or shorter than a first distance, the program comprising: The program is executed on the computer. a step of accelerating the vehicle based on the amount of operation of the acceleration operator when an acceleration operator of the vehicle is operated during execution of the deceleration control, and determining whether or not a deceleration termination condition is established, the condition including at least a first condition that the time from the start of the deceleration control until the operation of the acceleration operator is equal to or less than a threshold time; When the deceleration termination condition is satisfied, terminating the deceleration control; If the deceleration end condition is not satisfied, restarting the deceleration control when the operation of the acceleration operator is ended; A program that executes.

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