Vehicle control device, vehicle control method, and program

Abstract

To provide a vehicle control device for raising a possibility to perform warning and / or vehicle control related to a cut-in vehicle at appropriate performance timing.SOLUTION: A vehicle control device recognizes an object when the object positioned in front of an own vehicle satisfies a predetermined recognition condition, so as to perform at least one of warning to notify a crewman of the own vehicle of a collision risk with the recognized object and vehicle control to control a travel state of the own vehicle in order to reduce the collision risk, when relation between the own vehicle and the recognized object satisfies a predetermined collision condition. In the case of establishment of a specific condition including at least a condition that a regulation section with traffic regulation exists in front of the own vehicle on an adjacent lane adjacent to an own vehicle lane on which the own vehicle travels, the vehicle control device facilitates the establishment of the recognition condition compared with a case without the establishment of the specific condition.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that recognizes an object that satisfies predetermined recognition conditions and, if the relationship between the host vehicle and the recognized object satisfies a collision condition, issues an alert and / or performs vehicle control to reduce the risk of collision; a vehicle control method in which a computer mounted on the host vehicle recognizes an object that satisfies the recognition conditions and, if a collision condition is established, issues an alert and / or performs vehicle control; and a program that causes a computer mounted on the host vehicle to recognize an object that satisfies the recognition conditions and, if a collision condition is established, issues an alert and / or performs vehicle control. [Background technology]

[0002] Conventionally, there have been known vehicle control devices that issue an alarm and / or perform vehicle control when a collision condition is met. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") executes vehicle control earlier than usual for a vehicle that cuts into the own lane from an adjacent lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-170278 Summary of the Invention

[0004] A cutting-in vehicle cuts in front of the vehicle from the rear side. Therefore, compared with a preceding vehicle or an oncoming vehicle, a cutting-in vehicle is more likely to be recognized when it approaches the vehicle. Therefore, when a conventional device recognizes a cutting-in vehicle, it may be past the timing for executing vehicle control. In this case, the conventional device cannot issue a warning and / or execute vehicle control for the cutting-in vehicle at the execution timing.

[0005] 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 issuing a warning and / or vehicle control regarding a cutting-in vehicle at an appropriate timing.

[0006] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") recognizes an object located in front of the host vehicle when the object satisfies predetermined recognition conditions (steps 500 to 595, steps 600 to 695), and when the relationship between the host vehicle and the recognized object satisfies predetermined collision conditions (step 330 "Yes"), issues an alarm to notify the occupants of the host vehicle of the risk of collision with the recognized object (step 335) and executes vehicle control (step 340) to control the driving state of the host vehicle in order to reduce the collision risk.

[0007] The vehicle control device is configured to make the recognition condition more likely to be met (step 345) when a specific condition is met that includes at least the condition that a restricted section (RS) where traffic is restricted exists ahead of the vehicle in an adjacent lane (NL) adjacent to the lane in which the vehicle is traveling (step 310 ``No''), compared to when the specific condition is not met (step 310 ``Yes'').

[0008] When a specific condition is met, a restricted section in the adjacent lane increases the likelihood that an adjacent vehicle traveling in the adjacent lane will cut in front of the host vehicle from behind the host vehicle. Because such a cutting-in vehicle cuts in front of the host vehicle from behind, by the time the recognition condition for the cutting-in vehicle is met, it may be past the timing for issuing a warning and / or vehicle control regarding the cutting-in vehicle. According to the device of the present invention, when a specific condition is met, the recognition condition is more likely to be met than when the specific condition is not met, thereby enabling the cutting-in vehicle to be recognized earlier. As a result, it is possible to increase the likelihood that a warning and / or vehicle control regarding the cutting-in vehicle can be issued at the appropriate timing. [Brief explanation 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; [Figure 2] 1 is an explanatory diagram illustrating an outline of operation of a vehicle control device according to an embodiment of the present invention; [Figure 3] 2 is a flowchart of a vehicle control routine executed by a CPU of the ECU shown in FIG. 1. [Figure 4] 2 is a flowchart of a specific condition determination subroutine executed by a CPU of the ECU shown in FIG. 1. [Figure 5] 2 is a flowchart of a normal recognition subroutine executed by a CPU of the ECU shown in FIG. 1. [Figure 6] 2 is a flowchart of a relaxation recognition subroutine executed by a CPU of the ECU shown in FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[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] 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.

[0012] The front camera 22 captures images of the scenery ahead of the host vehicle SV to obtain front image data. The rear camera 24 captures images of the scenery behind the host vehicle SV to obtain rear image data. The ECU 20 obtains the front image data and rear image data from the front camera 22 and rear camera 24, respectively.

[0013] The front millimeter-wave radar 26 identifies the position and relative speed Vr of an object located in the front center of the host vehicle SV. The right front millimeter-wave radar 28 identifies the position and relative speed Vr of an object located to the right front of the host vehicle SV. The left front millimeter-wave radar 30 identifies the position and relative speed Vr of an object located to the left front of the host vehicle SV. When there is no need to distinguish between the front millimeter-wave radar 26, the right front millimeter-wave radar 28, and the left front millimeter-wave radar 30, they will be referred to as "millimeter-wave radars."

[0014] The millimeter-wave radar transmits millimeter waves and receives the reflected waves from an object, thereby identifying the "reflection intensity S of the reflected waves," the "position of the object relative to the host vehicle SV," and the "relative speed Vr of the object relative to the host vehicle SV." The ECU 20 acquires radar object information including the reflection intensity S, the object's position, and the relative speed Vr from the millimeter-wave radar.

[0015] The clearance sonar 32 transmits ultrasonic waves and receives waves reflected by the object to identify the position of the object relative to the host vehicle SV. The ECU 20 acquires sonar object information including the object's position from the clearance sonar 32. Note that multiple clearance sonars 32 are provided on the host vehicle SV, allowing the ECU 20 to identify objects located around the host vehicle SV.

[0016] The vehicle speed sensor 34 measures the vehicle speed Vs that indicates the speed of the host vehicle SV. The acceleration sensor 36 measures the acceleration G in the longitudinal direction of the host vehicle SV. The ECU 20 acquires the measured values ​​of these sensors.

[0017] The navigation device 38 has a GNSS receiver 38a and a map data storage unit 38b. The GNSS receiver 38a receives signals from multiple artificial satellites and determines the current position (latitude and longitude) of the vehicle SV based on the received signals. The map data storage unit 38b stores map data. This map data registers the positions of restricted sections RS (see FIG. 2) where vehicle traffic is restricted.

[0018] 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 host vehicle SV. The brake actuator 42 controls the braking force applied to the host vehicle SV.

[0019] The display 44 is disposed in a position visible to the driver inside the vehicle SV and displays a warning screen, which will be described later. The speaker 46 is disposed inside the vehicle SV and emits a warning sound, which will be described later.

[0020] (Overview of operation) The ECU 20 recognizes an object that satisfies a recognition condition described below and determines whether the relationship between the host vehicle SV and the recognized object satisfies a predetermined collision condition. The collision condition is met when the risk of collision between the host vehicle SV and the object is equal to or greater than a predetermined value.

[0021] When a collision condition is met, the ECU 20 performs at least one of issuing an alarm to notify the occupants (particularly the driver) of the host vehicle SV of the risk of collision with the object, and vehicle control to control the traveling state of the host vehicle SV to reduce the risk of collision with the object. Examples of vehicle control include deceleration control to decelerate the host vehicle SV, and avoidance control to change the steering angle of the host vehicle SV to avoid collision with the object. In this embodiment, an example will be described in which deceleration control is performed as vehicle control.

[0022] In this embodiment, when a predetermined specific condition is met, the ECU 20 recognizes an object using relaxed recognition conditions that are more likely to be met than when the specific condition is not met. The specific condition includes at least a condition that a restricted section RS exists in the adjacent lane NL ahead of the host vehicle SV. When the specific condition is met, the "possibility of an adjacent vehicle NV traveling in the adjacent lane NL cutting in front of the host vehicle SV from the rear side due to the restricted section RS" becomes higher than when the specific condition is not met. The adjacent lane NL is a lane adjacent to the host vehicle lane SL in which the host vehicle SV is traveling. The specific condition will be described in detail later.

[0023] When an object is recognized using relaxed recognition conditions, the recognition time required for the object is shortened. This shortens the time required for the cut-in vehicle to be recognized, reducing the possibility that the timing for warning and vehicle control has already passed when the cut-in vehicle is recognized. This increases the possibility that warning or vehicle control for the cut-in vehicle can be executed at the appropriate time.

[0024] <Specific conditions> The specific conditions will be explained with reference to FIG. When the following conditions S1 to S3 are met, the specific condition is met. Condition S1: A restricted section RS exists in the adjacent lane NL ahead of the host vehicle SV, and the distance D1 between the start point of the restricted section RS and the host vehicle SV is equal to or less than a first threshold distance D1th. Condition S2: The adjacent vehicle NV is located behind the host vehicle SV, and the adjacent vehicle NV is approaching the host vehicle SV. Condition S3: There is no preceding vehicle PV in the host vehicle lane SL ahead of the host vehicle SV, or the inter-vehicle distance D2 between the preceding vehicle PV and the host vehicle SV is equal to or greater than the second threshold distance D2th. If conditions S1 to S3 are met, the traffic of the adjacent vehicle NV is restricted by the restricted section RS, increasing the possibility that the adjacent vehicle NV will cut into the own lane SL ahead of the own vehicle SV.

[0025] <Normal recognition conditions> If the specific condition is not met, and the object satisfies all of the following conditions N1 to N3, the ECU 20 determines that the object satisfies the recognition condition and recognizes the object. Condition N1: An object is detected based on forward image data and also based on radar object information. Condition N2: The detection time T during which an object is detected based on the forward image data is equal to or longer than the first threshold time Td1. Condition N3: The reflection intensity S of the object is equal to or greater than the first threshold intensity Sd1. The recognition condition used when the specific condition is not met is called the "normal recognition condition." The "configuration for detecting an object based on forward image data" of ECU 20 may be referred to as the "first detection unit," and the "configuration for detecting an object based on radar object information" of ECU 20 may be referred to as the "second detection unit."

[0026] <Relaxed recognition conditions> On the other hand, if the specific condition is met, and the object satisfies any one of the following conditions N4 to N6, the ECU 20 determines that the object satisfies the recognition condition and recognizes the object. Condition N4: An object is detected based on the forward image data, and the detection time T is equal to or longer than a "second threshold time Td2 that is shorter than the first threshold time Td1." Condition N5: An object is detected based on the radar object information, and the reflection intensity S is equal to or greater than "a second threshold intensity Sd2 that is smaller than the first threshold intensity Sd1." Condition N6: An object is detected based on sonar object information. The recognition condition that is used when the specific condition is met is called a "relaxed recognition condition." The "configuration for detecting an object based on sonar object information" of the ECU 20 may be referred to as a "third detection unit."

[0027] If the specific condition is not satisfied, the ECU 20 recognizes an object present in the detection area DA using the normal recognition condition. The detection area DA includes a right detection area RDA and a left detection area LDA. If the specific condition is satisfied, the ECU 20 recognizes an object present in the area of ​​the right detection area RDA and the left detection area LDA on the side where the restricted section RS exists using the relaxed recognition condition, and recognizes an object present in the area on the side where the restricted section TS does not exist using the normal recognition condition. This increases the likelihood of issuing a warning or vehicle control regarding a cutting-in vehicle at an appropriate time, and reduces the likelihood of erroneously issuing a warning or vehicle control due to erroneously recognizing a non-existent object in the area on the side where the adjacent vehicle NV does not exist.

[0028] (Specific operation) <Vehicle control routine> The CPU of the ECU 20 executes the routine shown in the flowchart of FIG. 3 every time a predetermined time period elapses. When the appropriate time arrives, the CPU starts processing at step 300 in FIG. Step 305: The CPU executes a specific condition determination subroutine to determine whether a specific condition is met. The specific condition determination subroutine will be described in detail later. Step 310: The CPU determines whether the value of the specific flag Xspe is “0” or not. The specific flag Xspe is set to "1" when a specific condition is met, and is set to "0" when the specific condition is not met. The specific flag Xspe is set to "0" in the initial routine. The initial routine is executed by the CPU when the ignition key switch (not shown) of the host vehicle SV is changed from the OFF position to the ON position.

[0029] If the specific flag Xspe is “0”, the CPU determines “Yes” in step 310 and executes steps 315 and 320 . Step 315: The CPU executes a normal recognition subroutine for recognizing an object using the normal recognition conditions. The normal recognition subroutine will be described in detail later. Step 320: The CPU determines whether or not there is an “object that has a possibility of colliding with the host vehicle SV” among the recognized objects. Specifically, the CPU estimates the moving direction of the object relative to the host vehicle SV based on the position history of the object relative to the host vehicle SV, and determines that the object has a possibility of colliding with the host vehicle SV if the moving direction of the object intersects with the host vehicle SV.

[0030] If there is no object that may collide with the vehicle, the CPU determines "No" in step 320. Thereafter, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0031] On the other hand, if an object with a possibility of collision exists, the CPU determines "Yes" in step 320 and executes steps 325 and 330. Step 325: The CPU acquires the TTC (Time To Collision) of the object that may collide. The TTC represents the time it takes for the object to collide with the host vehicle SV. The CPU acquires the TTC by dividing the distance between the object and the host vehicle SV by the relative speed Vr of the object. The TTC is a collision index value that correlates with the collision risk, and the shorter the TTC, the higher the collision risk. As such a collision index value, the distance between the object and the host vehicle SV may be used instead of the TTC. Step 330: The CPU determines whether the TTC is equal to or less than a predetermined threshold time Tth.

[0032] If TTC is greater than the threshold time Tth, the CPU determines that the collision risk is less than the threshold. In this case, the CPU determines "No" in step 330. Thereafter, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0033] On the other hand, if TTC is equal to or less than the threshold time Tth, the CPU determines that the collision risk is equal to or greater than the threshold. In this case, the CPU determines "Yes" in step 330 and executes steps 335 and 340. Step 335: The CPU issues a warning to the occupants of the host vehicle SV to inform them of the risk of collision with the object. Specifically, the CPU displays a warning screen on the display 44. The warning screen is a screen that indicates the direction of the object whose TTC is equal to or less than the threshold time Tth. Furthermore, the CPU issues a warning sound from the speaker 46. Step 340: The CPU controls the power train actuator 40 and the brake actuator 42 so that the acceleration G of the host vehicle SV coincides with a predetermined deceleration. Thereafter, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0034] If the specific flag Xspe is "1" when the process proceeds to step 310, the CPU determines "No" in step 310, and the process proceeds to step 345. In step 345, the CPU executes a relaxed recognition subroutine for recognizing an object using relaxed recognition conditions. Details of the relaxed recognition subroutine will be described later. Thereafter, the process proceeds to step 395, where the CPU temporarily ends this routine.

[0035] <Specific condition determination subroutine> When the process proceeds to step 305, the CPU starts the process from step 400 shown in Fig. 4, and the process proceeds to step 405. In step 405, the CPU determines whether the host vehicle SV is traveling on a road with two or more lanes in each direction. As an example, if the CPU determines, based on the forward image data, that an adjacent lane NL exists and that the traveling direction of the adjacent vehicle NV traveling on the adjacent lane NL is the same as that of the host vehicle SV, the CPU determines that the host vehicle SV is traveling on a road with two or more lanes in each direction.

[0036] If the host vehicle SV is traveling on a road with two or more lanes in each direction, the CPU determines "Yes" in step 405, and the process proceeds to step 410. In step 410, the CPU determines whether or not a restricted section RS exists in the adjacent lane NL in the traveling direction of the host vehicle SV. As one example, the CPU refers to map data to determine whether or not a restricted section RS exists in the adjacent lane NL. As another example, the CPU may determine that a restricted section RS exists in the adjacent lane NL when it detects, based on forward image data, a road marking RP (see FIG. 2), a sign, a billboard, or the like that indicates the presence of a restricted section RS ahead.

[0037] If a restricted section RS exists in the adjacent lane NL, the CPU determines "Yes" in step 410, and the process proceeds to step 415. In step 415, the CPU determines whether the distance D1 is equal to or less than a first threshold distance D1th. As an example, the CPU obtains the distance D1 based on map data.

[0038] If the distance D1 is equal to or less than the first threshold distance D1th, the condition S1 is met. In this case, the CPU determines "Yes" in step 415, and the process proceeds to step 420. In step 420, the CPU determines whether an adjacent vehicle NV is approaching from behind the host vehicle SV on the side where the restricted section RS exists, based on radar object information from the right rear millimeter-wave radar and the left rear millimeter-wave radar (not shown).

[0039] If the adjacent vehicle NV is approaching the host vehicle SV from behind on the side where the restricted section RS exists, the above condition S2 is met. In this case, the CPU determines "Yes" in step 420, and the process proceeds to step 425. In step 425, the CPU determines whether the above distance D2 is equal to or greater than the second threshold distance D2th. As an example, the CPU obtains the above distance D2 based on the forward camera image and radar object information from the forward millimeter-wave radar 26.

[0040] If the preceding vehicle PV does not exist or if the distance D2 is equal to or greater than the second threshold distance D2th, the condition S3 is satisfied. In this case, all of the conditions S1 to S3 are satisfied, and the specific condition is satisfied. In this case, the CPU determines "Yes" in step 425, and the process proceeds to step 430. In step 430, the CPU sets the specific flag Xspe to "1." Thereafter, the process proceeds to step 495, where the CPU temporarily terminates this routine.

[0041] In the following cases, the specific condition is not met, and the process proceeds to step 435. In step 435, the CPU sets the specific flag Xspe to "0." Thereafter, the process proceeds to step 495, where the CPU temporarily ends this routine. If the host vehicle SV is not traveling on a road with two or more lanes in each direction (step 405 "No"). If there is no restricted section RS in the adjacent lane NL (step 410 "No") If the distance D1 is longer than the first threshold distance D1th (step 415 “No”) If there is no adjacent vehicle NV behind the host vehicle SV on the side where the restricted section RS exists (step 420 "No"), or if there is no adjacent vehicle NV approaching behind the host vehicle SV on the side where the restricted section RS exists (step 420 "No") If the distance D2 is less than the second threshold distance D2th (step 425 “No”) In addition, when the distance D2 is less than the second threshold distance D2th, the distance between the preceding vehicle PV and the host vehicle SV is short, so the adjacent vehicle NV is unlikely to cut in front of the host vehicle SV, and therefore the specific condition is not met.

[0042] <Normal recognition subroutine> 5, the CPU starts the process from step 500, and the process proceeds to step 505. In step 505, the CPU detects an object in the forward camera image and determines whether the object has been detected based on the radar object information. Specifically, if the difference between the position of the object detected based on the forward camera image and the position of the object detected based on the radar object information is equal to or less than a predetermined value, the CPU determines that these objects are the same object.

[0043] If an object is detected in the forward camera image and based on the radar object information, the condition N1 is met. In this case, the CPU determines "Yes" in step 505, and the process proceeds to step 510. In step 510, the CPU determines whether the detection time T of the object is equal to or greater than the first threshold time Td1.

[0044] If the detection time T is equal to or greater than the first threshold time Td1, the condition N2 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, based on the radar object information, whether the reflection intensity S of the object is equal to or greater than the first threshold intensity Sd1.

[0045] If the reflection intensity S is equal to or greater than the first threshold intensity Sd1, then the above condition N3 is met, and the object satisfies the normal recognition condition. In this case, the CPU determines "Yes" in step 515 and recognizes the object. Then, the process proceeds to step 595, where the CPU temporarily ends this routine.

[0046] In the following cases, the object does not satisfy the normal recognition conditions, so the CPU does not recognize the object, and the process proceeds to step 595, where the CPU temporarily ends this routine. If an object is not detected in at least one of the forward camera image and the radar object information (step 505 “No”) If the detection time T is less than the first threshold time Td1 (step 510 “No”) If the reflection intensity S is less than the first threshold intensity Sd1 (step 515 “No”)

[0047] <Relaxation Recognition Subroutine> When the process proceeds to step 345, the CPU starts the process from step 600 shown in Fig. 6, and the process proceeds to step 605. In step 605, the CPU determines whether or not an object has been detected based on at least one of the forward camera image and the radar object information.

[0048] If an object is detected based on at least one of the forward camera image and the radar object information, the CPU determines "Yes" in step 605, and the process proceeds to step 610. In step 610, the CPU determines whether or not an object has been detected based on the forward camera image.

[0049] If an object is detected based on the front camera image, the CPU determines "Yes" in step 610, and the process proceeds to step 615. In step 615, the CPU determines whether the detection time T of the object detected based on the front camera image is equal to or longer than the second threshold time Td2.

[0050] If the detection time T is equal to or greater than the second threshold time Td2, the condition N4 is met, and the relaxed recognition condition is met. In this case, the CPU determines "Yes" in step 615, and the process proceeds to step 620. In step 620, the CPU recognizes the object. Thereafter, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0051] If no object is detected based on the forward camera image, the CPU determines "No" in step 610 and proceeds to step 625. In step 625, the CPU determines whether the reflection intensity S is greater than or equal to the second threshold intensity Sd2.

[0052] If the reflection intensity S is equal to or greater than the second threshold intensity Sd2, the condition N5 is met, and the relaxed recognition condition is met. In this case, the CPU determines "Yes" in step 625 and recognizes the object in step 620. Thereafter, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0053] If the reflection intensity S is less than the second threshold intensity Sd2, the CPU determines "No" in step 625, and the process proceeds to step 630. In step 630, the CPU determines whether the clearance sonar 32 has detected an object.

[0054] If an object is detected by the clearance sonar 32, the above condition N6 is met, and the relaxed recognition condition is met. In this case, the CPU determines "Yes" in step 630 and recognizes the object in step 620. Thereafter, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0055] On the other hand, the relaxed recognition condition is not met if no object is detected by the clearance sonar 32. In this case, the CPU does not recognize the object, and the process proceeds to step 695, where the CPU temporarily ends this routine.

[0056] If the detection time T is less than the second threshold time Td2 when the process proceeds to step 615, the CPU determines "No" in step 615, and the process proceeds to step 635. In step 635, the CPU determines whether or not an object has been detected based on the radar object information.

[0057] If an object is detected based on the radar object information, the CPU determines "Yes" in step 635, and the process proceeds to step 625. On the other hand, if an object is not detected based on the radar object information, the CPU determines "No" in step 635, and the process proceeds to step 630.

[0058] As described above, according to this embodiment, when a specific condition is met, an object is recognized using a relaxed recognition condition, thereby increasing the possibility that a warning or vehicle control regarding a cutting-in vehicle can be executed at an appropriate time.

[0059] The device 10 may be provided with "a radar that detects an object by transmitting electromagnetic waves and receiving waves reflected by the object" instead of the millimeter wave radar.

[0060] The device 10 only needs to provide at least one of warning and vehicle control.

[0061] In step 410 shown in FIG. 4, if a restricted section RS that satisfies the following conditions exists ahead of the host vehicle SV in the adjacent lane NL, the CPU may make a "Yes" determination in step 410. Condition: The period of time that has passed since the restricted section RS was established is less than a certain period. The elapsed period is assumed to be stored in the map data.

[0062] It is highly likely that many drivers are unaware of the existence of restricted sections RS that have only been in place for a short time. Therefore, on roads where such restricted sections RS exist, it is highly likely that there will be many vehicles cutting in front of the vehicle SV. Since the specific condition is met only when there is a high possibility of cutting in, it is possible to reduce the possibility of a warning and / or vehicle control being erroneously executed due to erroneous recognition of an object.

[0063] The first, second, and third detection units have been described as being components of the ECU 20, but may instead be components of the forward camera 22, millimeter wave radar, and clearance sonar 32, respectively.

[0064] 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]

[0065] 10...vehicle control device, 20...ECU, 22...front camera, 24...rear camera, 26...front millimeter-wave radar, 28...right front millimeter-wave radar, 30...left front millimeter-wave radar, 32...clearance sonar, 40...power train actuator, 42...brake actuator.

Claims

1. A vehicle control device that recognizes an object located in front of a host vehicle when the object satisfies a predetermined recognition condition, and performs at least one of an alarm that notifies an occupant of the host vehicle of a risk of collision with the recognized object and a vehicle control that controls a running state of the host vehicle to reduce the risk of collision when a relationship between the host vehicle and the recognized object satisfies a predetermined collision condition, The vehicle control device is configured to make it easier for the recognition condition to be satisfied when a specific condition including at least a condition that a restricted section in which traffic is restricted exists ahead of the host vehicle in an adjacent lane adjacent to the host vehicle's own lane is satisfied, compared to when the specific condition is not satisfied. Vehicle control device.

2. 2. The vehicle control device according to claim 1, The vehicle control device includes: a condition that the distance between the vehicle and the start point of the restricted section is equal to or shorter than a first threshold distance; A condition that an adjacent vehicle located behind the host vehicle in the adjacent lane in which the restricted section exists approaches the host vehicle; and a condition that there is no preceding vehicle in front of the host vehicle in the host lane, or the distance between the preceding vehicle and the host vehicle is equal to or greater than a second threshold distance; and determining that the specific condition is met when all of the following conditions are met: Vehicle control device.

3. The vehicle control device according to claim 2, The vehicle control device includes: a first detection unit that detects the object based on image data acquired by photographing a scene ahead of the host vehicle; a second detection unit that detects the object by transmitting electromagnetic waves ahead of the vehicle and receiving reflected waves of the transmitted electromagnetic waves reflected by the object; a third detection unit that detects the object by transmitting sound waves to the vicinity of the vehicle and receiving reflected waves of the transmitted sound waves reflected by the object, If the specific conditions are not met, A condition in which the first detection unit detects the object and the second detection unit detects the same object as the object detected by the first detection unit; and a condition that a detection time during which the first detection unit detects the object is equal to or longer than a first threshold time, and that the reflection intensity of the electromagnetic wave from the object is equal to or greater than a first threshold intensity; When both of the above conditions are met, it is determined that the object satisfies the recognition conditions, If the specific conditions are met, a condition that the first detection unit detects the object and the detection time is equal to or longer than a second threshold time that is shorter than the first threshold time; a condition that the second detection unit detects the object and the reflection intensity is equal to or greater than a second threshold intensity that is smaller than the first threshold intensity; and a condition that the third detection unit detects the object; When any one of the above is established, it is determined that the object satisfies the recognition condition, Furthermore, it is determined whether or not the recognition condition is satisfied for an object located in a detection area including a right detection area on the right side of the host vehicle and a left detection area on the left side of the host vehicle; When the specific condition is met, the recognition condition is more likely to be met in the area of ​​the right detection area or the left detection area on the side where the restricted section exists than when the specific condition is not met. A vehicle control device configured as above.

4. A vehicle control method in which a computer mounted on a host vehicle recognizes an object located in front of the host vehicle when the object satisfies a predetermined recognition condition, and when a relationship between the host vehicle and the recognized object satisfies a predetermined collision condition, at least one of issuing an alarm to notify an occupant of the host vehicle of a risk of collision with the recognized object and controlling a running state of the host vehicle to reduce the risk of collision, The vehicle control method includes: a step of the computer determining whether or not a specific condition is satisfied, the specific condition including at least a condition that a restricted section in which traffic is restricted exists ahead of the host vehicle in an adjacent lane adjacent to the host vehicle's own lane; a step of making it easier for the recognition condition to be met when the specific condition is met than when the specific condition is not met by the computer; A vehicle control method comprising:

5. A program for causing a computer mounted on a host vehicle to recognize an object located in front of the host vehicle when the object satisfies a predetermined recognition condition, and for performing at least one of issuing an alarm to notify an occupant of the host vehicle of a risk of collision with the recognized object and controlling a running state of the host vehicle to reduce the risk of collision when a relationship between the host vehicle and the recognized object satisfies a predetermined collision condition, The program causes the computer to: a step of determining whether or not a specific condition is satisfied, the specific condition including at least a condition that a restricted section in which traffic is restricted exists ahead of the host vehicle in an adjacent lane adjacent to the host vehicle's own lane; When the specific condition is met, making the recognition condition more likely to be met than when the specific condition is not met; A program that executes.

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