Vehicle control device and vehicle control method

Abstract

To optimize the operation of secondary collision damage reduction control.SOLUTION: A control device for a vehicle includes an accelerator depression operation determination unit that determines whether a driver of the vehicle has performed a rapid depression operation of an accelerator pedal, a light collision determination unit that determines whether a light collision has occurred in the vehicle, and a control unit that executes at least one of a driving force suppression control and a braking force generation control as a secondary collision damage mitigation control when a control execution condition is satisfied in which the accelerator depression operation determination unit determines that the rapid depression operation of the accelerator pedal has been performed and the light collision determination unit determines that a light collision has occurred in the vehicle. A parking lot determination means for determining whether or not a vehicle exists in a parking lot is provided, and a control mode including at least one of control execution contents of secondary collision damage reduction control and control execution conditions is changed according to a determination result of the parking lot determination means.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device and a vehicle control method. [Background technology]

[0002] For example, Patent Document 1 discloses a driving assistance device that detects a sudden depression of the accelerator pedal and, when it detects a low-level minor collision in which the airbag does not deploy, generates a braking force on the vehicle or performs secondary collision damage mitigation control, which is a control that suppresses the driving force of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-112982 Summary of the Invention

[0004] If a driver erroneously depresses the accelerator pedal suddenly in a parking lot, the vehicle is likely to collide with a nearby object while starting to move at an extremely low speed. This reduces the acceleration at the time of collision between the vehicle and the nearby object, potentially preventing the determination condition for detecting a minor collision from being met. It is also difficult to accurately determine whether a sudden depression of the accelerator pedal is an intentional operation by the driver or an unintentional erroneous operation. Therefore, if the braking force generated by the secondary collision damage mitigation control is activated when the driver intentionally depresses the accelerator pedal suddenly, this unnecessary activation will cause the driver to feel uncomfortable. In other words, there is room for improvement in the appropriate operation of the secondary collision damage mitigation control.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to optimize the operation of secondary collision damage mitigation control.

[0006] The vehicle control device of the present disclosure includes: a sudden accelerator pedal depression determination means for determining whether a sudden accelerator pedal depression operation has been performed by a driver of the vehicle; a minor collision determination means for determining whether a minor collision has occurred in the vehicle; a control unit that executes, as secondary collision damage mitigation control, at least one of a driving force suppression control that suppresses a driving force of the vehicle and a braking force generation control that generates a braking force on the vehicle when the sudden accelerator depression determination unit determines that the accelerator pedal has been suddenly depressed within a predetermined time and a control execution condition is established whereby the minor collision determination unit determines that a minor collision has occurred on the vehicle, a parking lot interior determination means for determining whether the vehicle is present in a parking lot; The control mode including at least one of the control execution content and the control execution condition of the secondary collision damage mitigation control is changed according to the determination result of the parking lot interior determination means. It is characterized by:

[0007] The vehicle control method of the present disclosure includes: A vehicle control method, when it is determined that an accelerator pedal has been suddenly depressed by a driver of a vehicle within a predetermined time and a control execution condition for determining that a minor collision has occurred with the vehicle is satisfied, which executes at least one of a driving force suppression control for suppressing a driving force of the vehicle and a braking force generation control for generating a braking force on the vehicle as secondary collision damage mitigation control, A parking lot interior determination is performed to determine whether the vehicle is present in a parking lot, and a control mode including at least one of the control execution content and the control execution condition of the secondary collision damage mitigation control is changed according to the result of the parking lot interior determination. It is characterized by: [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a hardware configuration of a vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. [Figure 3] 10 is a flowchart illustrating a routine for processing to determine whether the vehicle is inside a parking lot according to the present embodiment. [Figure 4] 4 is a flowchart illustrating a routine for processing a minor collision determination, a sudden accelerator operation determination, and secondary collision damage mitigation control according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle control device and a vehicle control method according to this embodiment will be described with reference to the drawings.

[0010] [Hardware configuration] 1 is a schematic diagram showing the hardware configuration of a vehicle VH according to this embodiment. Hereinafter, the vehicle VH may also be referred to as the host vehicle when it is necessary to distinguish it from other vehicles.

[0011] The vehicle VH has an ECU (Electronic Control Unit) 10. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and an interface device 14. The CPU 11 is a processor that executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like required for the CPU 11 to execute the various programs. The RAM 13 is a volatile memory that provides a working area into which the various programs are expanded when the CPU 11 executes them. The interface device 14 is a communication device for communicating with external devices.

[0012] The ECU 10 is a central device that provides driving assistance for the vehicle VH. Driving assistance is a concept that includes autonomous driving. In this embodiment, the ECU 10 performs secondary collision damage mitigation control, which will be described later. The secondary collision damage mitigation control is a control that generates a braking force on the host vehicle VH to mitigate secondary collision damage when a sudden accelerator pedal depression operation and a minor collision of the host vehicle VH are detected.

[0013] "Abrupt accelerator operation" refers to an operation in which the driver deeply and quickly depresses the accelerator pedal. This sudden accelerator operation mainly occurs when the driver accidentally depresses the accelerator pedal while intending to depress the brake pedal. Hereinafter, an operation in which the driver accidentally depresses the accelerator pedal hard against his or her intention will be referred to as an "erroneous operation." Furthermore, a "minor collision" refers to a low-level collision in which the airbag is not deployed. A "secondary collision" refers to a situation in which the host vehicle VH moves further after a collision and collides with another object.

[0014] The vehicle VH is equipped with an airbag control device (not shown) that is configured to deploy an airbag when a collision of a preset level is detected. The airbag control device deploys the airbag and simultaneously activates a secondary collision mitigation brake. In this embodiment, in addition to the secondary collision mitigation brake by the airbag control device, the ECU 10 also performs secondary collision mitigation control when a specific situation is detected (when a sudden accelerator pedal depression operation is detected and a minor collision of the host vehicle VH is detected). This expands the scope of application of secondary collision mitigation control to include minor collision levels.

[0015] The ECU 10 is communicatively connected to a drive unit 20, a steering unit 21, a braking unit 22, an internal sensor unit 30, an external sensor unit 40, a position information acquisition unit 60, a map database 70, an HMI (Human Machine Interface) 80, and the like.

[0016] The drive device 20 generates a drive force to be transmitted to the drive wheels of the vehicle VH. Examples of the drive device 20 include an electric motor and an engine. In this embodiment, the vehicle VH may be a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), an electric vehicle (BEV), or an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle VH. The braking device 22 applies a braking force to the wheels of the vehicle VH.

[0017] The internal sensor device 30 is a group of sensors that acquire the state of the vehicle VH. The internal sensor device 30 includes a vehicle speed sensor 31, an accelerator sensor 32, a brake sensor 33, a steering angle sensor 34, a yaw rate sensor 35, an acceleration sensor 36, and the like.

[0018] The vehicle speed sensor 31 detects the traveling speed (vehicle speed) of the vehicle VH. The accelerator sensor 32 detects the amount of operation of an accelerator pedal (not shown) by the driver. The brake sensor 33 detects the amount of operation of a brake pedal (not shown) by the driver. The steering angle sensor 34 detects the rotation angle (steering angle) of a steering wheel or steering shaft (not shown). The yaw rate sensor 35 detects the yaw rate of the vehicle VH. The acceleration sensor 36 detects the acceleration of the vehicle VH. The internal sensor device 30 transmits the state of the vehicle VH detected by each sensor 31 to 36 to the ECU 10 at a predetermined interval.

[0019] The external sensor device 40 is a type of sensor that recognizes target information related to targets around the vehicle VH. The external sensor device 40 includes a radar sensor 41, a camera sensor 42, etc. Examples of the target information include surrounding vehicles, white lines on the road, road signs, etc.

[0020] The radar sensor 41 detects targets present around the vehicle VH. The radar sensor 41 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits millimeter-wave radio waves and receives millimeter waves reflected by targets present within the emission range. The millimeter-wave radar acquires the relative distance, relative speed, etc. between the vehicle VH and the target based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans pulsed laser light with a wavelength shorter than millimeter waves in multiple directions and receives the reflected light reflected by the target to acquire the shape of targets detected around the vehicle VH, as well as the relative distance, relative speed, etc. between the vehicle VH and the target.

[0021] The camera sensor 42 photographs the surroundings of the vehicle VH and processes the photographed image data to acquire target information about the surroundings of the vehicle VH. The camera sensor 42 may be, for example, a digital camera having an imaging element such as a CMOS or CCD. The target information is information that indicates the type of target detected around the vehicle VH, the relative distance between the vehicle VH and the target, the relative speed, etc. The type of target may be recognized, for example, by machine learning such as pattern matching.

[0022] The external sensor device 40 repeatedly transmits the acquired target information to the ECU 10 every time a predetermined time elapses. Note that the external sensor device 40 does not necessarily have to include both the radar sensor 41 and the camera sensor 42, and may include, for example, only the camera sensor 42.

[0023] The position information acquisition device 60 acquires current position information of the vehicle VH. For example, a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System) provided in a navigation system (not shown) can be used as the position information acquisition device 60. The position information acquisition device 60 transmits the acquired current position information of the vehicle VH to the ECU 10 at a predetermined interval.

[0024] The map database 70 is a database of map information and is stored in a storage device (hard disk, flash memory, etc.) provided in the vehicle VH. The map information includes, for example, location information of public parking lots, etc. The map database 70 may be stored in an external server that can communicate with the vehicle VH. In this case, the vehicle VH may acquire the map information from the external server via a communication device (not shown).

[0025] The HMI 80 is an interface for inputting and outputting information between the ECU 10 and the driver, and includes an input device and an output device. Examples of the input device include a touch panel, a switch, and a voice pickup microphone. Examples of the output device include a display device 81 and a speaker 82. The display device 81 is, for example, a center display, a multi-information display, a head-up display, etc. The speaker 82 is, for example, a speaker of an audio system or a navigation system.

[0026] [Software configuration] FIG. 2 is a schematic diagram showing the software configuration of the control device according to this embodiment.

[0027] 2, the ECU 10 includes functional elements such as a parking lot interior determination unit 100, a minor collision determination unit 110, a sudden accelerator operation determination unit 120, and a secondary collision damage mitigation control unit 130. These functional elements 100 to 130 are realized by the CPU 11 of the ECU 10 reading a program stored in the ROM 12 into the RAM 13 and executing it. Note that all or part of the functional elements 100 to 130 may be provided in another ECU separate from the ECU 10, or in an information processing device in a facility (such as a management center) that can communicate with the vehicle VH.

[0028] The parking lot interior determination unit 100 determines whether the host vehicle VH is located in a public parking lot, a parking lot of a store, an apartment complex, or the like. Specifically, the parking lot interior determination unit 100 determines that the host vehicle VH is located in a parking lot when it detects parking space lines, such as white lines, that demarcate parking spaces, or another vehicle parked in a parking space, based on road surface images around the host vehicle VH captured by the camera sensor 42. The parking lot interior determination unit 100 also determines that the host vehicle VH is located in a parking lot when the current position of the host vehicle VH acquired by the position information acquisition device 60 is within a predetermined distance (e.g., several meters) from the position of the public parking lot, the parking lot of a store, an apartment complex, or the like registered in the map information of the map database 70. The parking lot interior determination unit 100 transmits the determination result to the minor collision determination unit 110 and the secondary collision damage mitigation control unit 130.

[0029] 3 is a flowchart illustrating a routine for determining whether the vehicle is in a parking lot, which is executed by the CPU 11 of the ECU 10. This routine starts, for example, when the power switch or ignition switch of the vehicle VH is turned on, and ends when the power switch or ignition switch is turned off. During the period from when the power switch or ignition switch is turned on to when the power switch or ignition switch is turned off, this routine may be terminated once the vehicle speed of the vehicle VH increases to a predetermined speed, and may be resumed once the vehicle speed of the vehicle VH decreases to the predetermined speed.

[0030] In step S100, the ECU 10 determines whether or not a parking stall line such as a white line or another parked vehicle (stopped vehicle) has been detected around the host vehicle VH based on the detection result of the camera sensor 42. If a parking stall line or another parked vehicle has been detected (Yes), the ECU 10 proceeds to processing in step S120 and determines that the host vehicle VH is located in the parking lot. On the other hand, if neither a parking stall line nor another parked vehicle has been detected (No), the ECU 10 proceeds to processing in step S110.

[0031] When the ECU 10 proceeds to the processing of step S110, it determines whether the current position of the host vehicle VH acquired by the position information acquisition device 60 is within a predetermined distance range from the position of a public parking lot, a store parking lot, or the like registered in the map information of the map database 70. If it is within the predetermined distance range, the ECU 10 proceeds to the processing of step S120 and determines that the host vehicle VH is located in the parking lot. On the other hand, if it is not within the predetermined distance range (No), the ECU 10 returns from this routine.

[0032] The minor collision determination unit 110 determines whether a minor collision has occurred. The minor collision determination unit 110 stores preset minor collision determination conditions, and determines that a minor collision has occurred when the minor collision determination conditions are met. The minor collision determination unit 110 transmits the determination result to the secondary collision damage mitigation control unit 130.

[0033] The minor collision determination unit 110 determines that the minor collision determination condition is met when both of the following determination conditions A1 and A2 are met. Condition A1: The acceleration G of the vehicle VH exceeds the reference acceleration threshold Gath. ·Condition A2: The integral value ∫G of the acceleration G of the vehicle VH exceeds the reference integral threshold value ∫Gath. The minor collision determination unit 110 determines that a minor collision has occurred in the host vehicle VH when condition A1 and condition A2 are both satisfied. The acceleration G of the vehicle VH is acquired by the acceleration sensor 36. The acceleration G of the vehicle VH and the integral value ∫G of the acceleration G are used as a collision index value that indicates the severity of the collision of the host vehicle VH.

[0034] The integral value ∫G of acceleration G is a value obtained by integrating acceleration G during a period from the start timing to the end timing shown below, for example. The start timing is the timing when the interval integral value of acceleration G (the integral value ∫G of acceleration G over a preset interval width) exceeds the interval integral threshold. The end timing is the timing when a predetermined time has elapsed since the interval integral value of acceleration G falls below the interval integral threshold. The minor collision determination unit 110 detects the start timing and the end timing by repeatedly calculating the above interval integral value at a predetermined calculation cycle.

[0035] The reference acceleration threshold value Gath and the reference integral threshold value ∫Gath in the determination conditions A1 and A2 are set to values ​​lower than the collision level at which the airbag control device deploys the airbag. Therefore, the occurrence of a minor collision can be determined using these minor collision determination conditions. For example, when the host vehicle VH is traveling on a rough road, the acceleration G may instantaneously exceed the reference acceleration threshold value Gath. For this reason, if an attempt is made to determine whether or not a minor collision has occurred using only the determination condition A1, it is difficult to accurately distinguish between a minor collision and rough road driving. On the other hand, when a minor collision occurs, the integral value ∫G of the acceleration G becomes larger than when traveling on a rough road. Therefore, in this embodiment, by adding the determination condition A2, the influence of rough road driving can be minimized in the determination result of whether or not a minor collision has occurred.

[0036] Here, consider the case where the driver makes a misoperation of suddenly stepping on the accelerator pedal while the vehicle VH is in the parking lot. In such a case, the vehicle VH is highly likely to collide with surrounding objects at a very low speed, and the acceleration at the time of collision also becomes small. Therefore, even if the vehicle VH actually collides with surrounding objects in the parking lot, the above determination conditions A1 and A2 may not be satisfied, and there is a risk that it may not be determined that a light collision has occurred. On the other hand, if the determination conditions A1 and A2 are uniformly relaxed, for example, there is a problem that the light collision determination condition is easily satisfied when the vehicle VH is running on a rough road or the like. Therefore, when the parking lot determination unit 100 determines that the host vehicle VH exists in the parking lot, the light collision determination unit 110 relaxes the determination conditions A1 and A2.

[0037] Specifically, when the light collision determination unit 110 determines that the host vehicle VH exists in the parking lot, it corrects the reference acceleration threshold value Gath to a smaller acceleration threshold value Gbth (Gbth < Gath). Hereinafter, the acceleration threshold value Gbth is referred to as the "corrected acceleration threshold value". Further, when the light collision determination unit 110 determines that the host vehicle VH exists in the parking lot, it corrects the reference integral threshold value ∫Gath to a smaller integral threshold value ∫Gbth (∫Gbth < ∫Gath). Hereinafter, the integral threshold value ∫Gbth is referred to as the "corrected integral threshold value". In this way, when it is determined that the host vehicle VH exists in the parking lot, by relaxing the determination conditions A1 and A2, it becomes possible to effectively determine a light collision even when the vehicle VH collides with surrounding objects at a very low speed. Further, by relaxing the determination conditions A1 and A2 only in the parking lot, it becomes possible to effectively prevent misjudging a change in acceleration when the vehicle VH is running on a rough road or the like as a light collision.

[0038] The sudden accelerator depression determination unit 120 determines whether the accelerator has been suddenly depressed in order to estimate whether the driver has accidentally depressed the accelerator. The sudden accelerator depression determination unit 120 stores preset sudden accelerator depression determination conditions, and determines that the accelerator has been suddenly depressed when the sudden accelerator depression determination conditions are met. The sudden accelerator depression determination unit 120 transmits the determination result to the secondary collision damage mitigation control unit 130.

[0039] The conditions for determining whether the accelerator pedal is suddenly depressed are set as follows: Condition B1: The accelerator pedal operation amount AC is equal to or greater than a threshold ACth1, and the accelerator pedal operation speed ACV is equal to or greater than a threshold ACVth. Condition B2: The accelerator pedal depression amount AC becomes equal to or greater than a threshold value ACth2 within a set time Tth (a predetermined time in the present disclosure) after condition B1 is met. However, threshold value ACth2 is set to a value greater than threshold value ACth1. When condition B2 is satisfied, sudden accelerator depression determination unit 120 determines that the sudden accelerator depression determination condition is satisfied and that the accelerator has been suddenly depressed. Accelerator pedal operation amount AC represents the accelerator operation amount detected by accelerator sensor 32. Accelerator pedal operation speed ACV represents the amount of change in accelerator pedal operation amount AC per unit time, that is, the differential value of accelerator pedal operation amount AC. Note that the sudden accelerator depression determination condition may be, for example, condition B1 alone.

[0040] The conditions for determining whether or not the accelerator pedal has been suddenly depressed are set as follows. The accelerator pedal operation amount AC falls below the threshold ACth3. Threshold value ACth3 is set to a value smaller than threshold value ACth1 and used to determine whether the accelerator pedal has been returned to a low opening position (for example, several percent). When the condition for determining whether the accelerator pedal has been suddenly depressed is met, sudden accelerator depression determination unit 120 determines that the accelerator pedal has been suddenly depressed. When the condition for determining whether the accelerator pedal has been suddenly depressed is met, sudden accelerator depression determination unit 120 transmits the determination result to secondary collision damage mitigation control unit 130.

[0041] While it is determined that the accelerator sudden depression operation determination unit 120 is performing a sudden accelerator depression operation, it transmits a sudden accelerator depression operation notification command to the HMI 80. While the HMI 80 is receiving the sudden accelerator depression operation notification command, it outputs a warning sound (for example, a buzzer sound) from the speaker 82 and displays a warning screen on the display device 81 that urges the driver to take their foot off the accelerator pedal.

[0042] The secondary collision damage mitigation control unit 130 performs secondary collision damage mitigation control to mitigate secondary collision damage of the host vehicle VH by generating braking force and suppressing driving force on the host vehicle VH. In this embodiment, the secondary collision damage mitigation control unit 130 performs two types of control as secondary collision damage mitigation control: braking force generation control and driving force suppression control. The braking force generation control is control that operates the brake device 22 so as to obtain the desired required deceleration for secondary collision damage mitigation. This allows the host vehicle VH to be forcibly decelerated without the driver needing to operate the brake pedal. The driving force suppression control is control that limits the output torque of the drive device 20. This means that even if the driver is pressing the accelerator pedal, the driver's requested torque is not accepted, and the acceleration movement of the host vehicle VH can be suppressed.

[0043] The secondary collision damage mitigation control unit 130 executes secondary collision damage mitigation control when the minor collision determination unit 110 determines that a minor collision has occurred with the host vehicle VH and the sudden accelerator pedal operation determination unit 120 determines that a sudden accelerator pedal operation has been performed. This makes it possible to effectively mitigate secondary collision damage when a minor collision occurs with the host vehicle VH. After executing the secondary collision damage mitigation control, the secondary collision damage mitigation control unit 130 ends the secondary collision damage mitigation control when the sudden accelerator pedal operation determination unit 120 determines that the sudden accelerator pedal operation has ended.

[0044] Incidentally, if both braking force generation control and driving force suppression control are implemented when secondary collision damage mitigation control is performed, for example, if the host vehicle VH is located in a parking lot, it is highly likely that the driver unintentionally erroneously depressed the accelerator pedal, thereby effectively mitigating secondary collision damage. However, if the host vehicle VH is not located in a parking lot, the driver's sudden accelerator operation may be an avoidance operation to mitigate damage from a collision with another vehicle. Even in such a case, if braking force generation control is performed as secondary collision damage mitigation control, the unnecessary application of the brakes will cause the driver to feel uncomfortable.

[0045] Therefore, the secondary collision damage mitigation control unit 130 of this embodiment turns on the braking force operation permission flag F (F=1) only when the parking lot interior determination unit 100 determines that the host vehicle VH is present in a parking lot. In other words, in a situation where the minor collision determination unit 110 determines that a minor collision has occurred with the host vehicle VH and the sudden accelerator pedal depression operation determination unit 120 determines that a sudden accelerator pedal depression operation has been performed, the secondary collision damage mitigation control unit 130 performs both braking force generation control and driving force suppression control as secondary collision damage mitigation control only when the braking force operation permission flag F is on (F=1) (when the host vehicle VH is present in a parking lot). On the other hand, even when the minor collision determination unit 110 determines that a minor collision has occurred with the host vehicle VH and the sudden accelerator pedal operation determination unit 120 determines that a sudden accelerator pedal operation has been performed, if the braking force operation permission flag F is off (F=0) (if the host vehicle VH is not in a parking lot), the secondary collision damage mitigation control unit 130 only performs driving force suppression control as secondary collision damage mitigation control. This makes it possible to effectively prevent unnecessary operation of the braking force generation control.

[0046] 4 is a flowchart illustrating a routine for determining a minor collision, determining whether the accelerator pedal has been suddenly depressed, and controlling damage mitigation against a secondary collision, which is executed by the CPU 11 of the ECU 10. This routine is executed in parallel with the routine for determining whether the vehicle is in a parking lot, which is shown in FIG.

[0047] In step S200, ECU 10 determines whether or not the parking lot condition, which determines that the host vehicle VH is in a parking lot, is met by the parking lot determination process shown in Fig. 3. If the parking lot condition is met in step S200 (Yes), ECU 10 proceeds to the process of step S210, where it relaxes the above-mentioned determination conditions A1 and A2 (i.e., it changes the reference acceleration threshold Gath to the corrected acceleration threshold Gbth and the reference integral threshold ∫Gath to the corrected integral threshold ∫Gbth). Next, it proceeds to the process of step S220, where it turns on the braking force operation permission flag F (F = 1). Note that the processes of steps S210 and S220 may be performed in any order and may be performed simultaneously.

[0048] On the other hand, if the in-parking lot condition is not met (No) in step S200, the ECU 10 proceeds to the process of step S225 and sets the braking force operation permission flag F to OFF (F=0).

[0049] When the process proceeds from step S220 or step S225 to step S230, the ECU 10 determines whether the light collision determination condition is met, i.e., whether the above-mentioned conditions A1 and A2 are met. If the process proceeds from step S220 to step S230, the ECU 10 makes the determination based on the corrected acceleration threshold Gbth and the corrected integral threshold ∫Gbth (relaxed conditions), whereas if the process proceeds from step S225 to step S230, the ECU 10 makes the determination based on the reference acceleration threshold Gath and the reference integral threshold ∫Gath. If the light collision determination condition is met (Yes), the ECU 10 proceeds to step S240. On the other hand, if the light collision determination condition is not met (No), the ECU 10 returns from this routine.

[0050] In step S240, the ECU 10 determines whether the sudden accelerator depression determination condition is satisfied, i.e., whether the above-described conditions B1 and B2 are satisfied. If the sudden accelerator depression determination condition is satisfied (Yes), the ECU 10 proceeds to the processing of step S250. On the other hand, if the sudden accelerator depression determination condition is not satisfied (No), the ECU 10 returns from this routine. Note that the processing of steps S230 and S240 may be performed in any order and may be performed simultaneously.

[0051] In step S250, the ECU 10 determines whether the braking force operation permission flag F is on (F=1). If the braking force operation permission flag F is on (Yes), that is, if the host vehicle VH is present in a parking lot, the ECU 10 proceeds to the processing of step S260, where it executes both the braking force generation control and the driving force suppression control as secondary collision damage mitigation control. On the other hand, if the braking force operation permission flag F is not on (No), that is, if the host vehicle VH is not present in a parking lot, the ECU 10 proceeds to the processing of step S270, where it executes only the driving force suppression control as secondary collision damage mitigation control.

[0052] In step S280, ECU 10 determines whether or not the sudden accelerator depression has ended. If the sudden accelerator depression has not ended (No), ECU 10 repeats the determination of step S280. That is, secondary collision damage mitigation control continues to be executed. On the other hand, if the sudden accelerator depression has ended (Yes), ECU 10 proceeds to the processing of step S290, cancels secondary collision damage mitigation control, and returns from this routine.

[0053] The above describes the vehicle control device and vehicle control method according to this embodiment, but the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the purpose of the present disclosure.

Claims

1. a sudden accelerator pedal depression determination means for determining whether a sudden accelerator pedal depression operation has been performed by a driver of the vehicle; a minor collision determination means for determining whether a minor collision has occurred in the vehicle; a control unit that executes, as secondary collision damage mitigation control, at least one of a driving force suppression control that suppresses a driving force of the vehicle and a braking force generation control that generates a braking force on the vehicle when the sudden accelerator depression determination unit determines that the accelerator pedal has been suddenly depressed within a predetermined time and a control execution condition is established whereby the minor collision determination unit determines that a minor collision has occurred on the vehicle, a parking lot interior determination means for determining whether the vehicle is present in a parking lot; The control mode including at least one of the control execution content and the control execution condition of the secondary collision damage mitigation control is changed according to the determination result of the parking lot interior determination means. A vehicle control device characterized by:

2. The vehicle control device according to claim 1, When the parking lot interior determination means determines that the vehicle is present in a parking lot, the threshold value used by the minor collision determination means for determination is changed to make it easier to determine that the minor collision has occurred, compared to when the parking lot interior determination means does not determine that the vehicle is present in a parking lot. A vehicle control device characterized by:

3. The vehicle control device according to claim 1, When the control execution condition is satisfied, When the parking lot interior determination means determines that the vehicle is present in a parking lot, execution of the braking force generation control as the secondary collision damage mitigation control is permitted, When the parking lot interior determination means does not determine that the vehicle is present in the parking lot, execution of the braking force generation control as the secondary collision damage mitigation control is not permitted. A vehicle control device characterized by:

4. A vehicle control method, when it is determined that an accelerator pedal has been suddenly depressed by a driver of a vehicle within a predetermined time and a control execution condition for determining that a minor collision has occurred with the vehicle is satisfied, which executes at least one of a driving force suppression control for suppressing a driving force of the vehicle and a braking force generation control for generating a braking force on the vehicle as secondary collision damage mitigation control, A parking lot interior determination is performed to determine whether the vehicle is present in a parking lot, and a control mode including at least one of the control execution content and the control execution condition of the secondary collision damage mitigation control is changed according to the result of the parking lot interior determination. A vehicle control method comprising:

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