Control device and control method for vehicle

Abstract

To provide a control device and a control method of a vehicle capable of more appropriately performing a preliminary operation (collision avoidance preparation operation) for collision avoidance when an own vehicle turns left or right at an intersection.SOLUTION: The vehicle control ECU performs the collision avoidance preparatory operation when the first moving object is present when the host vehicle (HV) intends to turn left at the intersection and when the second moving object is present when the host vehicle (HV) intends to turn right at the intersection. The first moving object is a moving object that is not detected by the surrounding object detection device because the first moving object is located within a blind spot range of the surrounding object detection device. The first moving object is a moving object approaching the intersection from the left side of the host vehicle at a speed equal to or higher than the first threshold speed. The second moving object is a moving object that is not detected by the surrounding object detection device because the second moving object is located within a blind spot range of the surrounding object detection device. The second moving object is a moving object approaching the intersection from the right side of the host vehicle at a speed equal to or higher than the second threshold speed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a control method that performs a preparatory operation to reduce the possibility of the vehicle colliding with a moving object when the vehicle makes a left or right turn at an intersection. [Background technology]

[0002] When a vehicle enters an intersection, a conventional device outputs first warning information when it determines that a moving object is located within a blind spot that is not visible from the vehicle, and outputs second warning information when it determines that the object is not located within the blind spot. The warning intensity of the first warning information is stronger than the warning intensity of the second warning information (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-123691 Summary of the Invention

[0004] However, the possibility of a collision between an object located within the blind spot and the vehicle itself varies depending on the object's "position, direction of movement, and speed of movement" and the direction of movement of the vehicle at the intersection, so the level of warning provided by the above-mentioned conventional devices may be excessive or insufficient.

[0005] The present invention has been made to solve the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control device and a control method that can more appropriately perform a preparatory operation (collision avoidance preparatory operation) to avoid a collision when the vehicle makes a left or right turn at an intersection.

[0006] One aspect of the vehicle control device of the present invention is A vehicle control device including a peripheral object detection device (20, 30) that acquires object information about an object located in the vicinity of a host vehicle, an assistance execution device (51, 52, 53) that is configured to be able to execute a collision avoidance assistance operation to avoid a collision between the object and the host vehicle, and a controller (10, 50) that is configured to make the assistance execution device execute the collision avoidance assistance operation when a collision determination condition that is established when a collision between the object detected by the peripheral object detection device and the host vehicle is predicted is established (S560: Yes), The controller a first situation in which, when the host vehicle is approaching an intersection and intends to make a left turn at the intersection (S310: Yes), a first condition is recognized based on the object information and position information of a communication terminal held by the first moving body, including a condition that the host vehicle is not detected by the peripheral object detection device because it is located within a blind spot range of the peripheral object detection device (S325: Yes, S330: Yes) and that a first moving body is present approaching the intersection from the left side of the host vehicle at a speed equal to or greater than a first threshold speed (S315, S320: Yes, S335, S340: Yes); and a second situation in which, when the host vehicle is approaching an intersection and intends to make a right turn at the intersection (S410: Yes), a second condition is recognized to be met (S415, S420: Yes, S435, S440: Yes), the second condition including the condition that a second moving object is present and is approaching the intersection from the right side of the host vehicle at a speed equal to or greater than a second threshold speed, because the host vehicle is located within a blind spot range of the host vehicle and is therefore not detected by the peripheral object detection device (S425: Yes, S430: Yes), based on the object information and position information of a communication terminal held by the second moving object; When at least one of the following specific situations occurs: a first operation (S345, S445, S550) of changing the collision determination condition to a condition that is more likely to be met than when the specific situation does not occur, and a second operation (S345, S445) of shortening the time from when the execution of the collision avoidance assist operation is instructed to the assistance execution device to be performed until the collision avoidance operation is actually started; The device is configured to perform at least one of the above.

[0007] According to this, a moving object that has a high potential risk of colliding with the host vehicle is identified depending on whether the host vehicle is turning left or right at an intersection. That is, when the host vehicle is attempting to turn left, the moving object is a moving object that is approaching the intersection from the left of the host vehicle at a speed equal to or greater than a first threshold speed and is located within the blind spot of the peripheral object detection device. When the host vehicle is attempting to turn right, the moving object is a moving object that is approaching the intersection from the right of the host vehicle at a speed equal to or greater than a second threshold speed and is located within the blind spot of the peripheral object detection device. Then, when a first or second condition, including a condition that such a moving object exists, is met, at least one of a first and a second action is performed as a preliminary action to avoid a collision.

[0008] Therefore, the control device of the above aspect can effectively reduce the possibility of contact with a moving object in advance when the host vehicle makes a left or right turn at an intersection.

[0009] In the above description, to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses for the components of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the names and / or symbols. The present invention also covers a vehicle control method and a program therefor. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention; [Figure 2]FIG. 2(A) is a plan view of an intersection in a left-hand traffic area where the vehicle turns left at the intersection, and FIG. 2(B) is a plan view of an intersection in a left-hand traffic area where the vehicle turns right at the intersection. [Figure 3] This is a routine executed by the CPU of the vehicle control ECU shown in FIG. [Figure 4] This is a routine executed by the CPU of the vehicle control ECU shown in FIG. [Figure 5] This is a routine executed by the CPU of the vehicle control ECU shown in FIG. [Figure 6] FIG. 6(A) is a plan view of an intersection in a right-hand traffic area where the vehicle turns left at the intersection, and FIG. 6(B) is a plan view of an intersection in a right-hand traffic area where the vehicle turns right at the intersection. DETAILED DESCRIPTION OF THE INVENTION

[0011] A "vehicle control device DS (device DS)" according to an embodiment of the present invention includes the components shown in Fig. 1 and is applied to a host vehicle HV. The host vehicle HV may be any of a vehicle powered by an internal combustion engine, an electric vehicle, a hybrid vehicle, etc.

[0012] In this specification, "ECU" stands for electronic control unit. The ECU is equipped with a microcomputer including a CPU (processor), ROM, RAM, and an interface. The ECU is also called a controller or a computer. The multiple ECUs shown in FIG. 1 are connected to each other via a CAN (Controller Area Network) so that they can exchange information. Some or all of these multiple ECUs may be integrated into a single ECU.

[0013] The vehicle control (driving assistance) ECU 10 executes "collision avoidance assistance control (collision damage reduction control)" to reduce the possibility that the host vehicle HV will collide with an object.

[0014] The camera device 20 includes a camera 21 and an image ECU 22. The camera 21 captures an image of the scene ahead of the host vehicle HV at predetermined intervals to obtain image data. The image ECU 22 generates camera information based on the image data from the camera 21 and transmits the camera information to the vehicle control ECU 10. The camera information includes camera object information and lane information. The camera object information includes the "position, type, etc." of the object.

[0015] The radar device 30 is a device that acquires information about an object present ahead of the host vehicle HV using millimeter-wave radio waves. The radar device 30 includes a radar 31 and a radar ECU 32. The radar 31 transmits millimeter waves within a predetermined detection range every predetermined time and receives millimeter waves reflected by the object. The radar 31 transmits information about the transmitted and received millimeter waves to the radar ECU 32. The radar ECU 32 acquires radar information based on the information from the radar 31. The radar ECU 32 transmits the radar information to the vehicle control ECU 10. The radar information includes the distance to the object, the direction of the object, the relative speed of the object, etc. The vehicle control ECU 10 generates fused object information by integrating the radar information and camera information. The fused object information includes the distance to the object, the direction of the object, the relative speed of the object, the type of object, etc. The camera device 20 and the radar device 30 may be referred to as a "peripheral object detection device (periphery monitoring device)" that detects objects located around the vehicle.

[0016] The powertrain ECU 40 controls a drive device including a power source of the host vehicle HV (not shown) by driving a powertrain actuator 41, thereby generating a drive force.

[0017] The brake ECU 50 controls the pressure of hydraulic oil in the oil passage 52 and the hydraulic friction braking device 53 by driving the brake actuator 51, thereby applying a braking force to the host vehicle HV. Therefore, the brake ECU 50 can perform automatic braking, which automatically applies a braking force to the host vehicle HV based on instructions from the vehicle control ECU 10.

[0018] Based on an instruction from the vehicle control ECU 10, the notification (alarm) ECU 60 causes a display 61 in front of the driver's seat to display an alarm symbol and causes an alarm sound generation device 62 to generate an alarm sound.

[0019] The navigation ECU 70 constitutes an in-vehicle navigation system together with a GPS receiver 71, a map database 72 that stores map information, and a display touch panel 73. The navigation ECU 70 acquires the current position of the host vehicle HV based on the GPS signal received by the GPS receiver 71.

[0020] The communication ECU 80 communicates with devices external to the vehicle HV (for example, a server such as an information management center) wirelessly and over a network, and acquires various pieces of information from the external devices.

[0021] The vehicle control ECU 10 receives the detection values ​​(output values) of the following "sensors and switches." An accelerator pedal operation amount sensor 91 detects an accelerator pedal operation amount AP. A brake pedal operation amount sensor 92 detects a brake pedal operation amount BP. A vehicle speed sensor 93 detects the speed of the host vehicle HV (i.e., host vehicle speed) Vh. A turn signal switch 94 generates a signal indicating the flashing status of the turn signal of the host vehicle HV. When a turn signal lever attached to a steering column (not shown) is rotated counterclockwise, the turn signal switch 94 generates a signal to flash the left turn signal of the host vehicle HV. When the turn signal lever is rotated clockwise, the turn signal switch 94 generates a signal to flash the right turn signal of the host vehicle HV.

[0022] (Overview of operation) Below, we will explain the outline of the operation of the device DS in areas where the law requires vehicles to drive on the left side of the road. Note that "moving objects other than vehicles," such as pedestrians and bicycles, are referred to as "mobile objects." Mobile objects carry communication terminals (e.g., mobile phones). The communication terminals acquire their own positions based on GPS signals and transmit those positions to a server at an information management center.

[0023] (When turning left) As shown in Figure 2(A), when the host vehicle HV is approaching an intersection and intends to turn left at the intersection, the host vehicle HV may come close to moving objects P1 to P4 that are attempting to cross the crosswalk CL in the direction of the left turn.

[0024] Near the intersection, there may be a structure D1 and another vehicle D2 waiting at a traffic light just before the crosswalk CL. The structure D1 and the other vehicle D2 are "blind spot forming objects" that form a blind spot for the surrounding object detection device and the driver of the host vehicle HV. The moving object P1 is within the blind spot formed by the other vehicle D2, and the moving object P3 is within the blind spot formed by the structure D1. Therefore, the moving objects P1 and P3 may suddenly appear in front of the host vehicle HV after the host vehicle HV starts to turn left. Therefore, the possibility of the host vehicle HV coming into contact with the moving objects P1 or P3 is higher than the possibility of the host vehicle HV coming into contact with the moving objects P2 or P4.

[0025] Therefore, when the host vehicle HV is approaching an intersection and intends to turn left, the device DS determines whether a first condition (a left-turn condition) is met. The first condition is met when the following conditions L1 to L5 are met. The device DS queries the server as to whether conditions L1 to L3 are met. The server determines whether these conditions are met based on the position information of the moving object transmitted from the communication terminal to the server. The server transmits the determination result to the device DS. The same applies to conditions R1 to R3, which will be described later.

[0026] (Condition L1) The moving object is located near the "intersection that the host vehicle HV is approaching." (Condition L2) A moving object that satisfies condition L1 is moving from the left side of the host vehicle HV before turning left toward the intersection. That is, the moving object that satisfies condition L1 is moving from left to right. (Condition L3) The speed of the moving object that satisfies condition L2 is equal to or greater than the first threshold speed. (Condition L4) A moving object that satisfies condition L3 has not been detected by the peripheral object detection device. (Condition L5) An object forming a blind spot exists between the moving object that satisfies condition L4 and the host vehicle HV.

[0027] When the device DS determines that the first condition is met, it determines that the first situation has occurred, and performs the "first action and second action" described below as collision avoidance preparatory actions so that collision avoidance control can be executed at an earlier timing.

[0028] (First Action) The first action is an action to change the collision determination condition to a condition that is more likely to be met. When the collision determination condition is met, the device DS displays an alarm on the display 61, generates an alarm sound from the alarm sound generating device 62, and activates "automatic braking as a collision avoidance support action." (Second Operation) The second operation is an operation for shortening the delay time from when the brake actuator 51 is instructed to perform automatic braking via the brake ECU 50 to when braking force actually starts to be applied to the host vehicle HV. More specifically, as the second operation, the device DS performs an operation (i.e., a pre-fill operation) for increasing the pressure of the hydraulic oil in the oil passage 52 and the hydraulic friction braking device 53 to a level where no braking force is generated.

[0029] (When turning right) As shown in Figure 2(B), when the host vehicle HV is approaching an intersection and intends to turn right at the intersection, the host vehicle HV may come close to moving objects P5 to P8 that are attempting to cross the crosswalk CR in the direction of the right turn.

[0030] Near the intersection, there may be another vehicle D3 stopped near the intersection due to traffic congestion. The other vehicle D3 is a "blind spot forming object" that forms a blind spot for the surrounding object detection device and the driver of the host vehicle HV. In the example shown in FIG. 2(B), the moving object P8 is within the blind spot formed by the other vehicle D3. Therefore, the moving object P8 may suddenly appear in front of the host vehicle HV after the host vehicle HV starts to turn right. Therefore, the possibility of the host vehicle HV coming into contact with the moving object P8 is higher than the possibility of the host vehicle HV coming into contact with any of the moving objects P5 to P7.

[0031] Therefore, when the host vehicle HV is approaching an intersection and intends to turn right, the device DS determines whether a second condition (right-turn condition) is met. The second condition is met when conditions R1 to R5 described below are met.

[0032] (Condition R1) The moving object is located near the "intersection that the host vehicle HV is approaching." (Condition R2) A moving object that satisfies condition R1 is moving from the right side of the host vehicle HV before turning right toward the intersection. That is, the moving object that satisfies condition R1 is moving from right to left. (Condition R3) The speed of the moving object that satisfies condition R2 is equal to or greater than a second threshold speed. Note that the second threshold speed may be the same as or different from the first threshold speed. (Condition R4) A moving object that satisfies condition R3 has not been detected by the peripheral object detection device. (Condition R5) An object forming a blind spot exists between the moving object that satisfies condition R4 and the host vehicle HV.

[0033] When the device DS determines that the second condition is met, it determines that the second situation has occurred, and performs the above-mentioned "first action and second action."

[0034] This allows the device DS to reduce the possibility of the host vehicle HV coming into contact with a moving object when the host vehicle HV makes a left or right turn at an intersection.

[0035] (Specific operation) The CPU 10a (hereinafter simply referred to as "CPU") of the vehicle control ECU 10 executes the routines shown in the flowcharts of Figures 3 to 5 every time a predetermined time (computation period) dt elapses. Note that "step" will be abbreviated as "S" below.

[0036] <When turning left or going straight> At a predetermined timing, the CPU starts the process from S300 in Fig. 3 and proceeds to S305. In S305, the CPU determines whether the host vehicle is approaching an intersection and is within a predetermined distance from the intersection, based on information from the navigation ECU 70.

[0037] If the condition of S305 is satisfied, the CPU proceeds to S310 and determines whether the host vehicle intends to turn left. More specifically, the CPU determines whether the turn signal switch 94 is generating a signal to flash the left turn signal of the host vehicle HV. The CPU may determine whether the host vehicle intends to turn left based on whether the in-vehicle navigation system is guiding the host vehicle to turn left at the intersection, or whether the host vehicle is traveling in a left-turn-only lane at the intersection.

[0038] If the condition of S310 is satisfied, the CPU proceeds to S315, where it inquires of the server whether or not there is a moving object (specific moving object facing right) located near the intersection to which the vehicle is approaching and moving from left to right toward the intersection. Next, in S320, the CPU determines whether or not there is a specific moving object facing right based on the response from the server.

[0039] If the condition of S320 is met, the CPU proceeds to S325 and determines whether there are any right-facing specific moving objects that have not been detected by the surrounding object detection device based on the positions of the right-facing specific moving objects received from the server, the current position of the vehicle, and the fusion object information.

[0040] If the condition of S325 is met, the CPU proceeds to S330 and determines whether or not a blind spot forming object exists between the undetected right-facing specific moving object and the vehicle HV based on the position information of the right-facing specific moving object received from the server, the fusion object information, and information from the navigation ECU 70.

[0041] If the condition of S330 is satisfied, the CPU proceeds to S335, where it queries the server whether the moving speed of the undetected rightward moving object is equal to or greater than the first threshold speed. The server calculates the moving speed of the moving object from the change in the position of the moving object per unit time. Next, the CPU proceeds to S340, where it determines whether the moving speed of the undetected rightward moving object is equal to or greater than the first threshold speed based on the response from the server.

[0042] If the condition of S340 is satisfied, the CPU proceeds to S345 and takes steps to execute the "first and second actions" described above. More specifically, the CPU sets the value of the automatic braking advance flag XB to "1." This changes the collision determination conditions to conditions that are more likely to be satisfied, as described below. The value of the advance flag XB is set to "0" by an initialization routine executed by the CPU when the host vehicle HV is started. Furthermore, in S345, the CPU sends an instruction to the brake ECU 50 to drive the brake actuator 51 and perform the pre-fill operation described above. Thereafter, the CPU proceeds to S395 and temporarily ends this routine.

[0043] If the CPU determines "No" in any of steps S305, S320, S325, S330, and S340, it proceeds to S395 from the step where it determined "No." Furthermore, if the CPU determines "No" in S310, it proceeds to S350. In S350, the CPU determines whether the host vehicle intends to turn right. More specifically, the CPU determines whether the turn signal switch 94 is generating a signal to flash the right turn signal of the host vehicle HV. The CPU may determine whether the host vehicle intends to turn right based on whether the in-vehicle navigation system is guiding a right turn at the intersection or whether the host vehicle is traveling in a right-turn-only lane at the intersection. If the condition of S350 is not met (in this case, the host vehicle HV intends to go straight through the intersection), the CPU proceeds to S315. If the condition of S350 is met, the CPU proceeds to S395.

[0044] <When turning right> At a predetermined timing, the CPU starts the process from S400 in Fig. 4 and proceeds to S405. In S405, the CPU determines whether the host vehicle is approaching an intersection and is within a predetermined distance from the intersection, based on information from the navigation ECU 70.

[0045] If the condition of S405 is satisfied, the CPU proceeds to S410 and determines whether the host vehicle intends to turn right. More specifically, the CPU determines whether the turn signal switch 94 is generating a signal to flash the right turn signal of the host vehicle HV. The CPU may determine whether the host vehicle intends to turn right based on whether the in-vehicle navigation system is guiding the host vehicle to turn right at the intersection, or whether the host vehicle is traveling in a right-turn-only lane at the intersection.

[0046] If the condition of S410 is met, the CPU proceeds to S415 and inquires of the server whether or not there is a moving object (specific moving object facing left) located near the intersection to which the vehicle is approaching and moving from right to left toward the intersection. Next, in S420, the CPU determines whether or not there is a specific moving object facing left based on the response from the server.

[0047] If the condition of S420 is met, the CPU proceeds to S425 and determines whether there are any left-facing specific moving objects that have not been detected by the surrounding object detection device based on the position of the left-facing specific moving object received from the server, the current position of the vehicle, and the fusion object information.

[0048] If the condition of S425 is met, the CPU proceeds to S430 and determines whether or not a blind spot forming object exists between the undetected left-facing specific moving object and the vehicle HV based on the position of the left-facing specific moving object received from the server, the fusion object information, and information from the navigation ECU 70.

[0049] If the condition of S430 is met, the CPU proceeds to S435, where it queries the server whether the moving speed of such undetected leftward moving object is equal to or greater than the second threshold speed. Then, the CPU proceeds to S440, where it determines whether the moving speed of the undetected leftward moving object is equal to or greater than the second threshold speed based on the response from the server.

[0050] If the condition of S440 is met, the CPU proceeds to S445 and takes steps to execute the above-mentioned "first and second operations." After that, the CPU proceeds to S495 and temporarily ends this routine. Note that if the CPU determines "No" in any of steps S405, S410, S420, S425, S430, and S440, it proceeds to S495 from the step where it determined "No."

[0051] <Collision avoidance support> 5, the CPU starts the process from S500 and proceeds to S510. In S510, the CPU determines whether the distance between the host vehicle and the intersection is greater than a predetermined distance based on information from the navigation ECU 70. If the distance between the host vehicle and the intersection is not greater than the predetermined distance, the CPU proceeds directly from S510 to S530.

[0052] On the other hand, if the distance between the vehicle and the intersection is greater than the predetermined distance, the CPU proceeds from S510 to S520. In S520, the CPU sets the value of the automatic braking advance flag XB to "0." Furthermore, the CPU ends the pre-fill operation by sending an instruction to the brake ECU 50. Thereafter, the CPU proceeds to S530.

[0053] In S530, the CPU determines whether the value of the acceleration flag XB is "1." If the value of the acceleration flag XB is not "1," the CPU proceeds to S540, where it sets the collision determination threshold TTCth to the standard value Tstd. Then, the CPU proceeds to S560. On the other hand, if the value of the acceleration flag XB is "1," the CPU proceeds from S530 to S550, where it sets the collision determination threshold TTCth to the acceleration value TLong. The acceleration value TLong is greater than the standard value Tstd. Then, the CPU proceeds to S560.

[0054] In S560, the CPU calculates the time required for the host vehicle to collide with an object (time to collision) TTC (= distance to object / relative speed of object), and determines whether the time to collision TTC is equal to or less than the collision determination threshold TTCth. If the time to collision TTC is equal to or less than the collision determination threshold TTCth, the CPU proceeds to S570 and sends an instruction to the brake ECU 50 to execute automatic braking. Thereafter, the CPU proceeds to S595 and temporarily ends this routine. On the other hand, if the time to collision TTC is not equal to or less than the collision determination threshold TTCth, the CPU proceeds directly from S560 to S595.

[0055] As described above, when the host vehicle HV turns left or right at an intersection, the device DS performs a collision avoidance preparatory operation if there is a moving object that has a high potential risk of contact with the host vehicle HV. That is, the device DS performs a collision avoidance preparatory operation when the first or second situation occurs. Therefore, the possibility of the host vehicle HV contacting a moving object at the intersection can be reduced.

[0056] The present invention is not limited to the above-described embodiment and modifications, and various modifications can be adopted within the scope of the present invention.

[0057] For example, the device DS may add the following condition L6 to the collision avoidance preparation conditions when turning left. (Condition L6) A moving object that satisfies condition L3 is a moving object that is located to the right of the host vehicle HV when the host vehicle HV has completed a left turn (see moving object P1 in FIG. 2(A)). That is, in S315, the CPU may inquire of the server whether or not there is any moving body among the right-facing moving bodies that is located to the right of the vehicle when the vehicle has completed a left turn at the intersection.

[0058] Similarly, the device DS may add the following condition R6 to the collision avoidance preparation conditions when turning right. (Condition R6) A moving object that satisfies condition R3 is a moving object that is located to the right of the host vehicle HV when the host vehicle HV has completed a right turn (see moving object P8 in FIG. 2(B)). That is, in S415, the CPU may inquire of the server whether or not there is any moving body among the left-facing moving bodies that is located to the right of the vehicle when the vehicle has completed a right turn at the intersection.

[0059] Furthermore, in an area where a law requires vehicles to drive on the right side of the road, the device DS may determine that the first condition (collision avoidance preparation condition) is satisfied and that the first situation has occurred when all of the following conditions LA1 to LA5 are satisfied (see FIG. 6(A)). (Condition L1A) The moving object is located near the "intersection that the host vehicle HV is approaching." (Condition L2A) A moving object that satisfies condition L1A is moving from the left side of the host vehicle HV before turning left toward the intersection. That is, a moving object that satisfies condition L1A is moving from left to right. (Condition L3A) The speed of the moving object that satisfies condition L2A is equal to or greater than a third threshold speed. The third threshold speed may be the same as either the first threshold speed or the second threshold speed. (Condition L4A) A moving object that satisfies condition L3A has not been detected by the peripheral object detection device. (Condition L5A) An object forming a blind spot exists between the moving object that satisfies condition L4A and the host vehicle HV. The device DS may further determine that the first condition is met when the following condition L6A is met: (Condition L6A) A moving object that satisfies condition L3A is a moving object that is located to the left of the host vehicle HV when the host vehicle HV has completed a left turn.

[0060] Furthermore, in an area where the law requires vehicles to drive on the right side of the road, the device DS may determine that the second condition (collision avoidance preparation condition) is satisfied and that the second situation has occurred when all of the following conditions RA1 to RA5 are satisfied (see FIG. 6(B)). (Condition R1A) The moving object is located near the "intersection that the host vehicle HV is approaching." (Condition R2A) A moving object that satisfies condition R1A is moving from the right side of the host vehicle HV before turning right toward the intersection. That is, a moving object that satisfies condition R1A is moving from right to left. (Condition R3A) The speed of a moving object that satisfies condition R2A is equal to or greater than a fourth threshold speed. The fourth threshold speed may be the same as any one of the first threshold speed, the second threshold speed, and the third threshold speed. (Condition R4A) A moving object that satisfies condition R3A has not been detected by the peripheral object detection device. (Condition R5A) An object forming a blind spot exists between the moving object that satisfies condition R4A and the host vehicle HV. The device DS may further determine that the second condition is met when the following condition R6A is met: (Condition R6A) A moving object that satisfies condition R3A is a moving object that is located to the left of the host vehicle HV when the host vehicle HV has completed a right turn. [Explanation of symbols]

[0061] 10...vehicle control ECU, 20...camera device, 30...radar device, 50...brake ECU

Claims

1. a surrounding object detection device that detects objects located around the vehicle and acquires object information; an assistance execution device configured to be able to execute a collision avoidance assistance operation to avoid a collision between the object and the host vehicle; a controller configured to cause the assistance execution device to execute the collision avoidance assistance operation when a collision determination condition is satisfied, the collision determination condition being satisfied when it is predicted that the object detected by the peripheral object detection device will collide with the host vehicle; In a vehicle control device comprising: The controller a first situation in which, when the host vehicle is approaching an intersection and intends to make a left turn at the intersection, it is recognized that a first condition is met, including a condition that a first moving object is present that is located within a blind spot range of the peripheral object detection device and therefore not detected by the peripheral object detection device, and is approaching the intersection from the left side of the host vehicle at a speed equal to or greater than a first threshold speed, based on the object information and position information of a communication terminal held by the first moving object; and a second situation in which, when the host vehicle is approaching an intersection and intends to make a right turn at the intersection, it is recognized based on the object information and position information of a communication terminal held by the second moving body that a second condition is met, including a condition that a second moving body is present that is not detected by the peripheral object detection device because it is located within a blind spot range of the peripheral object detection device and is approaching the intersection from the right side of the host vehicle at a speed equal to or greater than a second threshold speed before the right turn; When at least one of the following specific situations occurs: a first operation for changing the collision determination condition to a condition that is more likely to be satisfied than when the specific situation does not occur, and a second operation for shortening a time period from when the execution of the collision avoidance assist operation is instructed to the assistance execution device until the collision avoidance operation is actually started; configured to perform at least one of Control device.

2. The vehicle control device according to claim 1, a communication device configured to be able to communicate with an information providing device that acquires the location information from the communication terminal; The controller The information providing device is configured to recognize that the specific situation has occurred based on information obtained by the communication device from the information providing device. Control device.

3. 2. The vehicle control device according to claim 1, The controller In areas where the law requires vehicles to drive on the left side of the road, determining that the first condition is met when the first moving object is located to the right of the host vehicle when the host vehicle has completed the left turn; The system is configured to determine that the second condition is satisfied when the second moving object is located on the right side of the host vehicle when it is assumed that the host vehicle has completed the right turn, In areas where the law requires vehicles to drive on the right side of the road, determining that the first condition is met when the first moving object is located on the left side of the host vehicle when it is assumed that the host vehicle has completed the left turn; The vehicle is configured to determine that the second condition is met when the second moving object is located on the left side of the vehicle when it is assumed that the vehicle has completed the right turn. Control device.

4. A vehicle control method for causing an assistance execution device mounted on a host vehicle to execute a collision avoidance assistance operation when a collision determination condition is satisfied, the condition being satisfied when a collision between the host vehicle and an object detected by a surrounding object detection device mounted on the host vehicle and configured to acquire object information about objects located in the vicinity of the host vehicle is predicted, the method comprising: a first step of determining, when the host vehicle is approaching an intersection and intends to make a left turn at the intersection, whether or not a first condition is satisfied, including a condition that a first moving object is present that is not detected by the peripheral object detection device because it is located within a blind spot range of the peripheral object detection device and is approaching the intersection from the left side of the host vehicle at a speed equal to or greater than a first threshold speed, based on the object information and position information of a communication terminal held by the first moving object; a second step of determining, when the host vehicle is approaching an intersection and intends to make a right turn at the intersection, whether or not a second condition is satisfied, including a condition that a second moving object is present that is not detected by the peripheral object detection device because it is located within a blind spot range of the peripheral object detection device and is approaching the intersection from the right side of the host vehicle at a speed equal to or greater than a second threshold speed, based on the object information and position information of a communication terminal held by the second moving object; a third step of performing at least one of a first operation for changing the collision determination condition to a condition that is more likely to be satisfied than when the specific situation has not occurred, when a specific situation in which one of the first condition and the second condition is satisfied has occurred, and a second operation for shortening the time from when the assistance execution device is instructed to execute the collision avoidance assistance operation to when the collision avoidance assistance operation is actually started; A control method comprising:

5. 5. The vehicle control method according to claim 4, The first step is In areas where the law requires vehicles to drive on the left side of the road, determining that the first condition is met when the first moving object is located to the right of the host vehicle when the host vehicle has completed the left turn; In areas where the law requires vehicles to drive on the right side of the road, determining that the first condition is met when the first moving object is located on the left side of the host vehicle when the host vehicle has completed the left turn; The second step is In areas where the law requires vehicles to drive on the left side of the road, determining that the second condition is met when the second moving object is located to the right of the host vehicle when it is assumed that the host vehicle has completed the right turn; In areas where the law requires vehicles to drive on the right side of the road, determining that the second condition is satisfied when the second moving object is located on the left side of the host vehicle when the host vehicle has completed the right turn; Control method.

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