Vehicle control system

Abstract

To reduce the risk of collision between the vehicle in front and the vehicle in question, this vehicle control device provides a system that applies the brakes to the vehicle at an appropriate timing according to the condition of the following vehicle, and also illuminates the brake lights. [Solution] The vehicle control device performs an automatic braking process to brake the vehicle when the first condition regarding the risk of collision between the vehicle and a first moving object located in front of the vehicle is met. When the second condition regarding the risk of collision between the vehicle and a second moving object located behind the vehicle is met, and furthermore, when the third condition for determining that the driver of the second moving object does not intend to change lanes is met, and the fourth condition for determining that the driver of the second moving object is in a state of reduced attention to the road ahead is met, the first condition is corrected so that the start timing of the automatic braking process is earlier than the start timing of the first process when at least one of the second to fourth conditions is not met.

Description

Technical Field

[0001] The present invention relates to a vehicle control device that controls a host vehicle so as to reduce the risk of collision between the host vehicle and other moving objects.

Background Art

[0002] A vehicle control device that controls a host vehicle so as to reduce the risk of collision between the host vehicle and other moving objects has been proposed (see, for example, Patent Document 1 below). When the processor of this vehicle control device (hereinafter referred to as the "conventional device") determines that the risk of collision between a host vehicle and another vehicle (preceding vehicle) located in front of the host vehicle is high, it has a function of automatically braking the host vehicle. Specifically, when the processor of this conventional device determines that the risk of collision between the host vehicle and the preceding vehicle is high, it determines the timing (hereinafter referred to as the "braking start timing") at which braking of the host vehicle is started. Then, the processor starts controlling the braking device so that the host vehicle is braked at the braking start timing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, if there is a following vehicle as well as a preceding vehicle, the automatic braking of the vehicle by the conventional device described above may increase the risk of collision between the vehicle and the following vehicle. Therefore, if there is a following vehicle and the risk of collision between the vehicle and the preceding vehicle is high, the braking start timing (the timing at which the vehicle's brake lights start to illuminate) can be advanced, which may reduce the risk of collision between the vehicle and the following vehicle. However, the processor of the conventional device described above determines the braking start timing based on the level of collision risk between the vehicle and the preceding vehicle. In other words, the braking start timing is determined regardless of whether there is a following vehicle or not, and regardless of the state of the following vehicle (such as the following vehicle driver's intention to change lanes or the following vehicle driver's level of attention to the road ahead). Therefore, the braking start timing (the timing at which the brake lights start to illuminate) by the conventional device may be inappropriate.

[0005] One of the objectives of the present invention is to provide a vehicle control device that, when braking the vehicle to reduce the risk of collision with a preceding vehicle, brakes the vehicle at an appropriate timing according to the condition of the following vehicle and illuminates the brake lights.

[0006] To achieve the above objective, the vehicle control device (1) of the present invention is: The system includes a processor (10) that controls the vehicle to brake and performs an automatic braking process to illuminate the vehicle's brake lights (BL) when a first moving object is located in front of the vehicle (V0) and moving in the same direction as the vehicle, and a first condition (X1) for determining that there is a high risk of collision between the vehicle and the first moving object is met based on the distance and / or relative speed between the vehicle and the first moving object (V1). The aforementioned processor, When there is a second moving object (V2) located behind the vehicle and moving in the same direction as the vehicle, and a second condition (X2) is met based on the distance and / or relative speed between the vehicle and the second moving object, a third condition (X3) is met to determine that the driver (Drv2) of the second moving object does not intend to change lanes, and a fourth condition (X4) is met to determine that the driver of the second moving object is in a state of reduced attention to the road ahead, the start timing (T1) of the first process is adjusted to be earlier than the start timing of the automatic braking process when at least one of the second to fourth conditions is not met.

[0007] The processor of the vehicle control device according to the present invention can initiate automatic braking processing when it determines that there is a high risk of collision between the first moving object (a preceding vehicle) and the own vehicle. Here, the processor corrects the first condition (start timing), which is the start condition for the automatic braking processing, according to the state of the second moving object (a following vehicle) (such as the intention of the driver of the following vehicle to change lanes, the degree of decreased attention to the road ahead, etc.). That is, when the second to fourth conditions are met, the processor starts the automatic braking control earlier than when at least one of the second to fourth conditions is not met. As a result, the own vehicle is automatically braked at an appropriate timing according to the state of the following vehicle, and the brake lights of the own vehicle are illuminated. Here, for example, in a scene where the driver of the following vehicle intends to change lanes (a scene where the third condition is not met) or in a scene where the driver of the following vehicle is intently looking ahead (i.e., towards the own vehicle) (a scene where the fourth condition is not met), there is little need to accelerate the automatic braking processing. According to the present invention, it is possible to prevent the premature execution of such unnecessary automatic braking processes.

[0008] In a vehicle control device according to one aspect of the present invention, The aforementioned processor, Within a predetermined unit of time, the number of times (N) the second moving body does not deviate from its travel lane and the lateral direction of movement of the second moving body reverses, Within the aforementioned unit time, the number of times (Nb) the second moving body deviates from the travel lane and then returns to the travel lane, Within the aforementioned unit time, the number of times (Nb) the second moving object approached the vehicle and then moved away from the vehicle, Within the aforementioned unit time, the number of times (Nc) the second moving body repeatedly accelerated and decelerated, At least one of these is acquired as information to estimate the degree of the driver's attention to the road ahead of the second mobile vehicle, and the success or failure of the fourth condition is determined based on this information.

[0009] If the behavior of the second moving vehicle is unstable, there is a high probability that the driver of the second moving vehicle is paying less attention to what is in front of them. Therefore, the processor of the vehicle control device according to this embodiment acquires information from on-board sensors to determine whether the behavior of the following vehicle is unstable (whether the driver of the second moving vehicle is paying less attention to what is in front of them (success or failure of the fourth condition)). As described above, in the vehicle control device according to this embodiment, instead of directly detecting the posture or gaze of the driver of the second moving vehicle, the driver's attention to what is in front of them is estimated based on the behavior of the second moving vehicle. Therefore, a sensor that directly detects the posture or gaze of the driver of the second moving vehicle (driver sensor) is unnecessary.

[0010] In another aspect of the present invention, a vehicle control device, The aforementioned automatic braking process is, Automatic gradual braking process that controls the vehicle so that the rate of reduction in the vehicle's speed matches a first predetermined value, When a fifth condition is met for determining that the risk of collision between the vehicle and the first moving object has increased further than at the start of the automatic slow braking process, an automatic emergency braking process is performed to control the vehicle so that the rate of reduction of the vehicle's speed matches a second predetermined value which is greater than the first predetermined value. Includes.

[0011] When an automatic braking process is initiated in a vehicle equipped with the vehicle control device according to this embodiment, the vehicle is braked relatively gently, resulting in high occupant comfort. Subsequently, if the risk of collision between the vehicle and the preceding vehicle increases further, the vehicle is braked relatively rapidly, resulting in high safety.

[0012] In another aspect of the present invention, a vehicle control device, The processor determines the start timing of the automatic braking process such that the time (ΔT01) until the automatic braking process is initiated becomes shorter the lower the driver's attention to the road ahead is, based on the information estimated.

[0013] According to this, the greater the degree of decreased attention from the driver of the second moving vehicle to what is in front of them, the earlier the timing of the automatic braking will be initiated. Therefore, the safety of the vehicle itself, the first moving vehicle, and the second moving vehicle is enhanced. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is a block diagram of a vehicle control device according to one embodiment of the present invention. [Figure 2] Figure 2 is a flowchart of the first program executed by the CPU to implement the functions of the vehicle control system. [Figure 3] Figure 3 is a flowchart of the second program executed by the CPU to implement the functions of the vehicle control system. [Figure 4] Figure 4 is a flowchart of the third program executed by the CPU to implement the functions of the vehicle control system. [Figure 5]FIG. 5 is a flowchart of a fourth program executed by the CPU to implement the functions of the vehicle control device.

[0015] (Schematic) The vehicle control device 1 according to an embodiment of the present invention is applied to a vehicle V0 (hereinafter referred to as "the host vehicle") equipped with an automatic driving function. The vehicle control device 1 has a function (collision risk reduction function) to reduce the collision risk between the host vehicle and other moving bodies (preceding vehicle V1 and following vehicle V2) in a situation where the automatic driving function of the host vehicle is disabled. Note that the vehicle control device 1 may be configured such that this collision risk reduction function operates as a part of the automatic driving function.

[0016] (Specific Configuration) Next, the configuration of the vehicle control device 1 will be specifically described. As shown in FIG. 1, the vehicle control device 1 includes an ECU 10, an in-vehicle sensor 20, and a braking device 30.

[0017] The ECU 10 includes a microcomputer having a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The ECU 10 is connected to other ECUs via a communication network CAN.

[0018] The in-vehicle sensor 20 includes a millimeter-wave radar 21, a sonar 22, a camera 23, and a speed sensor 24.

[0019] The millimeter-wave radar 21 includes a transmitting / receiving unit and a signal processing unit (not shown). The transmitting / receiving unit is attached to the front and rear of the host vehicle. Each transmitting / receiving unit radiates millimeter-wave band radio waves (hereinafter referred to as "millimeter waves") forward and rearward of the host vehicle, respectively, and receives the millimeter waves (reflected waves) reflected by solid objects (preceding vehicle V1 and following vehicle V2) located within the radiation range. The signal processing unit calculates the distance between the host vehicle and the solid object (the distance Δd1 between the host vehicle and the preceding vehicle, the distance Δd2 between the host vehicle and the following vehicle V2), the direction of the solid object with respect to the host vehicle, the speed of the solid object with respect to the host vehicle (the speed of the preceding vehicle V1 with respect to the host vehicle (relative speed spr1), the speed of the following vehicle V2 with respect to the host vehicle (relative speed spr2)), etc., based on the time from when each transmitting / receiving unit radiates the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, etc., and provides the calculation result (target information) to the ECU10.

[0020] The sonar 22 includes a transmitting / receiving unit and a signal processing unit (not shown). The transmitting / receiving unit is attached to the front and rear of the host vehicle. Each transmitting / receiving unit radiates ultrasonic waves forward and rearward of the host vehicle, respectively, and receives the ultrasonic waves (reflected waves) reflected by solid objects (preceding vehicle V1 and following vehicle V2) located within the radiation range. The signal processing unit calculates the distance between the host vehicle and the solid object (the distance Δd1 between the host vehicle and the preceding vehicle V1, the distance Δd2 between the host vehicle and the following vehicle V2), the direction of the solid object with respect to the host vehicle, etc., based on the time from when each transmitting / receiving unit radiates the ultrasonic waves until the reflected waves are received, the attenuation level of the reflected waves, etc., and provides the calculation result (target information) to the ECU10.

[0021] Camera 23 includes multiple imaging devices. Each imaging device incorporates an image sensor, such as a CCD (charge coupled device) or CIS (CMOS image sensor). Each imaging device is installed, for example, on the front and rear of the vehicle. Each imaging device captures images of the front and rear of the vehicle at a predetermined frame rate and acquires image data. Camera 23 further includes an image analysis device. The image analysis device sequentially acquires image data from each imaging device. The image analysis device analyzes the acquired image data to obtain information about targets located in front of and behind the vehicle. For example, the image analysis device recognizes the license plate of another vehicle and, based on the coordinates (vertical and horizontal coordinates) of the center of the license plate in the acquired image, obtains the distance between the vehicle in the longitudinal direction and the vehicle width direction from the vehicle. The image analysis device also recognizes the operating status (flashing / off) of the turn signals of other vehicles. The image analysis device provides the ECU 10 with various information obtained by analyzing the images.

[0022] The speed sensor 24 detects the rotational speed (wheel speed) of each wheel and calculates the vehicle's speed sp0 (measured value) based on the speed of each wheel. The speed sensor 24 provides the calculation result to the ECU 10.

[0023] The braking system 30 applies braking force to the wheels (brake discs). The braking system 30 includes a brake ECU, brake calipers, etc. The brake calipers include actuators that press brake pads against the brake discs. The brake ECU obtains information (target value) representing the target braking force from the ECU 10. The brake ECU controls the brake calipers to match the braking force applied to the vehicle's wheels (brake discs) to the target value, and also controls the power supply circuit to the brake light BL located at the rear of the vehicle so that the brake light BL illuminates.

[0024] (Collision risk reduction function) When the ignition switch is ON, the ECU 10 sequentially determines the presence or absence of a preceding vehicle V1 based on various information obtained from the on-board sensor 20. If the ECU 10 determines that a preceding vehicle V1 is present, it obtains the speed sp0 of the own vehicle and the speed sp1 of the preceding vehicle V1 based on that information. If the speed sp0 of the own vehicle is faster than the speed sp1 of the preceding vehicle V1, the ECU 10 determines whether the collision risk R1 between the own vehicle and the preceding vehicle V1 is high. The ECU 10 determines that the collision risk R1 is high if the following condition X1 is met. <Condition X1>...Calculate the time required for your vehicle to reach the rear end of the preceding vehicle V1 (collision margin time TTC1 = Δd1 / spr1). Then, the ECU10 determines that the collision margin time TTC1 is less than or equal to the threshold TTC1th_a.

[0025] Here, a map M is stored in ROM 10b that predefines the relationship between speed sp0, distance Δd1, and the value (time T) to be assigned to the threshold TTC1th_a. The ECU 10 refers to the map M to obtain time T and assigns time T to the threshold TTC1th_a. The ECU 10 may also use an unillustrated sensor (e.g., an in-vehicle camera) to detect the state of the vehicle's driver Drv1 and add a margin ΔT to time T if the vehicle's driver Drv1 is not looking ahead (towards the preceding vehicle V1). This advances the timing T0 at which the collision risk R1 is determined to be high.

[0026] The ECU 10 determines a timing T1 at which it will automatically begin braking (gentle braking) the vehicle at timing T0 when condition X1 is met. When the current time reaches timing T1 (when a predetermined time ΔT01 has elapsed from timing T0), it executes a process to control the braking device 30 so that a braking force equivalent to engine braking is applied to the vehicle's wheels (automatic gentle braking process). That is, the ECU 10 transmits a relatively small predetermined value as a target value for the braking force to the brake ECU of the braking device 30. Subsequently, when the collision margin time TTC1 further decreases to less than or equal to the threshold ΔTTC1th_b (when the fifth condition of the present invention is met), the ECU 10 executes a process to control the braking device 30 so that a relatively large braking force is applied to the vehicle's wheels (automatic emergency braking process). The automatic gradual braking and automatic emergency braking processes described above cause the vehicle to brake, reducing the collision risk R1. Additionally, the brake lights BL illuminate, informing (warning) the driver of the following vehicle V2, Drv2, that the vehicle is braking.

[0027] Incidentally, if the driver of the following vehicle V2, Drv2, is paying close attention to what is ahead (towards their own vehicle), Drv2 can recognize that the brake lights BL of the vehicle V0 located ahead are illuminated. If Drv2 recognizes that there is a high risk of collision R2 between the following vehicle V2 and vehicle V0, they can immediately begin driving operations (collision avoidance operations) to reduce that collision risk R2.

[0028] Conversely, if driver Drv2 is not paying close attention to the road ahead, or if driver Drv2's attention to the road ahead is relatively reduced, driver Drv2 may not notice the brake light BL illuminating, potentially delaying the initiation of collision avoidance maneuvers. In this case, the collision risk R2 may not be reduced significantly.

[0029] Here, if other vehicles (i.e., preceding vehicle V1 and following vehicle V2) are present in front of and behind the vehicle, the timing T1 (timing of the start of the automatic gradual braking process) can be advanced to promote alerting the driver Drv2. However, if driver Drv2 intends to change lanes, the need to advance the illumination of the brake light BL is low. Furthermore, if driver Drv2 is paying close attention to the road ahead, not only is the need to advance the illumination of the brake light BL low, but driver Drv2 may also find the early illumination of the brake light BL bothersome.

[0030] Therefore, the ECU10 advances the timing T1 when the collision risk R2 is high, the driver Drv2 has no intention of changing lanes, and the driver Drv2's attention to the road ahead is reduced. Specifically, the ECU10 determines that the collision risk R2 is high when the following condition X2 is met. The ECU10 also determines that the driver Drv2 has no intention of changing lanes when the following condition X3 is met. The ECU10 also determines that the driver Drv2's attention to the road ahead is reduced when condition X4 (a condition for determining that the behavior of the following vehicle V2 is unstable) is met. <Condition X2>...The speed sp2 of the following vehicle V2 is faster than the speed sp0 of the own vehicle, and the collision margin time TTC2 (=Δd2 / spr2) is less than or equal to the threshold TTC2th. <Condition X3>...The turn signal of the following vehicle V2 is off. <Condition X4>... Within a predetermined unit of time, the following vehicle V2 does not deviate from its lane, and the number of times N the lateral direction of movement of the following vehicle V2 reverses exceeds the threshold Nth. Furthermore, when the ignition switch is ON, the ECU 10 sequentially determines whether conditions X2 to X4 are met based on the information obtained from the on-board sensor 20.

[0031] ECU10 assigns a standard value std to time ΔT01 if at least one of conditions X2 to X4 is not met. On the other hand, if conditions X2 to X4 are met, ECU10 assigns a value obtained by subtracting a correction value α from the standard value std (timing T1 correction process). Here, ECU10 assigns a larger value to the correction value α the larger the number of times N is (the greater the degree of driver Drv2's attention loss). That is, the greater the degree of driver Drv2's attention loss to the road ahead, the shorter the time ΔT01, which is the time interval between timing T0 and timing T1. However, the correction value α may be constant.

[0032] Next, referring to Figures 2 to 5, we will describe the programs PR1 to PR4 that are executed by the CPU 10a of the ECU 10 (hereinafter simply referred to as "CPU") in order to realize the above functions of the vehicle control device 1.

[0033] (Program PR1) The CPU determines that a preceding vehicle V1 exists and that speed sp0 is faster than speed sp1, then executes program PR1 at a predetermined interval. The CPU starts executing program PR1 from step 100 and proceeds to step 101.

[0034] In step 101, the CPU obtains the collision timeout (TTC1). Then, the CPU proceeds to step 102.

[0035] In step 102, the CPU determines whether the collision margin time TTC1 is less than or equal to the threshold TTC1th_a. If the CPU determines that the collision margin time TTC1 is less than or equal to the threshold TTC1th_a (102: Yes), it proceeds to step 103. On the other hand, if the CPU does not determine that the collision margin time TTC1 is less than or equal to the threshold TTC1th_a (102: No), it returns to step 101.

[0036] In step 103, the CPU obtains time ΔT01 and determines timing T1. Here, the CPU sequentially updates time ΔT01 by executing program PR3, which will be described later. Next, the CPU proceeds to step 104.

[0037] In step 104, the CPU instructs timer 10d to begin measuring the time Δt that has elapsed from the current time (timing T0). Next, the CPU proceeds to step 105.

[0038] In step 105, the CPU determines whether time Δt (output of timer 10d) is greater than or equal to the threshold time ΔT01. If the CPU determines that time Δt is greater than or equal to time ΔT01 (105: Yes), it proceeds to step 106. On the other hand, if the CPU does not determine that time Δt is greater than or equal to time ΔT01 (105: No), it proceeds to step 107, which will be described later.

[0039] In step 106, the CPU performs an automatic gradual braking process. Next, the CPU proceeds to step 107.

[0040] In step 107, the CPU determines whether termination condition E1 has been met. For example, the CPU obtains (updates) the collision margin time TTC1, and determines that termination condition E1 has been met if the collision margin time TTC1 exceeds the threshold TTC1th_a. Alternatively, the CPU determines that termination condition E1 has been met if it starts the automatic emergency braking process (program PR2: step 203, described later). If the CPU determines that termination condition E1 has been met (107: Yes), it proceeds to step 108 and terminates the execution of program PR1. On the other hand, if the CPU does not determine that termination condition E1 has been met (107: No), it returns to step 106.

[0041] (Program PR2) When the CPU determines that the preceding vehicle V1 exists and also determines that the speed sp0 is higher than the speed sp1, it executes the program PR2 at a predetermined cycle. The CPU starts executing the program PR2 from step 200 and proceeds to step 201.

[0042] At step 201, the CPU acquires the collision margin time TTC1. Then, the CPU proceeds to step 202.

[0043] At step 202, the CPU determines whether the collision margin time TTC1 is less than or equal to the threshold value TTC1th_b (<TTC1th_a). If the CPU determines that the collision margin time TTC1 is less than or equal to the threshold value TTC1th_b (202: Yes), it proceeds to step 203. On the other hand, if the CPU does not determine that the collision margin time TTC1 is less than or equal to the threshold value TTC1th_b (202: No), it proceeds to step 205 and ends the execution of the program PR2.

[0044] At step 203, the CPU executes the emergency braking process. Then, the CPU proceeds to step 204.

[0045] At step 204, the CPU determines whether the end condition E2 is satisfied. For example, the CPU acquires (updates) the collision margin time TTC1 and determines that the end condition E2 is satisfied when the collision margin time TTC1 exceeds the threshold value TTC1th_a. If the CPU determines that the end condition E2 is satisfied (204: Yes), it proceeds to step 205 and ends the execution of the program PR2. If the CPU does not determine that the end condition E2 is satisfied (204: No), it returns to step 203.

[0046] (Program PR3) When the CPU determines that the following vehicle V2 exists, it executes the program PR3 at a predetermined cycle. The CPU starts executing the program PR3 from step 300 and proceeds to step 301.

[0047] In step 301, the CPU obtains the collision timeout (TTC2). Then, the CPU proceeds to step 302.

[0048] In step 302, the CPU determines whether the collision timeout (TTC2) is less than or equal to the threshold TTC2th. If the CPU determines that the collision timeout (TTC2) is less than or equal to the threshold TTC2th (302: Yes), it proceeds to step 303. On the other hand, if the CPU does not determine that the collision timeout (TTC2) is less than or equal to the threshold TTC2th (302: No), it proceeds to step 306, which will be described later.

[0049] In step 303, the CPU determines whether the turn signal lights of the following vehicle V2 are off. If the CPU determines that the turn signal lights of the following vehicle V2 are off (303: Yes), it proceeds to step 304. On the other hand, if the CPU does not determine that the turn signal lights of the following vehicle V2 are off (303: No), it proceeds to step 306.

[0050] In step 304, the CPU determines whether or not driver Drv2's attention (attention to the road ahead) is reduced. If the CPU determines that driver Drv2's attention is reduced (304: Yes), it proceeds to step 305. On the other hand, if the CPU does not determine that driver Drv2's attention is reduced (304: No), it proceeds to step 306.

[0051] In step 305, the CPU assigns the value obtained by subtracting the correction value α from the standard value std to time ΔT01. The CPU then executes program PR4, described later, to obtain the correction value α. Next, the CPU proceeds to step 307 and terminates the execution of program PR3.

[0052] In step 306, the CPU assigns the standard value std to time ΔT01. Then, the CPU proceeds to step 307 and terminates the execution of program PR3.

[0053] (Program PR4) If the CPU determines that a following vehicle V2 exists, it executes program PR4 at a predetermined interval. The CPU starts executing program PR4 from step 400 and proceeds to step 401.

[0054] In step 401, the CPU obtains the number N (the number of times the following vehicle V2 reverses direction (lateral) per unit time). Next, the CPU proceeds to step 402.

[0055] In step 402, the CPU determines whether the count N exceeds the threshold Nth. If the CPU determines that the count N exceeds the threshold Nth (402: Yes), it proceeds to step 403. On the other hand, if the CPU does not determine that the count N exceeds the threshold Nth (402: No), it proceeds to step 404 and terminates the execution of program PR4.

[0056] In step 403, the CPU assigns the value obtained by multiplying a predetermined coefficient k by N times to a correction value α. Next, the CPU proceeds to step 404 and terminates the execution of program PR4.

[0057] (effect) In this embodiment, the ECU 10 of the vehicle control device 1 can initiate an automatic braking process (automatic slow braking process) that automatically brakes the vehicle when it determines that there is a high risk R1 of collision between the preceding vehicle V1 and the vehicle itself. Here, the ECU 10 corrects condition X1 (timing T1), which is the initiation condition for the automatic braking process, according to the state of the following vehicle V2 (such as the intention of the driver Drv2 of the following vehicle V2 to change lanes, the degree of decreased attention to the road ahead, etc.). That is, when conditions X2 to X4 are met, the ECU 10 sets the initiation timing T1 of the automatic slow braking process earlier than when at least one of conditions X2 to X4 is not met. As a result, the vehicle is automatically braked at an appropriate timing according to the state of the following vehicle V2, and the brake lights BL of the vehicle are illuminated. Here, for example, in scenes where the driver of the following vehicle V2, Drv2, intends to change lanes (a scene where condition X3 is not met), or in scenes where the driver, Drv2, is intently looking ahead (i.e., towards their own vehicle) (a scene where condition X4 is not met), the need to accelerate the automatic braking process is low. According to this embodiment, it is possible to prevent the acceleration of such unnecessary automatic gradual braking processes (illumination of brake lights BL).

[0058] (modified version) The ECU10 may determine that driver Drv2's attention to the road ahead is reduced if any one or more of the following conditions X4a to X4c are met, in lieu of or in addition to the above condition X4. <Condition X4a>...Within a unit of time, the number of times Na that a following vehicle V2 deviates from its lane and then returns to it exceeds the threshold Nath. <Condition X4b>: ...Within a unit of time, the number of times Nb that a following vehicle V2 approaches and then moves away from the vehicle exceeds the threshold Nbth. <Condition X4c>...Within a unit of time, the number of times Nc the following vehicle V2 repeatedly accelerates and decelerates exceeds the threshold Ncth. [Explanation of Symbols]

[0059] 1...Vehicle control unit, 10...ECU, 20...On-board sensor, 30...Drive system, 40...Braking system

Claims

1. A vehicle control device equipped with a processor that controls the vehicle to brake and performs an automatic braking process to illuminate the vehicle's brake lights when a first moving object is located in front of the vehicle and moving in the same direction as the vehicle, and when a first condition for determining that there is a high risk of collision between the vehicle and the first moving object is met based on the distance and / or relative speed between the vehicle and the first moving object, the vehicle controls the vehicle to brake and illuminates the vehicle's brake lights. The aforementioned processor, A vehicle control device configured to correct the first condition so that the start timing of the automatic braking process is earlier than the start timing of the automatic braking process when at least one of the second to fourth conditions is not met, when there is a second moving object located behind the vehicle and moving in the same direction as the vehicle, and a second condition is met for determining that there is a high risk of collision between the vehicle and the second moving object based on the distance and / or relative speed between the vehicle and the second moving object, and a third condition is met for determining that the driver of the second moving object does not intend to change lanes, and a fourth condition is met for determining that the driver of the second moving object is in a state of reduced attention to the road ahead.

2. In the vehicle control device according to claim 1, The aforementioned processor, Within a predetermined unit of time, the number of times the second moving body does not deviate from its travel lane and the lateral direction of movement of the second moving body reverses, Within the aforementioned unit time, the number of times the second moving body deviates from the travel lane and then returns to the travel lane, Within the aforementioned unit time, the number of times the second moving object approached the vehicle and then moved away from the vehicle, Within the aforementioned unit time, the number of times the second moving body repeatedly accelerated and decelerated, A vehicle control device configured to acquire at least one of the above as information for estimating the degree of attention the driver of the second mobile body is paying to the road ahead, and to determine whether the fourth condition is met based on said information.

3. In the vehicle control device according to claim 1 or claim 2, The aforementioned automatic braking process is, Automatic gradual braking process that controls the vehicle so that the rate of reduction in the vehicle's speed matches a first predetermined value, When a fifth condition is met for determining that the risk of collision between the vehicle and the first moving object has increased further than at the start of the automatic slow braking process, an automatic emergency braking process is performed to control the vehicle so that the rate of reduction of the vehicle's speed matches a second predetermined value which is greater than the first predetermined value. Vehicle control devices, including

4. In the vehicle control device according to claim 2, A vehicle control device configured such that the processor determines the start timing of the automatic braking process, the less attention the driver of the second moving body is paying to the road ahead, based on the information, the shorter the time until the automatic braking process is initiated.

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