Vehicle control device, vehicle control method and program

Abstract

To provide a vehicle control device, a vehicle control method and a program which enable driving support without disturbing driving.SOLUTION: A vehicle control device has a processor, wherein the processor acquires positional information on a preceding vehicle traveling ahead of an own vehicle, and controls a reaction force addition mechanism of adding a reaction force to an accelerator pedal on the basis of an inter-vehicle distance in a vehicle width direction between the own vehicle and the preceding vehicle.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Patent Document 1 discloses a vehicle driving assist system that calculates a risk level around the vehicle and increases the accelerator pedal reaction force as the calculated risk level increases. The vehicle driving assist system described in Patent Document 1 is configured to calculate the risk level based on the inter-vehicle distance and relative vehicle speed to a preceding vehicle that the vehicle should follow. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-205760 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the device described in Patent Document 1, a reaction force may be applied to the accelerator pedal in a situation where the driver of the vehicle wants to accelerate, such as when the preceding vehicle is turning right or left. Therefore, there is room for improvement in order to provide driving assistance without interfering with driving.

[0005] An object of the present invention is to provide a vehicle control device, a vehicle control method, and a program that can perform driving assistance without interfering with driving. [Means for solving the problem]

[0006] The vehicle control device according to claim 1 includes a processor, and the processor acquires position information of a preceding vehicle traveling ahead of the host vehicle, and controls a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle width distance between the host vehicle and the preceding vehicle. A vehicle control device in which the processor calculates the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and when the longitudinal distance between the host vehicle and the preceding vehicle is smaller than a first threshold value, applies a reaction force to the accelerator pedal, and controls the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the longitudinal distance between the host vehicle and the preceding vehicle becomes larger than a second threshold value in the applied state.

[0007] In the vehicle control device according to claim 1, the processor acquires position information of a preceding vehicle traveling ahead of the vehicle. The processor also controls a reaction force application mechanism that applies a reaction force to the accelerator pedal based on the vehicle-width distance between the vehicle and the preceding vehicle. In this way, the reaction force application mechanism is controlled taking into account the vehicle-width distance between the vehicle and the preceding vehicle. This makes it possible to prevent reaction force from being inadvertently applied to the accelerator pedal in a situation where the driver wants to accelerate, such as immediately after the preceding vehicle makes a right or left turn. Note that the "vehicle-width distance" referred to here is not limited to the vehicle-width distance, but is a concept that broadly includes the vehicle-width time.

[0009] Also When the distance between the vehicle in the longitudinal direction and the preceding vehicle is smaller than a first threshold value, a reaction force is applied to the accelerator pedal by the reaction force application mechanism. This makes it possible to alert the driver that the vehicle is approaching the preceding vehicle. In addition, when the distance between the vehicle in the lateral direction and the preceding vehicle is larger than a second threshold value in the applied state, a reaction force is applied to the accelerator pedal by the reaction force application mechanism. As it gets older By reducing the reaction force applied to the accelerator pedal by the reaction force application mechanism, the driver can accelerate without being hindered. Note that "controlling the reaction force application mechanism so as to reduce the reaction force applied to the accelerator pedal" is a concept that includes a configuration for canceling the state in which the reaction force is applied by the reaction force application mechanism.

[0010] Claim 2 The vehicle control device according to the present invention includes: 1 In the reaction force application state, when the vehicle width distance between the host vehicle and the preceding vehicle is greater than the second threshold value and when the relative movement distance of the preceding vehicle in the vehicle width direction with respect to the host vehicle increases, the processor controls the reaction force application mechanism so as to reduce the reaction force applied to the accelerator pedal.

[0011] Claim 2 In the vehicle control device related to the above, the reaction force applied to the accelerator pedal is reduced by taking into consideration not only the distance between the host vehicle and the preceding vehicle in the vehicle width direction, but also the relative movement distance of the preceding vehicle in the vehicle width direction relative to the host vehicle, thereby improving safety while maintaining comfort.

[0014] Claim 3 The vehicle according to claim 1 includes a sensor for detecting a preceding vehicle, a reaction force application mechanism capable of applying a reaction force to an accelerator pedal, and or 2 and a vehicle control device according to the above.

[0015] Claim 3 In the vehicle according to the present invention, a sensor detects a preceding vehicle, and a reaction force is applied to the accelerator pedal by a reaction force application mechanism. The vehicle control device acquires position information of the preceding vehicle based on the information detected by the sensor, and controls the reaction force application mechanism based on the distance between the host vehicle and the preceding vehicle in the longitudinal direction and the vehicle width direction from the acquired position information of the preceding vehicle. This makes it possible to prevent reaction force from being inadvertently applied to the accelerator pedal in a situation where the driver wants to accelerate, such as immediately after the preceding vehicle makes a right or left turn.

[0016] Claim 4 The vehicle control method according to the present invention comprises: By computer, The present invention obtains position information of a preceding vehicle traveling ahead of the own vehicle, and controls a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle width distance between the own vehicle and the preceding vehicle. A vehicle control method, which calculates the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and when the longitudinal distance between the host vehicle and the preceding vehicle is smaller than a first threshold value, applies a reaction force to the accelerator pedal, and controls the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the vehicle width distance between the host vehicle and the preceding vehicle becomes larger than a second threshold value in the applied state.

[0017] Claim 5 The program causes a computer to execute a process of acquiring position information of a preceding vehicle traveling ahead of the host vehicle, and controlling a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle width distance between the host vehicle and the preceding vehicle. A program that includes a process for calculating the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and applying a reaction force to the accelerator pedal when the longitudinal distance between the host vehicle and the preceding vehicle is smaller than a first threshold value, and controlling the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the vehicle width distance between the host vehicle and the preceding vehicle becomes larger than a second threshold value in the applied state. Effect of the Invention

[0018] As described above, according to the vehicle control device, the vehicle control method, and the program of the present invention, driving assistance can be performed without interfering with driving. [Brief description of the drawings]

[0019] [Figure 1] 1 is a block diagram showing a hardware configuration of a vehicle according to an embodiment; [Diagram 2] 1 is a block diagram showing a functional configuration of a vehicle control device according to an embodiment; [Diagram 3] 1 is a schematic diagram showing a state in which a host vehicle and a preceding vehicle are traveling in the same lane in an embodiment; [Figure 4] FIG. 4 is a schematic diagram showing a state in which the preceding vehicle turns left from the state shown in FIG. 3; [Diagram 5] 4 is a flowchart showing an example of a flow of a vehicle control process in the embodiment. [Figure 6] FIG. 11 is a schematic diagram showing a state in which a host vehicle and a preceding vehicle are traveling on a curve in the same lane in a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] A vehicle 10 including a vehicle control device 12 according to an embodiment will be described with reference to the drawings.

[0021] (Hardware configuration of vehicle 10) Fig. 1 is a block diagram showing a hardware configuration of a vehicle 10. As shown in Fig. 1, the vehicle 10 is equipped with a vehicle control device 12. The vehicle control device 12 is configured to include a CPU (Central Processing Unit: processor) 20, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 24, a storage 26, a communication I / F (communication interface) 28, and an input / output I / F (input / output interface) 30. Each component is connected to each other via a bus 32 so as to be able to communicate with each other.

[0022] The CPU 20 is a central processing unit that executes various programs and controls each part. That is, the CPU 20 reads the programs from the ROM 22 or the storage 26, and executes the programs using the RAM 24 as a working area. The CPU 20 also controls each of the above components and performs various arithmetic processing according to the programs recorded in the ROM 22 or the storage 26.

[0023] The ROM 22 stores various programs and various data. The RAM 24 is a non-temporary recording medium that temporarily stores programs or data as a working area. The storage 26 is a non-temporary recording medium that is configured with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs including an operating system and various data. In this embodiment, the storage 26 stores a vehicle control program for performing vehicle control processing, various data, and the like.

[0024] The communication I / F 28 is an interface for the vehicle control device 12 to communicate with a server and other devices, and uses standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0025] A forward sensor 34 and an accelerator pedal 36 are electrically connected to the input / output I / F 30. The forward sensor 34 is a sensor capable of detecting an obstacle in front of the vehicle, and is configured to include, for example, a camera, a radar, a LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), etc. In particular, in this embodiment, the forward sensor 34 is used to detect a preceding vehicle traveling in front of the host vehicle.

[0026] Accelerator pedal 36 is disposed below the driver's seat, and generates a propulsive force for vehicle 10 according to the amount of depression of accelerator pedal 36 by the driver. Accelerator pedal 36 is also provided with a reaction force application mechanism 37. Reaction force application mechanism 37 is a mechanism capable of applying a reaction force to accelerator pedal 36, and is configured to include, for example, a servo motor connected to accelerator pedal 36. When reaction force application mechanism 37 is activated, a predetermined torque is generated from the servo motor, making it possible to apply any reaction force to accelerator pedal 36.

[0027] In addition, the amount of depression of the accelerator pedal 36 can be detected by a stroke sensor incorporated in the servo motor, and the reaction force applied may be changed according to the amount of depression of the accelerator pedal 36.

[0028] (Functional configuration of vehicle control device 12) The vehicle control device 12 realizes various functions using the hardware resources shown in Fig. 1. The functional configuration realized by the vehicle control device 12 will be described with reference to Fig. 2.

[0029] 2, the vehicle control device 12 includes, as functional components, a position information acquisition unit 40, a longitudinal distance calculation unit 42, a widthwise distance calculation unit 44, and a reaction force control unit 46. Each functional component is realized by the CPU 20 reading and executing a program stored in the ROM 22 or the storage 26.

[0030] The position information acquisition unit 40 acquires position information of a preceding vehicle traveling ahead of the host vehicle. Specifically, the position information acquisition unit 40 acquires position information of the preceding vehicle based on information detected by the forward sensor 34.

[0031] Fig. 3 shows a situation in which a preceding vehicle V2 is traveling in the same lane as the host vehicle V1. As shown in Fig. 3, when the preceding vehicle V2 is traveling as an obstacle within the detection range AR of the front sensor 34 provided at the front of the host vehicle V1, the position information acquisition unit 40 acquires the position information of the preceding vehicle V2. For the sake of convenience of explanation, the size of the front sensor 34 is exaggerated in Figs. 3, 4, and 6. Also, 52 in the figures indicates the center line, and 54 in the figures indicates the lane boundary line.

[0032] As shown in Fig. 2, the longitudinal distance calculation unit 42 calculates the longitudinal distance between the host vehicle V1 and the preceding vehicle V2. Specifically, the longitudinal distance calculation unit 42 calculates the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 based on information acquired from the forward sensor 34 by the function of the position information acquisition unit 40. As an example, in Fig. 3, the distance L1 from the front end of the host vehicle V1 to the rear end of the preceding vehicle V2 is calculated as the longitudinal distance.

[0033] The vehicle width direction vehicle distance calculation unit 44 calculates the vehicle distance in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2. Specifically, the vehicle width direction vehicle distance calculation unit 44 calculates the vehicle distance in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2 based on information acquired from the forward sensor 34 by the function of the position information acquisition unit 40. As an example, in Fig. 3, the distance L2 in the vehicle width direction of the preceding vehicle V2 that exists outside the area between the right reference line RL and the left reference line LL that extend along the vehicle width of the host vehicle V1 is calculated as the vehicle distance in the vehicle width direction.

[0034] The reaction force control unit 46 controls the reaction force application mechanism 37 that applies a reaction force to the accelerator pedal 36 based on the longitudinal distance L1 and the widthwise distance L2 between the host vehicle V1 and the preceding vehicle V2. Specifically, when the longitudinal distance L1 between the host vehicle V1 and the preceding vehicle V2 calculated by the function of the longitudinal distance calculation unit 42 is equal to or greater than a predetermined first threshold value, the reaction force control unit 46 does not apply a reaction force to the accelerator pedal 36.

[0035] Furthermore, the reaction force control unit 46 applies a reaction force to the accelerator pedal 36 in principle when the longitudinal distance L1 between the host vehicle V1 and the preceding vehicle V2 calculated by the function of the longitudinal distance calculation unit 42 becomes smaller than a predetermined first threshold value. As an example in this embodiment, the reaction force control unit 46 applies a reaction force to the accelerator pedal 36 when the preceding vehicle V2 enters the detection range AR of the front sensor 34. Furthermore, the reaction force control unit 46 controls the reaction force application mechanism 37 so that the reaction force applied to the accelerator pedal 36 increases as the longitudinal distance L1 between the host vehicle V1 and the preceding vehicle V2 becomes smaller.

[0036] Furthermore, when a vehicle distance L2 in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2 is greater than a second threshold value in a state in which a reaction force is being applied to the accelerator pedal 36, the reaction force control unit 46 controls the reaction force application mechanism 37 to reduce the reaction force applied to the accelerator pedal 36. The second threshold value is set to a distance that will not cause the host vehicle V1 to collide with the preceding vehicle V2 even if the host vehicle V1 starts accelerating.

[0037] Fig. 4 shows a situation in which the preceding vehicle V2 starts to turn left. As shown in Fig. 4, the distance L1 between the host vehicle V1 and the preceding vehicle V2 in the longitudinal direction is the same as that in Fig. 3. On the other hand, the distance L2 between the host vehicle V1 and the preceding vehicle V2 in the longitudinal direction within the detection range AR of the front sensor 34 is greater than that in Fig. 3 and is greater than the second threshold value. In this case, the reaction force control unit 46 controls the reaction force adding mechanism 37 so that the reaction force added to the accelerator pedal 36 is reduced.

[0038] Note that, in a state in which a reaction force is being applied to the accelerator pedal 36, the reaction force control unit 46 may control the reaction force application mechanism 37 so as to reduce the reaction force applied to the accelerator pedal 36 when the vehicle distance L2 in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2 is greater than the second threshold value and when the relative movement distance in the vehicle width direction of the preceding vehicle V2 with respect to the host vehicle V1 increases. In this case, safety performance can be improved compared to a case in which the reaction force applied to the accelerator pedal 36 is controlled only in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2.

[0039] In addition, various methods may be adopted when controlling the reaction force application mechanism 37 so that the reaction force applied to the accelerator pedal 36 is reduced. For example, the reaction force control unit 46 may cancel the state in which the reaction force is applied by the reaction force application mechanism 37 when the vehicle-width distance L2 between the host vehicle V1 and the preceding vehicle V2 becomes larger than a second threshold value. In addition, the reaction force control unit 46 may gradually reduce the reaction force applied to the accelerator pedal 36 when the vehicle-width distance L2 between the host vehicle V1 and the preceding vehicle V2 becomes larger than the second threshold value. Furthermore, the reaction force control unit 46 may control the reaction force application mechanism 37 so that the reaction force is reduced as the vehicle-width distance increases when the vehicle-width distance L2 between the host vehicle V1 and the preceding vehicle V2 becomes larger than the second threshold value.

[0040] (action) Next, the operation of this embodiment will be described.

[0041] (Vehicle control processing) 5 is a flowchart showing an example of the flow of vehicle control processing by the vehicle control device 12 according to this embodiment. Note that this vehicle control processing is executed by the CPU 20 reading a program from the storage 26 and expanding it in the RAM 24.

[0042] 5, the CPU 20 determines whether or not the preceding vehicle V2 has been detected in step S102. Specifically, if the preceding vehicle V2 has been detected by the front sensor 34, the CPU 20 makes a positive determination in step S102 and proceeds to processing in step S104. On the other hand, if the preceding vehicle V2 has not been detected by the front sensor 34, the vehicle control processing is terminated.

[0043] In step S104, the CPU 20 calculates a distance L1 between the host vehicle V1 and the preceding vehicle V2 in the longitudinal direction. In step S106, the CPU 20 calculates a distance L2 between the host vehicle V1 and the preceding vehicle V2 in the width direction.

[0044] In step S108, the CPU 20 determines whether the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 is smaller than the first threshold. If the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 is smaller than the first threshold, the CPU 20 proceeds to step S110. If the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 is equal to or greater than the first threshold, the CPU 20 does not apply a reaction force to the accelerator pedal 36 and ends the vehicle control process.

[0045] In step S110, the CPU 20 applies a reaction force to the accelerator pedal 36. Specifically, the CPU 20 operates the reaction force application mechanism 37 through the function of the reaction force control unit 46, thereby applying a predetermined reaction force to the accelerator pedal 36.

[0046] In step S112, the CPU 20 determines whether the vehicle distance L2 in the vehicle width direction is greater than a second threshold value. If the vehicle distance L2 between the host vehicle V1 and the preceding vehicle V2 in the vehicle width direction is greater than the second threshold value, the CPU 20 proceeds to processing in step S114. If the vehicle distance L2 between the host vehicle V1 and the preceding vehicle V2 in the vehicle width direction is equal to or less than the second threshold value, the CPU 20 returns to processing in step S104 and calculates the vehicle distance.

[0047] In step S114, the CPU 20 reduces the reaction force applied to the accelerator pedal 36. Specifically, the CPU 20 reduces the reaction force applied to the accelerator pedal 36 by controlling the reaction force application mechanism 37 through the function of the reaction force control unit 46.

[0048] As described above, the vehicle control device 12 according to this embodiment not only controls the reaction force addition mechanism 37 based on the longitudinal distance L1 between the host vehicle V1 and the preceding vehicle V2, but also controls the reaction force addition mechanism 37 in consideration of the vehicle width distance L2 between the host vehicle V1 and the preceding vehicle V2. In other words, the reaction force addition mechanism 37 is controlled based on the risk of the host vehicle V1 coming into contact with the preceding vehicle V2. This makes it possible to prevent reaction force from being inadvertently applied to the accelerator pedal 36 in a situation where the driver wants to accelerate, such as immediately after the preceding vehicle V2 makes a right or left turn.

[0049] In this embodiment, when the longitudinal distance L1 between the host vehicle V1 and the preceding vehicle V2 is smaller than a first threshold value, a reaction force is applied to the accelerator pedal 36 by the reaction force application mechanism 37. This makes it possible to alert the driver that the host vehicle V1 is approaching the preceding vehicle V2.

[0050] On the other hand, when a reaction force is applied and the vehicle width distance L2 between the host vehicle V1 and the preceding vehicle V2 is greater than the second threshold value, the reaction force applied to the accelerator pedal 36 by the reaction force application mechanism 37 is reduced, so that the driver can accelerate without being hindered.

[0051] In the above embodiment, as shown in FIG. 3, the distance L1 from the front end of the host vehicle V1 to the rear end of the preceding vehicle V2 is calculated as the longitudinal distance between the vehicles, and the distance L2 in the vehicle width direction of the preceding vehicle V2 located in the area between the right reference line RL and the left reference line LL is calculated as the vehicle width distance between the vehicles. However, this is not limited to this, and the vehicle distance may be calculated in other ways.

[0052] As an example, lane position information may be acquired by the forward sensor 34 or another camera, and the vehicle distance in the vehicle width direction between the host vehicle V1 and the preceding vehicle V2 may be calculated based on the position information of the preceding vehicle V2 and the lane position information. This method will be described with reference to FIG.

[0053] (Modification) Fig. 6 is a schematic diagram showing a state in which the host vehicle V1 and the preceding vehicle V2 are traveling on a curve in the same lane. As shown in Fig. 6, the longitudinal distance calculation unit 42 calculates the distance L1 from the front end of the host vehicle V1 to the rear end of the preceding vehicle V2 as the longitudinal distance. On the other hand, the widthwise distance calculation unit 44 calculates the distance across the lane boundary line 54 by the preceding vehicle V2 as the widthwise distance.

[0054] According to this modified example, even if the preceding vehicle V2 deviates from the area between the right reference line RL and the left reference line LL while traveling around a curve in the same lane, the distance by which the preceding vehicle V2 crosses the lane boundary line 54 is calculated as the vehicle distance in the vehicle width direction, so that the vehicle distance in the vehicle width direction is determined to be equal to or less than the second threshold value, and the reaction force applied to the accelerator pedal 36 can be prevented from becoming smaller. Furthermore, since the reaction force applied to the accelerator pedal 36 becomes smaller when the preceding vehicle V2 crosses the lane boundary line 54 and moves to the adjacent lane, it can be accurately determined that the host vehicle V1 is capable of accelerating.

[0055] Although the vehicle control device 12 according to the embodiment and the modified example has been described above, it is needless to say that the present invention can be embodied in various forms without departing from the scope of the present invention. For example, the reaction force application mechanism 37 of the present embodiment is configured to apply an arbitrary reaction force to the accelerator pedal 36 by generating a predetermined torque from a servo motor, but the reaction force may be applied to the accelerator pedal 36 by other mechanisms. For example, the reaction force may be applied to the accelerator pedal 36 by a mechanism that utilizes a cylinder, hydraulic pressure, or the like.

[0056] In the above embodiment, the reaction force application mechanism 37 is controlled so that a reaction force is applied to the accelerator pedal 36 when the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 is smaller than a first threshold value, and the reaction force applied to the accelerator pedal 36 is reduced when the transverse distance between the host vehicle V1 and the preceding vehicle V2 is larger than a second threshold value, but the present invention is not limited to this. For example, a reaction force may be applied to the accelerator pedal 36 only when the longitudinal distance between the host vehicle V1 and the preceding vehicle V2 is smaller than the first threshold value and the transverse distance between the host vehicle V1 and the preceding vehicle V2 is equal to or smaller than the second threshold value.

[0057] Furthermore, in the above embodiment, as shown in Fig. 3, the vehicle-width-direction distance L2 of the preceding vehicle V2 that exists outside the region between the right reference line RL and the left reference line LL that extend along the vehicle width of the host vehicle V1 is calculated as the vehicle-width-direction distance, but this is not limited thereto, and the vehicle-width-direction distance may be calculated by other methods. For example, when the preceding vehicle V2 exists in the region between the right reference line RL and the left reference line LL, the vehicle-width-direction distance may be calculated as 0, and the vehicle-width-direction distance may be measured from a state in which the entire preceding vehicle V2 has moved outside the region. In this case, when the preceding vehicle V2 moves 1 m to the left of the left reference line LL, the vehicle-width-direction distance is calculated to be 1 m.

[0058] Furthermore, the processing that the CPU 20 reads and executes the program in the above embodiment may be executed by various processors other than the CPU 20. Examples of the processor in this case include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific processing. Each processing may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types, for example, by multiple FPGAs, or a combination of a CPU and an FPGA. The hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements.

[0059] In the above embodiment, each program is described as being prestored (installed) in a non-transitory recording medium that can be read by a computer, but this is not limiting, and each program may be provided in a form recorded in a non-transitory recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), a USB (Universal Serial Bus) memory, etc. Also, the program may be downloaded from an external device via a network.

[0060] Furthermore, the process flow described in the above embodiment is merely an example, and unnecessary steps may be deleted, new steps may be added, or the process order may be changed, without departing from the spirit of the invention. [Explanation of symbols]

[0061] 10 Vehicles 12 Vehicle control device 20 CPU (processor) 34 Front sensor (sensor) 36 Accelerator pedal 37 Reaction force addition mechanism V1 Vehicle V2 Preceding vehicle

Claims

1. a processor, the processor comprising: Obtaining position information of a preceding vehicle traveling in front of the vehicle; A vehicle control device that controls a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle distance in a vehicle width direction between the host vehicle and the preceding vehicle, The processor calculates the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and when the longitudinal distance between the host vehicle and the preceding vehicle is smaller than a first threshold value, applies a reaction force to the accelerator pedal, and controls the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the longitudinal distance between the host vehicle and the preceding vehicle becomes larger than a second threshold value in the applied state.

2. 2. The vehicle control device according to claim 1, wherein the processor controls the reaction force addition mechanism so as to reduce the reaction force applied to the accelerator pedal when the vehicle width distance between the host vehicle and the preceding vehicle is greater than the second threshold value in the addition state and when the relative movement distance of the preceding vehicle in the vehicle width direction with respect to the host vehicle increases.

3. A sensor for detecting a preceding vehicle; a reaction force applying mechanism capable of applying a reaction force to an accelerator pedal; A vehicle control device according to claim 1 or 2, A vehicle having the above configuration.

4. A method for detecting a vehicle ahead of a vehicle by a computer, comprising: A vehicle control method for controlling a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle-width distance between the host vehicle and the preceding vehicle, the method comprising: The vehicle control method calculates the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and when the fore-and-aft vehicle distance between the subject vehicle and the preceding vehicle is smaller than a first threshold value, applies a reaction force to the accelerator pedal in an applied state, and controls the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the vehicle distance between the subject vehicle and the preceding vehicle in the vehicle width direction becomes larger than a second threshold value in the applied state.

5. Obtaining position information of a preceding vehicle traveling in front of the vehicle; A program for causing a computer to execute a process of controlling a reaction force application mechanism that applies a reaction force to an accelerator pedal based on a vehicle width distance between the host vehicle and the preceding vehicle, The program includes a process of calculating the distance the preceding vehicle has crossed the lane boundary line as the vehicle distance in the vehicle width direction, and when the longitudinal distance between the host vehicle and the preceding vehicle is smaller than a first threshold value, applying a reaction force to the accelerator pedal, and controlling the reaction force application mechanism so that the reaction force applied to the accelerator pedal decreases as the vehicle width distance between the host vehicle and the preceding vehicle becomes larger than a second threshold value in the applied state.

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