Vehicle control device, vehicle control method, and program

Abstract

To reduce a possibility to allow an operator and a passenger of a vehicle to feel discomfort in side collision avoidance control by reducing a possibility to erroneously perform the side collision avoidance control.SOLUTION: A vehicle control device performs front collision avoidance control when a front object satisfies a predetermined front collision condition, and performs side collision avoidance control when a side object satisfies a predetermined side collision condition. The vehicle control device suppresses performance of the side collision avoidance control when the side object is positioned in an overlap area between a side detection area and a front detection area in comparison with a case where the side object is positioned in a non-overlap area outside the overlap area of the side detection area.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a vehicle control device that executes collision avoidance control for avoiding a collision between an object and a vehicle or reducing the damage caused by a collision, a vehicle control method in which a vehicle computer executes collision avoidance control, and a program for causing a vehicle computer to execute collision avoidance control.

Background Art

[0002] Conventionally, a vehicle control device that executes "collision avoidance control which is a kind of autonomous driving" has been known. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as "the first conventional device") executes collision avoidance control when a moving object on the side of the vehicle detected by a radar sensor satisfies a collision condition. This collision avoidance control is referred to as "side collision avoidance control".

[0003] The radar sensor described in Patent Document 1 transmits millimeter waves (transmission waves) to the side of the vehicle and receives "reflection waves obtained by reflecting the transmission waves at the reflection points of the object". Then, the radar sensor recognizes the object based on the transmission wave and the reflection wave (that is, specifies the position of the object with respect to the vehicle and the relative speed of the object with respect to the vehicle).

[0004] A vehicle control device described in Patent Document 2 (hereinafter referred to as "the second conventional device") detects an object in front of the vehicle and executes collision avoidance control when the object satisfies a collision condition. This collision avoidance control is referred to as "front collision avoidance control".

[0005] The second conventional device recognizes the object by integrating (fusing) "first detection information regarding the object detected by the camera" and "second detection information regarding the object detected by the radar sensor" (that is, specifies the position of the object with respect to the vehicle and the relative speed of the object with respect to the vehicle) (see paragraphs 0050 to 0052).

Prior Art Documents

Patent Documents

[0006] Patent Document 1 Japanese Patent Application Laid-Open No. 2020-12702 Patent Document 2 Japanese Patent Application Laid-Open No. 2022-90833 Summary of the Invention

[0007] The first conventional device recognizes an object using only information from a radar sensor, and the second conventional device recognizes an object using information from a camera and a radar sensor. Therefore, the recognition accuracy of the object by the first conventional device is lower than that of the second conventional device.

[0008] The inventors of the present invention are studying a vehicle control device (hereinafter referred to as the "studied device") capable of executing both forward collision avoidance control and side collision avoidance control. The studied device recognizes an object on the side of the vehicle based on information from a side radar sensor, and recognizes an object in front of the vehicle based on information from a camera and a front radar sensor. Therefore, the recognition accuracy of the object on the side of the vehicle is lower than that of the object in front of the vehicle. As a result, the possibility that the studied device erroneously executes pre-side collision control is higher than the possibility of executing pre-front collision control.

[0009] The "operator (driver and remote operator) and passengers" of the vehicle are highly likely to feel bothered by the erroneously executed side collision avoidance control.

[0010] The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to provide a vehicle control device capable of reducing the possibility that the "operator and passengers" of the vehicle feel bothered by the side collision avoidance control by reducing the possibility of erroneously executing the side collision avoidance control.

[0011] The vehicle control device of the present invention (hereinafter referred to as the "device of the present invention") a front detection unit (22, 26, 20) that detects an object located in a front detection area (FR) in front of a vehicle (VA) as a front object, A side detection unit (24L, 24R, 20) that detects an object located in a side detection area (SR) on the side of the vehicle, where the front detection area overlaps with a partial overlap area (OR); A control unit (20, 30, 40, 50) that executes forward collision avoidance control to avoid a collision between the vehicle and the forward object or reduce the damage caused by the collision when the forward object satisfies a predetermined forward collision condition, and executes side collision avoidance control to avoid a collision between the vehicle and the side object or reduce the damage caused by the collision when the side object satisfies a predetermined side collision condition; Comprising; The recognition accuracy of the object by the side detection unit is lower than that of the front detection unit; The control unit; When the side object is located in the overlap area, the execution of the side collision avoidance control is suppressed more than when the side object is located in an outer overlap area (ER) outside the overlap area of the side detection area (Steps 920, 925, 930).

[0012] The device of the present invention suppresses the execution of side collision avoidance control when the side object is located in the overlap area more than when the side object is located in the outer overlap area. Thereby, when the side object is located in the overlap area, the execution of the side collision avoidance control based on the detection result of the side detection unit with low recognition accuracy of the object is suppressed, so that the possibility of the side collision avoidance control being erroneously executed can be reduced. If an object with a high possibility of colliding with the vehicle is located in the overlap area, the forward collision avoidance control based on the detection result of the front detection unit with high recognition accuracy is executed, so that the collision avoidance control is surely executed.

[0013] In one aspect of the device of the present invention, The control unit; Obtains a reliability (RD) representing the possibility that the side object detected by the side detection unit actually exists (Steps 910, 915, 935, 945, 950, 955, 960); When the lateral object satisfies the lateral collision condition (step 840, "Yes"), if the reliability of the lateral object is equal to or higher than a predetermined threshold reliability (step 845, "Yes"), the lateral collision avoidance control is executed (steps 850, 1015, 1020). Set the upper limit value of the reliability of the lateral object located in the overlapping region to be smaller than the upper limit value of the lateral object located in the non-overlapping region (step 920, "Yes", step 925). It is configured as follows.

[0014] The device of the present invention according to this aspect sets the upper limit value of the reliability of the lateral object located in the overlapping region to be smaller than the upper limit value of the reliability of the lateral object located in the non-overlapping region. For this reason, the reliability of the lateral object located in the overlapping region is less likely to be equal to or higher than the threshold reliability than the reliability of the lateral object located in the non-overlapping region. As a result, when the lateral object is located in the overlapping region, the execution of the lateral collision avoidance control is suppressed more than when the lateral object is located in the non-overlapping region.

[0015] In one aspect of the device of the present invention, The control unit Regardless of whether the forward object is moving, when the forward object satisfies the forward collision condition (step 740), the forward collision avoidance control is executed. When the lateral object is moving (step 825) and the lateral object satisfies the lateral collision condition, the lateral collision avoidance control is executed. It is configured as follows.

[0016] For an object located in the overlapping area, forward collision avoidance control and side collision avoidance control may be executed. Here, when the side object is stationary, the side collision avoidance control is not executed. However, since the recognition accuracy of the side detection unit is lower than that of the forward detection unit, there is a possibility that the side detection unit misjudges a stationary object as a moving object. Due to this misjudgment, there is a possibility that side collision avoidance is erroneously executed for a stationary object. As described above, when the side object is located in the overlapping area, the execution of the side collision avoidance control is suppressed more than when the side object is located outside the overlapping area. Therefore, the possibility that the side collision avoidance control is erroneously executed for a stationary object located in the overlapping area can be reduced.

[0017] In the above aspect, the front detection unit and the side detection unit are arranged such that the overlapping area becomes an area where a misjudged object that may be misjudged as moving although it is stationary may collide with the vehicle, and the area outside the overlapping area becomes an area where the misjudged object has no possibility of colliding with the vehicle (FIG. 6).

[0018] In this aspect, the front detection unit and the side detection unit are arranged such that the overlapping area becomes an area where "a misjudged object may collide with the vehicle", and the area outside the overlapping area of the side detection area becomes an area where "a misjudged object has no possibility of colliding with the vehicle". Therefore, even if a misjudged object is located in the area outside the overlapping area of the side detection area, since there is no possibility that the misjudged object collides with the vehicle, the possibility that the side collision avoidance control is erroneously executed is extremely low. On the other hand, when a misjudged object is located in the overlapping area, since there is a possibility that the misjudged object collides with the vehicle, there is a possibility that the side collision avoidance control is erroneously executed. However, as described above, when the side object is located in the overlapping area, the execution of the side collision avoidance control is suppressed more than when the side object is located outside the overlapping area. Therefore, the possibility that the side collision avoidance control is erroneously executed for a stationary object located in the overlapping area can be reduced.

[0019] In addition, although the execution of the side collision avoidance control is suppressed in the overlapping region, if there is a high possibility that an object located in the overlapping region will collide with the vehicle, the forward collision avoidance control is executed.

[0020] In the above aspect, The forward detection region is preset such that the forward detection region has an angle of 45 degrees in each of the left direction and the right direction with respect to the longitudinal axis direction of the vehicle at the center in the vehicle width direction of the vehicle (FIG. 6).

[0021] As the vehicle moves, a stationary object appears to move away from the vehicle. The magnitude of the component of the relative speed of such a stationary object with respect to the vehicle in the longitudinal axis direction is equal to the magnitude of the vehicle speed representing the speed of the vehicle. Note that the longitudinal axis direction component means the component of the relative speed in the longitudinal axis direction of the vehicle.

[0022] For example, when the side object is a stationary object such as a guardrail, if the longitudinal axis direction of the vehicle is oblique to the guardrail, a component in the vehicle width direction (vehicle width direction component) of the relative speed of the guardrail is generated. The magnitude of this vehicle width direction component does not exceed the magnitude of the longitudinal axis direction component (i.e., the magnitude of the vehicle speed). This is because the angle formed by the relative movement direction of the stationary object with respect to the vehicle and the longitudinal axis direction of the vehicle is at most 45 degrees (the angle is maximum when the longitudinal axis direction of the vehicle is orthogonal to the guardrail), and in this case, the magnitude of the vehicle width direction component of the stationary object is the same as the magnitude of the longitudinal axis direction component. Therefore, when the stationary object having this maximum included angle is located within a range of 45 degrees to the left or right around the longitudinal axis direction of the vehicle, there is a possibility that the extension line of the relative movement direction intersects the center of the front end of the vehicle and collides with the vehicle. As described above, since the magnitude of the vehicle width direction component is equal to or less than the magnitude of the vehicle speed, the relative movement direction is 45 degrees or less to the left or right around the longitudinal axis direction of the vehicle. In this aspect, the front detection area is preset such that it has an angle of 45 degrees to the left and right respectively around the longitudinal axis direction at the center in the vehicle width direction. For this reason, the overlapping area is an area where the erroneously determined object may collide with the vehicle.

[0023] In one aspect of the device of the present invention, the control unit, when the relationship between the front collision index value indicating the possibility of the front object colliding with the vehicle and a predetermined front threshold value satisfies a predetermined condition (step 740 "Yes"), the front collision condition is established, when the relationship between the side collision index value indicating the possibility of the side object colliding with the vehicle and a predetermined side threshold value satisfies a predetermined condition (step 840 "Yes"), the side collision condition is established, is configured as follows.

[0024] According to this aspect, when the relationship between the front collision index value and the front threshold value satisfies a predetermined condition, the front collision condition is established and the front collision avoidance control is executed. When the relationship between the side collision index value and the side threshold value satisfies a predetermined condition, the side collision condition is established and the side collision avoidance control is executed. As a result, when the possibility of collision between the front object and the side object and the vehicle increases, the front collision avoidance control and the side collision avoidance control can be executed.

[0025] In one aspect of the device of the present invention, the front detection unit, includes a camera (26) and a first radar sensor (22), recognizes the front object based on the captured image captured by the camera and the detection result of the first radar sensor (step 720), configured as follows, the side detection unit, has second radar sensors (24L, 24R), and recognizes the side object based on the detection result of the second radar sensor (step 815), and is configured as follows.

[0026] According to this aspect, the front detection unit recognizes the front object based on the captured image captured by the camera and the detection result of the first radar sensor, while the side detection unit recognizes the side object based on the detection result of the second radar sensor. Therefore, the recognition accuracy of the object by the side detection unit is lower than that of the front detection unit.

[0027] The vehicle control method according to the present invention is a method in which a computer (20) mounted on a vehicle (VA) executes collision avoidance control for avoiding a collision between an object and the vehicle or reducing damage caused by the collision. The vehicle control method according to the present invention is a first step (step 720) of recognizing the front object based on the detection result of a front detection unit (22, 26) that detects an object located in a front detection area (FR) in front of the vehicle as a front object; a second step (step 815) of recognizing the side object based on the detection result of a side detection unit (24L, 24R) that detects an object located in a side detection area (SR) on the side of the vehicle and overlapping with a partial overlapping area (OR) of the front detection area as a side object; a third step (steps 1015, 1020) of executing front collision avoidance control for avoiding a collision between the front object and the vehicle or reducing damage caused by the collision when the front object satisfies a predetermined front collision condition (step 740 “Yes”); a fourth step (steps 1015, 1020) of executing side collision avoidance control for avoiding a collision between the side object and the vehicle or reducing damage caused by the collision when the side object satisfies a predetermined side collision condition (step 840 “Yes”); and the recognition accuracy of the object by the side detection unit is lower than that of the front detection unit, The vehicle control method further includes a seventh step (steps 920, 925, 930) of suppressing execution of the side collision avoidance control when the side object is located in the overlapping region, as compared to when the side object is located in an extra-overlapping region (ER) outside the overlapping region of the side detection region.

[0028] A program according to the present invention causes a computer mounted on the vehicle to execute collision avoidance control for avoiding a collision between an object and the vehicle (VA) or reducing damage caused by the collision. In the computer according to the present invention, a first step (720) of recognizing the front object based on a detection result of a front detection unit (22, 26) that detects an object located in a front detection region (FR) in front of the vehicle as the front object; a second step (step 815) of recognizing the side object based on a detection result of a side detection unit (24L, 24R) that detects an object located in a side detection region on a side of the vehicle and overlapping with a part of an overlapping region (OR) as the side object; a third step (steps 1015, 1020) of executing front collision avoidance control for avoiding a collision between the front object and the vehicle or reducing damage caused by the collision when the front object satisfies a predetermined front collision condition (step 740 “Yes”); a fourth step (steps 1015, 1020) of executing side collision avoidance control for avoiding a collision between the side object and the vehicle or reducing damage caused by the collision when the side object satisfies a predetermined side collision condition (step 840 “Yes”); and causes the computer to execute the steps. The recognition accuracy of the object by the side detection unit is lower than that of the front detection unit, and the program further causes the computer to execute a seventh step (steps 920, 925, 930) of suppressing execution of the side collision avoidance control when the side object is located in the overlapping region, as compared to when the side object is located in an extra-overlapping region (ER) outside the overlapping region of the side detection region.

[0029] Accordingly, when the lateral object is located in the overlapping region, execution of the lateral collision avoidance control based on the detection result of the lateral detection unit with low object recognition accuracy is suppressed, so that the possibility of erroneously executing the lateral collision avoidance control can be reduced.

[0030] The device of the present invention includes a lateral detection unit (24L, 24R) that detects a lateral object located on the side of the vehicle, and a control unit (20, 30, 40, 50) that executes lateral collision avoidance control to avoid a collision between the lateral object and the vehicle or reduce damage caused by the collision when the lateral object satisfies a predetermined lateral collision condition. The control unit is configured to execute the lateral collision avoidance control when the magnitude of the vehicle width direction component (Vrx) of the relative speed of the lateral object with respect to the vehicle is greater than the magnitude of the vehicle speed representing the speed of the vehicle (step 1105 “Yes”) and the lateral object satisfies the lateral collision condition (step 840 “Yes” shown in FIG. 11), and not to execute the lateral collision avoidance control when the magnitude of the vehicle width direction component is less than or equal to the magnitude of the vehicle speed (step 1105 “No”). As described above, the magnitude of the vehicle width direction component of the relative speed of an object that is erroneously determined to be moving despite being a stationary object is less than or equal to the magnitude of the vehicle speed. Since the device of the present invention does not execute lateral collision avoidance control when the magnitude of the vehicle width direction component of the relative speed of the object is less than or equal to the magnitude of the vehicle speed, the possibility of erroneously executing lateral collision avoidance control for an object that is erroneously determined to be moving despite being a stationary object can be reduced.

[0031]

[0032] ​​In the above description, for the purpose of facilitating the understanding of the invention, the names and / or reference numerals used in the embodiments described later are appended in parentheses to the configuration of the invention corresponding to the embodiments. However, each component of the invention is not limited to the embodiments defined by the above names and / or reference numerals. Other objects, other features, and attendant advantages of the present invention will be readily understood from the description of the embodiments of the present invention described with reference to the following drawings.

Brief Description of the Drawings

[0033]

Figure 1

Figure 2

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Figure 10

Figure 11

[0034] A vehicle control device (hereinafter referred to as "the present control device") 10 according to an embodiment of the present invention is mounted on a vehicle VA. As shown in FIG. 1, the present control device 10 includes a driving support ECU (hereinafter referred to as "DSECU") 20, an engine ECU 30, a brake ECU 40, and a meter ECU 50.

[0035] ECU is an abbreviation for an electronic control unit, and is an electronic control circuit having a microcomputer including a CPU, a ROM, a RAM, and an interface (I / F) as main components. The ECU may sometimes be referred to as a "control unit", "controller", or "computer". The CPU realizes various functions by executing instructions (routines, programs) stored in a memory (ROM). All or some of the above ECUs 20, 30, 40, and 50 may be integrated into one ECU.

[0036] The present control device 10 includes a front millimeter-wave radar 22, a left-side millimeter-wave radar 24L, a right-side millimeter-wave radar 24R, a front camera 26, and a vehicle speed sensor 27. These are connected to the DSECU 20 so as to be capable of data exchange. Hereinafter, when it is not necessary to distinguish between the front millimeter-wave radar 22, the left-side millimeter-wave radar 24L, and the right-side millimeter-wave radar 24R, these are referred to as "millimeter-wave radars". When it is not necessary to distinguish between the left-side millimeter-wave radar 24L and the right-side millimeter-wave radar 24R, these are referred to as "side millimeter-wave radars". Furthermore, the left-side millimeter-wave radar 24L and the right-side millimeter-wave radar 24R may be referred to as the "side detection unit". The front millimeter-wave radar 22 and the front camera 26 may be referred to as the "front detection unit". Furthermore, the front millimeter-wave radar 22 may be referred to as the "first radar sensor", and the left-side millimeter-wave radar 24L and the right-side millimeter-wave radar 24R may be referred to as the "second radar sensor".

[0037] The millimeter-wave radar detects an object by transmitting millimeter waves and receiving the reflected waves of the millimeter waves. The millimeter-wave radar identifies the distance D to the object, the lateral position y of the object, and the relative velocity Vr (see FIG. 5), and transmits radar object information including these to the DSECU 20.

[0038] As shown in FIG. 2, the front millimeter-wave radar 22 is disposed at the center CT1 in the vehicle width direction at the front end of the vehicle VA. The front millimeter-wave radar 22 receives the millimeter waves reflected by an object (three-dimensional object) located in the detection region DR1 in front of the vehicle VA, and detects the object. The detection region DR1 is a fan-shaped region having an angle θ1 in the left and right directions respectively with the central axis C1 as the center. The central axis C1 extends forward in the longitudinal axis direction of the vehicle VA from the central part CT1. In this example, the angle θ1 is set to 45 degrees.

[0039] As shown in FIG. 2, the left-side millimeter-wave radar 24L is disposed at the left end LE in the vehicle width direction at the front end of the vehicle VA. The left-side millimeter-wave radar 24L detects an object located in the detection region DR2L on the left front side of the vehicle VA. The detection region DR2L is a fan-shaped region having an angle θ2 in the left and right directions respectively with the central axis C2 as the center. The central axis C2 extends toward the left front side of the vehicle VA from the left end LE.

[0040] As shown in Fig. 2, the right-side millimeter-wave radar 24R is disposed at the right end RE in the vehicle width direction at the front end of the vehicle VA. The right-side millimeter-wave radar 24R detects an object located in the detection area DR2R on the right front side of the vehicle VA. The detection area DR2R is a fan-shaped area having an angle θ2 in the left and right directions respectively centered on the central axis C3. The central axis C3 extends from the right end RE toward the right front side of the vehicle VA.

[0041] When it is not necessary to distinguish between the detection areas DR2 and DR3, they may be referred to as the "side detection area". The objects detected by the left-side millimeter-wave radar 24L and the right-side millimeter-wave radar 24R may be referred to as "side objects". The angle θ2 of the left-side millimeter-wave radar 24L and the angle θ2 of the right-side millimeter-wave radar 24R may be set to the same value or different values.

[0042] As shown in Fig. 2, the front camera 26 is disposed at the center CT2 in the vehicle width direction at the upper part of the front window of the vehicle VA. The front camera 26 acquires an imaging image by photographing the imaging area PR in front of the vehicle VA. Then, the front camera 26 specifies the distance D to the object shown in the imaging image and the horizontal position (y) of the object, and transmits the camera object information including these to the DSECU20. The imaging area PR is a fan-shaped range of a central angle θ3 extending forward in the longitudinal axis direction of the vehicle VA from the center CT2.

[0043] The vehicle speed sensor 27 measures the vehicle speed Vs representing the speed of the vehicle VA and generates a measurement signal representing the vehicle speed Vs. The DSECU20 specifies the vehicle speed Vs based on the measurement signal.

[0044] The engine ECU 30 is connected to the engine actuator 32. The engine actuator 32 includes a throttle valve actuator that changes the opening degree of the throttle valve of the engine 32a. The engine ECU 30 can change the torque generated by the engine 32a by driving the engine actuator 32. The torque generated by the engine 32a is transmitted to the drive wheels via a transmission (not shown). Note that the vehicle VA may be equipped with an electric motor as a vehicle drive source instead of or in addition to the engine 32a.

[0045] The brake ECU 40 is connected to the brake actuator 42. The brake actuator 42 includes a hydraulic circuit. The hydraulic circuit includes a master cylinder, a flow path through which the brake fluid flows, a plurality of valves, a pump, and a motor for driving the pump, etc. The brake actuator 42 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake mechanism 42a in response to an instruction from the brake ECU 40. By that hydraulic pressure, the wheel cylinder generates a frictional braking force on the wheel.

[0046] The meter ECU 50 is connected to the display 52 and the speaker 54. The display 52 is disposed at a position facing the driver seated in the driver's seat. For example, the display 52 is a multi-information display. The speaker 54 is disposed in the vehicle interior of the vehicle VA and emits a buzzer sound.

[0047] (Outline of operation) With reference to FIG. 3, the outline of the operation of the control device 10 will be described. The control device 10 can execute forward collision avoidance control and side collision avoidance control. The forward collision avoidance control and the side collision avoidance control are controls for avoiding a collision with a forward object and a side object, respectively, or reducing the damage of the collision. Note that when there is no need to distinguish between the forward collision avoidance control and the side collision avoidance control, these may be referred to as "collision avoidance control".

[0048] The collision avoidance control includes at least one of notification control and deceleration control. The notification control is a control for notifying the driver that there is a possibility of collision with a forward object or a lateral object. Specifically, in the notification control, a predetermined notification screen is displayed on the display 52, or a buzzer sound is emitted from the speaker 54. The deceleration control is a control for decelerating the vehicle VA so that the deceleration of the vehicle VA matches a preset target deceleration.

[0049] <Forward Collision Avoidance Control> When the following forward collision conditions are satisfied, the present control device 10 executes forward collision avoidance control. Forward collision condition: The time (hereinafter referred to as "TTC") until a forward object with a possibility of collision collides is equal to or less than a predetermined threshold time Tth.

[0050] The present control device 10 recognizes a forward object by integrating (fusing) the radar object information (hereinafter referred to as "forward radar object information") transmitted by the forward millimeter-wave radar 22 and the camera object information transmitted by the forward camera 26. Details of this method of recognizing a forward object will be described later.

[0051] Note that the forward object is an object located in a region where the detection region DR1 and the imaging region PR overlap (hereinafter referred to as "forward detection region FR"). In this example, as shown in FIGS. 2 and 3, since the imaging region PR includes the detection region DR1, the forward detection region FR is the detection region DR1.

[0052] <Lateral Collision Avoidance Control> When all of the following conditions A1 to A3 are satisfied, the present control device 10 executes lateral collision avoidance control. Condition A1: The lateral collision condition that the TTC of a lateral object with a possibility of collision is equal to or less than the threshold time Tth is satisfied. Condition A2: The lateral object is moving. Condition A3: The reliability RD of the lateral object is equal to or greater than a predetermined threshold reliability RDth.

[0053] Note that the lateral object is an object located in the detection region DR2L and the detection region DR2R. In some cases, the detection region DR2L may be referred to as the "left lateral detection region SRL", and the detection region DR2R may be referred to as the "right lateral detection region SRR". Furthermore, when there is no need to distinguish between the left lateral detection region SRL and the right lateral detection region SRR, these may be referred to as the "lateral detection region SR".

[0054] The reliability RD is an index value representing the possibility that the lateral object actually exists. The larger the reliability RD, the higher the possibility that the lateral object actually exists. The details of the method for obtaining the reliability RD will be described later.

[0055] <Upper limit value of reliability RDL> This control device 10 has a preset upper limit value (hereinafter referred to as the "upper limit value of reliability RDL") of the reliability RD for the lateral detection region SR. Specifically, this control device 10 sets the upper limit value of reliability RDL for the left overlapping region ORL that overlaps with the front detection region FR of the left lateral detection region SRL to "90", and sets the upper limit value of reliability RDL for the left non-overlapping region ERL other than the left overlapping region ORL of the left lateral detection region SRL to "100". Similarly, this control device 10 sets the upper limit value of reliability RDL for the right overlapping region ORR that overlaps with the front detection region FR of the right lateral detection region SRR to "90", and sets the upper limit value of reliability RDL for the right non-overlapping region ERR other than the right overlapping region ORR of the right lateral detection region SRR to "100". When there is no need to distinguish between the left overlapping region ORL and the right overlapping region ORR, these may be referred to as the "overlapping region OR". When there is no need to distinguish between the left non-overlapping region ERL and the right non-overlapping region ERR, these may be referred to as the "non-overlapping region ER".

[0056] In this example, the threshold reliability RDth is set to, for example, "95". Therefore, when the lateral object is located in the overlapping region OR, the reliability RD does not become equal to or higher than the threshold reliability RDth, so the control device 10 does not execute the lateral collision avoidance control. On the other hand, when the lateral object is located in the non-overlapping region ER, the reliability RD can become equal to or higher than the threshold reliability RDth, so the control device 10 can execute the lateral collision avoidance control. In other words, the control device 10 suppresses the execution of the lateral collision avoidance control when the lateral object is located in the overlapping region OR more than when the lateral object is located in the non-overlapping region ER.

[0057] The lateral object is recognized based only on the radar object information, while the front object is recognized based on the radar object information and the camera object information. Therefore, the recognition accuracy of the lateral object is lower than that of the front object. For example, the control device 10 may erroneously determine that a stationary lateral object is moving. For this reason, the lateral collision avoidance control for a lateral object recognized based only on the radar object information is more likely to be erroneously executed compared to the collision avoidance control for other objects.

[0058] According to this example, when the lateral object is located in the overlapping region OR, the execution of the lateral collision avoidance control is suppressed more than when the lateral object is located in the non-overlapping region ER. Thereby, the possibility that the lateral collision avoidance control in the overlapping region OR is erroneously executed can be reduced. Even if there is an object in the overlapping region OR that has a high possibility of colliding with the vehicle VA, the forward collision avoidance control is executed for the object.

[0059] (Operation example) An operation example of the control device 10 will be described with reference to FIGS. 4 to 6. When the vehicle VA travels along the guardrail GR, the reflection point RP on the guardrail GR also moves as the vehicle VA travels.

[0060] As shown in FIG. 4, when the vehicle VA is traveling obliquely with respect to the guardrail GR, the left-side millimeter-wave radar 24L receives the reflected wave from the reflection point RP1 at time t1 and the reflected wave from the reflection point RP2 at time t2.

[0061] In this case, the relative positions of the reflection points RP1 and RP2 with respect to the vehicle VA (hereinafter referred to as "relative positions") are shown in FIG. 5. Specifically, in the coordinate system (x, y) with a predetermined reference point of the vehicle VA as the origin 0, the relative position of the reflection point RP1 is represented by the coordinates (x1, y1), and the relative position of the reflection point RP2 is represented by the coordinates (x2, y2). Note that the x-axis of the coordinate system (x, y) is set in the longitudinal axis direction of the vehicle VA, and the y-axis is set in the vehicle width direction of the vehicle VA.

[0062] Since the guardrail GR is a stationary object, when the vehicle VA is traveling parallel to the guardrail GR, the relative moving direction of the reflection point with respect to the vehicle VA (hereinafter referred to as "relative moving direction") is parallel to the longitudinal axis direction and does not include a component approaching in the vehicle width direction (y direction). On the other hand, when the vehicle VA is traveling obliquely with respect to the guardrail GR, as shown in FIG. 5, the relative moving direction of the reflection point RP2 becomes the direction MD approaching the vehicle VA obliquely and includes a component approaching in the vehicle width direction (y direction). For this reason, there is a possibility that the reflection point RP2 may be erroneously determined to be moving even though it is stationary, and there is a possibility that it may be determined that there is a possibility of colliding with the vehicle VA. Such a reflection point RP is referred to as a "misjudged object".

[0063] The magnitude of the component Vrx in the longitudinal axis direction of the relative velocity Vr of the misjudged object (hereinafter referred to as "longitudinal axis direction component Vrx") is equal to the magnitude of the vehicle speed Vs. Here, the magnitude of the component Vry in the vehicle width direction of the relative velocity Vr of the misjudged object (hereinafter referred to as "vehicle width direction component Vry") is represented by the following formula (1). Vry = Vrx · tan θ ··· Formula (1) "θ" in the above formula (1) represents the angle θ formed by the relative moving direction MD and the longitudinal axis direction.

[0064] When the guard rail GR is orthogonal to the traveling direction of the vehicle VA, the formed angle θ is 45 degrees. The formed angle θ is always 45 degrees or less. For this reason, the magnitude of the vehicle width direction component Vry is equal to or less than the magnitude of the vehicle speed Vs.

[0065] The control device 10 regards a reflection point RP where the magnitude of the vehicle width direction component Vry is equal to or less than the magnitude of the vehicle speed Vs as a misjudged object.

[0066] Since the formed angle θ is at most 45 degrees, as shown in FIG. 6, the misjudged object does not collide with the vehicle VA unless it exists in a region within 45 degrees from the front-rear axis extending from the central portion CT1 to the left and right directions. The control device 10 determines that there is a possibility of collision between the object and the vehicle VA when an extension line extending in the relative movement direction MD from the object detected by the side detection unit or the front detection unit intersects the central portion CT1.

[0067] Therefore, when the misjudged object is located in the overlapping region OR, it is determined that there is a possibility of collision between the misjudged object and the vehicle VA. When the misjudged object is located in the non-overlapping region ER, it is determined that there is no possibility of collision between the misjudged object and the vehicle VA.

[0068] For this reason, when the misjudged object is located in the overlapping region OR, there is a possibility that the side collision avoidance control is erroneously executed for the misjudged object. However, when the misjudged object is located in the non-overlapping region ER, the side collision avoidance control is not erroneously executed for the misjudged object.

[0069] As described above, the control device 10 suppresses the execution of the side collision avoidance control when the side object is located in the overlapping region OR more than when the side object is located in the non-overlapping region ER. Thereby, the possibility that the side collision avoidance control is erroneously executed for the misjudged object can be reduced. When there is an object in the overlapping region OR that may collide with the vehicle VA, the front collision avoidance control is executed.

[0070] (Specific operation) <Front collision determination routine> The CPU of the DSECU20 (hereinafter, unless otherwise specified, refers to the CPU of the DSECU20) executes the forward collision determination routine shown in FIG. 7 every time a predetermined time elapses.

[0071] Therefore, at a predetermined timing, the CPU starts processing from step 700 in FIG. 7 and proceeds to step 705. In step 705, the CPU determines whether the value of the control flag Xpcs is "0".

[0072] The value of the control flag Xpcs is set to "1" when pre-forward collision control or pre-side collision control is being executed, and is set to "0" when pre-forward collision control or pre-side collision control is not being executed.

[0073] If the value of the control flag Xpcs is "0", the CPU determines "No" in step 705 and sequentially executes steps 710 to 740.

[0074] Step 710: The CPU acquires camera object information from the front camera 26. Step 715: The CPU acquires front radar object information from the front millimeter-wave radar 22.

[0075] Step 720: The CPU recognizes a front object based on the camera object information and the front radar. Specifically, the control device 10 determines an object region surrounding the front object based on the camera object information. If at least a part of the reflection point group specified from the radar object information is included in the object region, the CPU recognizes that the object in the object region and the object of the reflection point group are the same front object. Then, the CPU adopts the distance D included in the front radar object information as the distance D to the final front object, and adopts the lateral position y included in the camera object information as the final lateral position y. Further, the control device 10 adopts the relative velocity Vr included in the front radar object information as the final relative velocity Vr.

[0076] Step 725: The CPU identifies a front object that may collide with vehicle VA. Specifically, when the relative movement direction of the front object intersects the center CT1 of vehicle VA, the CPU determines that the front object may collide with vehicle VA.

[0077] Step 730: The CPU obtains the TTC of the front object that may collide. The CPU obtains the TTC by dividing the distance D by the relative speed Vr.

[0078] Step 735: The CPU identifies the minimum TTC. Step 740: The CPU determines whether the minimum TTC is less than or equal to the threshold time Tth.

[0079] If the minimum TTC is greater than the threshold time Tth, the CPU determines "No" in step 740 and proceeds to step 795 to temporarily end this routine. If the minimum TTC is less than or equal to the threshold time Tth, the CPU determines "Yes" in step 740 and proceeds to step 745. In step 745, the CPU sets the value of the control flag Xpcs to "1". Then, the CPU proceeds to step 795 to temporarily end this routine.

[0080] When the value of the control flag Xpcs is "1" when the CPU proceeds to step 705, the CPU determines "No" in step 705 and proceeds to step 795 to temporarily end this routine.

[0081] <Lateral Collision Judgment Routine> The CPU executes the lateral collision judgment routine shown in FIG. 8 every time a predetermined time elapses.

[0082] Therefore, at a predetermined timing, the CPU starts processing from step 800 in FIG. 8 and proceeds to step 805. In step 805, the CPU determines whether the value of the control flag Xpcs is "0".

[0083] When the value of the control flag Xpcs is "0", the CPU determines "Yes" in step 805 and sequentially executes steps 810 to 840.

[0084] Step 810: The CPU acquires lateral radar object information from the lateral millimeter-wave radar. Step 815: The CPU recognizes the lateral object by specifying the distance D, lateral position y, and relative velocity Vr of the lateral object.

[0085] Step 820: The CPU executes a reliability acquisition subroutine to acquire the reliability RD. Note that the reliability acquisition subroutine will be described later with reference to FIG. 9.

[0086] Step 825: The CPU specifies a lateral object that may collide with the vehicle VA and is moving. The method for determining the collision possibility is the same as that in step 725, so the description is omitted. If the magnitude of the relative velocity Vr is greater than the magnitude of the vehicle speed Vs, the CPU determines that the lateral object is moving.

[0087] Step 830: The CPU acquires the TTC of a lateral object that may collide and is moving. Step 835: The CPU specifies the minimum TTC. Step 840: The CPU determines whether the minimum TTC is less than or equal to the threshold time Tth.

[0088] If the minimum TTC is greater than the threshold time Tth, the CPU determines "No" in step 840 and proceeds to step 895 to temporarily end this routine. If the minimum TTC is less than or equal to the threshold time Tth, the CPU determines "Yes" in step 840 and proceeds to step 845. In step 845, the CPU determines whether the reliability RD of the lateral object having the minimum TTC is greater than or equal to the threshold reliability RDth.

[0089] If the reliability RD is less than the threshold reliability RDth, the CPU determines "No" in step 845 and proceeds to step 835. In step 835, the CPU selects the next smallest TTC after the currently identified minimum TTC and proceeds to step 840. If the reliability RD is greater than or equal to the threshold reliability RDth, the CPU determines "Yes" in step 845 and proceeds to step 850. In step 850, the CPU sets the value of the control flag Xpcs to "1". Then, the CPU proceeds to step 895 to temporarily end this routine.

[0090] If the value of the control flag Xpcs is "1" when the CPU proceeds to step 805, the CPU determines "No" in step 805 and proceeds to step 895 to temporarily end this routine.

[0091] <Reliability acquisition subroutine> When the CPU proceeds to step 820 in FIG. 8, it executes the reliability acquisition subroutine shown by the flowchart in FIG. 9. That is, when the CPU proceeds to step 820 in FIG. 8, it starts processing from step 900 in FIG. 9 and executes steps 905 and 910 in sequence.

[0092] Step 905: The CPU selects one of the lateral objects as the object to be processed from among the lateral objects. Step 910: The CPU determines whether the object to be processed is a newly detected object.

[0093] If the object to be processed is a newly detected object, the CPU determines "Yes" in step 910 and executes steps 915 and 920 in sequence.

[0094] Step 915: The CPU sets the reliability RD to "10". Step 920: The CPU determines whether the object to be processed is located in the overlapping region OR.

[0095] When the processing object is located in the overlapping region OR, the CPU determines "Yes" in step 920 and sets the reliability upper limit value RDL to "90" in step 925. On the other hand, when the processing object is not located in the overlapping region OR (i.e., when the processing object is located in the non-overlapping region ER), the CPU sets the reliability upper limit value RDL to "100" in step 930.

[0096] After that, the CPU proceeds to step 935 and determines whether the reliability RD is greater than the reliability upper limit value RDL.

[0097] When the reliability RD is less than or equal to the reliability upper limit value RDL, the CPU determines "No" in step 935 and executes steps 938 and 940 in sequence.

[0098] Step 938: The CPU stores the reliability RD of the processing object in the RAM. Step 940: The CPU determines whether all the lateral objects have been selected as the processing object.

[0099] When not all the lateral objects have been selected as the processing object yet, the CPU determines "No" in step 940, returns to step 905, and selects a new processing object.

[0100] Assuming that the processing object is not a newly detected object, the CPU determines "No" in step 910 and proceeds to step 945. In step 945, the CPU determines whether an abnormal condition has occurred. Specifically, the CPU determines that the abnormal condition has occurred when at least one of the following conditions B1 to B3 is satisfied.

[0101] Condition B1: The RCS (Radar cross-section) is less than or equal to the threshold value RCSth. The RCS represents a measure of the ability of an object to reflect millimeter waves. The smaller the RCS, the shorter the detectable distance of the object. For example, if an object with a very short detectable distance is detected as a side object, there is a high possibility that the side object is misdetected. Therefore, the above condition B1 is regarded as one of the abnormal conditions.

[0102] Condition B2: The magnitude of the difference between the total length of the processed object detected this time (the current total length) and the total length of the processed object detected last time (the previous total length) is equal to or greater than the threshold. If the magnitude of the difference in the total length is equal to or greater than the threshold, the possibility that the processed object detected this time is the same object as the processed object detected last time is low, and there is a high possibility that the processed object detected this time is misdetected. Therefore, the above condition B2 is regarded as one of the abnormal conditions.

[0103] Condition B3: The magnitude of the difference between the angle θ formed by the relative movement direction MD of the processed object detected this time and the longitudinal axis direction and the angle θ formed by the processed object detected last time is equal to or greater than the threshold. If the magnitude of the difference in the angle θ is equal to or greater than the threshold, the relative movement direction MD changes abruptly, the possibility that the processed object detected this time is the same object as the processed object detected last time is low, and there is a high possibility that the processed object detected this time is misdetected. Therefore, the above condition B3 is regarded as one of the abnormal conditions.

[0104] Note that the CPU may also determine that the abnormal condition is established even when at least one of conditions B4 and B5 is satisfied. Condition B4: Micro-Doppler is detected. Condition B5: The pedestrian likelihood representing the pedestrian-likeness of the processed object is equal to or less than the threshold.

[0105] When the abnormal condition is not satisfied, the CPU determines "No" in step 945 and proceeds to step 950. In step 950, the CPU adds "30" to the reliability RD and proceeds to the processing after step 920.

[0106] When the reliability RD is greater than the threshold reliability RDth when proceeding to step 935, the CPU determines "Yes" at step 935 and proceeds to step 955. At step 955, the CPU sets the reliability RD to the reliability upper limit value RDL and proceeds to step 938.

[0107] On the other hand, when an abnormal condition is satisfied when the CPU proceeds to step 945, the CPU determines "Yes" at step 945 and proceeds to step 960. At step 960, the CPU subtracts "10" from the reliability RD and proceeds to step 920.

[0108] When all lateral objects are selected as processing objects when the CPU proceeds to step 940, the CPU determines "Yes" at step 940, proceeds to step 995, and once terminates this routine. Thereafter, the CPU proceeds to step 825 shown in FIG. 8.

[0109] <Collision avoidance control routine> The CPU executes the collision avoidance control routine shown in FIG. 10 every time a predetermined time elapses.

[0110] Therefore, at a predetermined timing, the CPU starts processing from step 1000 in FIG. 10 and proceeds to step 1005. At step 1005, the CPU determines whether the value of the control flag Xpcs is "1".

[0111] When the value of the control flag Xpcs is "0", the CPU determines "No" at step 1005, proceeds to step 1095, and once terminates this routine.

[0112] When the value of the control flag Xpcs is "1", the CPU determines "Yes" at step 1005 and proceeds to step 1010. At step 1010, the CPU determines whether the end condition of the collision avoidance control is satisfied. Specifically, the CPU determines that the end condition is satisfied when at least one of the following conditions C1 and C2 is satisfied.

[0113] Condition C1: The operation speed of the driver's steering wheel (not shown) is equal to or higher than the threshold speed. Condition C2: The depression amount of the driver's accelerator pedal (not shown) is equal to or higher than the threshold depression amount, and the depression speed is equal to or higher than the threshold speed.

[0114] If the end condition is not satisfied, the CPU determines "No" in step 1010 and sequentially executes step 1015 and step 1020.

[0115] Step 1015: The CPU sends a notification command to the meter ECU 50. When the meter ECU 50 receives the notification command, it displays a notification screen on the display 52 and emits a buzzer sound from the speaker 54.

[0116] Step 1020: The CPU sends a deceleration command including a predetermined target deceleration to the engine ECU 30 and the brake ECU 40. When the engine ECU 30 receives the deceleration command, it controls the engine actuator 32 so that the deceleration of the vehicle VA matches the target deceleration. When the brake ECU 40 receives the deceleration command, it controls the brake actuator 42 so that the deceleration of the vehicle VA matches the target deceleration. Thereafter, the CPU proceeds to step 1095 and temporarily ends this routine.

[0117] On the other hand, when the end condition is satisfied when the CPU proceeds to step 1010, the CPU determines "Yes" in step 1010 and proceeds to step 1025. In step 1025, the CPU sets the value of the control flag Xpcs to "0". Thereafter, the CPU proceeds to step 1095 and temporarily ends this routine.

[0118] As understood from the above, when the lateral object is located in the overlapping region OR, the control device 10 suppresses the execution of the lateral collision avoidance control more than when the lateral object is located in the non-overlapping region ER. Thereby, when the lateral object is located in the overlapping region OR, the execution of the lateral collision avoidance control based on the detection results of the lateral detection units (24L, 24R) with lower object recognition accuracy than the front detection units (22, 26) is suppressed. For this reason, when the lateral object is located in the overlapping region OR, the possibility that the lateral collision avoidance control is erroneously executed can be reduced.

[0119] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0120] (First Modification Example) In this modification example, the forward collision avoidance control and the rearward collision avoidance control may be made different. For example, the CPU may execute both the notification control and the deceleration control in the forward collision avoidance control, and execute only the notification control in the lateral collision avoidance control.

[0121] (Second Modification Example) In this modification example, when the TTC is equal to or less than the threshold time Tth, if the magnitude of the vehicle width direction component Vry of the lateral object is greater than the magnitude of the vehicle speed Vs, the lateral collision avoidance control is executed, and if the magnitude of the vehicle width direction component Vry is equal to or less than the magnitude of the vehicle speed Vs, the lateral collision avoidance control is not executed. Thereby, the possibility that the lateral collision avoidance control is erroneously executed for the above-described erroneously determined object can be further reduced.

[0122] The CPU of the DSECU 20 according to this modification example executes the lateral collision determination routine shown in FIG. 11 instead of the lateral collision determination routine shown in FIG. 8. In the flowchart shown in FIG. 11, the same processes as those in the flowchart shown in FIG. 8 are given the same reference numerals and the description thereof is omitted.

[0123] At a predetermined timing, the CPU starts the process from step 1100, and when it determines "Yes" in step 805 shown in FIG. 11, it sequentially executes "steps 810 to 840" shown in FIG. 11.

[0124] When the minimum TTC is less than or equal to the threshold time Tth and the reliability RD is greater than or equal to the threshold reliability RDth, the CPU determines "Yes" at step 840 shown in FIG. 11, determines "Yes" at step 845 shown in FIG. 11, and proceeds to step 1105.

[0125] At step 1105, the CPU determines whether the magnitude of the vehicle width direction component Vrx is greater than the magnitude of the vehicle speed Vs. When the magnitude of the vehicle width direction component Vrx is greater than the magnitude of the vehicle speed Vs, the CPU determines "Yes" at step 1105 and sets the value of the control flag Xpcs to "1" at step 850 shown in FIG. 11. Thereafter, the CPU proceeds to step 1195 and temporarily ends this routine. On the contrary, when the magnitude of the vehicle width direction component Vrx is less than or equal to the magnitude of the vehicle speed Vs, the CPU determines "No" at step 1105 and returns to step 835 shown in FIG. 11.

[0126] (Third Modification Example) The CPU of the DSECU20 according to this modification example may suppress the execution of the side collision avoidance control by setting the threshold time Tth of the lateral object located in the overlapping region OR to a value smaller than the threshold time Tth of the lateral object located in the non-overlapping region ER. Furthermore, the CPU of the DSECU20 according to this modification example may suppress the execution of the side collision avoidance control by comparing the multiplication value obtained by multiplying the TTC of the lateral object located in the overlapping region OR by the weight coefficient α set to a value greater than 1 with the threshold time Tth.

[0127] (Fourth Modification Example) The CPU of the DSECU 20 according to this modification example may use the condition that "the distance D of the object is equal to or less than the threshold distance Dth" instead of the condition that "the TTC is equal to or less than the threshold time Tth". Note that these conditions may be referred to as collision conditions. TTC and the distance D are collision index values representing the possibility of an object colliding with the vehicle VA. The collision condition may be any condition as long as the relationship between the collision index value and a predetermined threshold value satisfies a predetermined condition indicating that the possibility of collision is equal to or greater than the threshold value.

[0128] (Fifth Modification Example) In step 960 shown in FIG. 9, the CPU of the DSECU 20 according to this modification example may subtract from the reliability RD a value obtained by multiplying the number of satisfied conditions among conditions B1 to B3 by a subtraction value ("10"). Furthermore, different subtraction values may be set for each of conditions B1 to B3.

[0129] (Sixth Modification Example) The front millimeter-wave radar 22, the left-side millimeter-wave radar 24L, and the right-side millimeter-wave radar 24R may be remote sensing sensors that can detect an object by transmitting a wireless medium other than millimeter waves and receiving the reflected wireless medium.

[0130] (Seventh Modification Example) The vehicle control device 10 can be mounted on vehicles such as engine vehicles, hybrid vehicles (HEV: Hybrid Electric Vehicle), plug-in hybrid vehicles (PHEV: Plug-in Hybrid Electric Vehicle), fuel cell vehicles (FCEV: Fuel Cell Electric Vehicle), and battery electric vehicles (BEV: Battery Electric Vehicle).

[0131] The present invention can also be regarded as a non-temporary storage medium storing a program for realizing the functions of the vehicle control device 10 and readable by a computer.

Description of Reference Numerals

[0132] 10... Vehicle control device, 20... Driving support ECU, 22... Front millimeter-wave radar, 24L... Left-side millimeter-wave radar, 24R... Right-side millimeter-wave radar, 26... Front camera, 30... Engine ECU, 40... Brake ECU, 50... Meter ECU.

Claims

1. A front detection unit that detects an object located in a front detection area in front of the vehicle as a front object; A side detection unit that detects an object located in a side detection area on the side of the vehicle, where a part of the side detection area overlaps with the front detection area, as a side object; A control unit that executes front collision avoidance control to avoid a collision between the front object and the vehicle or reduce damage caused by the collision when the front object satisfies a predetermined front collision condition, and executes side collision avoidance control to avoid a collision between the side object and the vehicle or reduce damage caused by the collision when the side object satisfies a predetermined side collision condition; comprising the recognition accuracy of the object by the side detection unit is lower than that of the front detection unit; the control unit is configured to suppress execution of the side collision avoidance control when the side object is located in the overlapping area more than when the side object is located in an area outside the overlapping area of the side detection area; Further, the control unit obtains a reliability representing the possibility that the side object detected by the side detection unit actually exists; when the side object satisfies the side collision condition, if the reliability of the side object is equal to or higher than a predetermined threshold reliability, the side collision avoidance control is executed; sets an upper limit value of the reliability of the side object located in the overlapping area to be smaller than the upper limit value of the side object located in the area outside the overlapping area; configured as a vehicle control device.

2. In the vehicle control device according to Claim 1, the control unit executes the front collision avoidance control when the front object satisfies the front collision condition regardless of whether the front object is moving; and executes the side collision avoidance control when the front object is moving and the side object satisfies the side collision condition. configured as follows, a vehicle control device.

3. In the vehicle control device according to claim 2, the front detection unit and the side detection unit are arranged such that the overlapping area becomes an area where there is a possibility that a misjudged object, which may be misjudged as moving even though it is stationary, collides with the vehicle, and the area outside the overlap becomes an area where there is no possibility that the misjudged object collides with the vehicle, a vehicle control device.

4. In the vehicle control device according to claim 3, the front detection area is preset such that the front detection area has an angle of 45 degrees in each of the left and right directions centered on the longitudinal axis direction of the vehicle at the center in the vehicle width direction of the vehicle, a vehicle control device.

5. In the vehicle control device according to claim 1, the control unit, when the relationship between the front collision index value representing the possibility of the front object colliding with the vehicle and a predetermined front threshold value satisfies a predetermined condition, the front collision condition is established, when the relationship between the side collision index value representing the possibility of the side object colliding with the vehicle and a predetermined side threshold value satisfies a predetermined condition, the side collision condition is established, configured as follows, a vehicle control device.

6. In the vehicle control device according to claim 1, the front detection unit, has a camera and a first radar sensor, and recognizes the front object based on the captured image captured by the camera and the detection result of the first radar sensor, configured as such, the side detection unit, has a second radar sensor, and recognizes the side object based on the detection result of the second radar sensor, configured as follows, Vehicle control device.

7. In a vehicle control method in which a computer mounted on a vehicle executes collision avoidance control to avoid a collision between an object and the vehicle or reduce damage caused by the collision, Recognizing the front object based on the detection result of a front detection unit that detects an object located in a front detection area in front of the vehicle as a front object; Recognizing the side object based on the detection result of a side detection unit that detects an object located in a side detection area on the side of the vehicle where a part of the overlapping area overlaps with the front detection area as a side object; When the front object satisfies a predetermined front collision condition, executing front collision avoidance control to avoid a collision between the front object and the vehicle or reduce damage caused by the collision; When the side object satisfies a predetermined side collision condition, executing side collision avoidance control to avoid a collision between the side object and the vehicle or reduce damage caused by the collision, The recognition accuracy of the object by the side detection unit is lower than that of the front detection unit, The vehicle control method further includes: When the side object is located in the overlapping area, suppressing execution of the side collision avoidance control more than when the side object is located in an out-of-overlap area outside the overlapping area of the side detection area; The vehicle control method further includes: Obtaining a reliability indicating the possibility that the side object detected by the side detection unit actually exists; When the side object satisfies the side collision condition, if the reliability of the side object is equal to or higher than a predetermined threshold reliability, executing the side collision avoidance control; Setting an upper limit value of the reliability of the side object located in the overlapping area to be smaller than the upper limit value of the side object located in the out-of-overlap area; including Vehicle control method. In a program that causes a computer mounted on a vehicle to execute collision avoidance control for avoiding a collision between an object and the vehicle or reducing damage caused by the collision, the computer is caused to: recognize a forward object based on a detection result of a forward detection unit that detects an object located in a forward detection region in front of the vehicle as a forward object; recognize a lateral object based on a detection result of a lateral detection unit that detects an object located in a lateral detection region on a side of the vehicle where a partial overlapping region overlaps with the forward detection region as a lateral object; execute forward collision avoidance control for avoiding a collision between the forward object and the vehicle or reducing damage caused by the collision when the forward object satisfies a predetermined forward collision condition; execute lateral collision avoidance control for avoiding a collision between the lateral object and the vehicle or reducing damage caused by the collision when the lateral object satisfies a predetermined lateral collision condition, the recognition accuracy of the object by the lateral detection unit is lower than that of the forward detection unit, the program further causes the computer to: suppress execution of the lateral collision avoidance control when the lateral object is located in the overlapping region more than when the lateral object is located in a non-overlapping region outside the overlapping region of the lateral detection region; the program further causes the computer to: obtain a reliability representing a possibility that the lateral object detected by the lateral detection unit actually exists; execute the lateral collision avoidance control when the reliability of the lateral object is equal to or higher than a predetermined threshold reliability when the lateral object satisfies the lateral collision condition; set an upper limit value of the reliability of the lateral object located in the overlapping region to be smaller than the upper limit value of the lateral object located in the non-overlapping region, Program.

Images