Vehicle control device and program

Abstract

To suppress the unnecessary actuation of collision avoidance control.SOLUTION: A control device of a vehicle is equipped with an object detecting unit (40) that detects an object located in diagonally forward of an own vehicle as a diagonally forward object, and a processor (10). The processor (10) is configured to execute avoiding processing of executing a collision avoidance control for avoiding a collision between own vehicle and one moving object (WH, F) detected as the diagonally forward object by the object detecting unit (40) or reducing damage to the collision when the one moving object satisfies a predetermined collision condition, and suppressing processing of suppressing the collision avoidance control based on the one moving object (WH, F) when the other moving object (VB) or a stationary object (UB) is detected within a predetermined area in the vicinity of the one moving object (WH, F) by the object detecting unit (40).SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device. Position and and regarding the program. [Background technology]

[0002] Patent Document 1 discloses a device that performs collision avoidance control by automatically activating a braking device when a moving object detected by a millimeter-wave radar that detects the front and sides of a vehicle is likely to collide with the vehicle. This type of collision avoidance control is also called PCS control (Pre-Crash Safety Control). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-12702 Summary of the Invention

[0004] If targets on the front and sides of the vehicle are recognized by a camera, the accuracy of PCS control can be improved because a camera has a higher target recognition capability than millimeter-wave radar. However, this increases the cost of the device, which is a problem. For this reason, a configuration in which targets on the front and sides of the vehicle are recognized by millimeter-wave radar is generally adopted.

[0005] However, in a configuration in which front-side targets are recognized using millimeter-wave radar, accessories that behave differently from the main body may be recognized as moving objects separate from the main body. For example, the fan of an outdoor unit may be recognized as a moving object separate from the outdoor unit, or the wheels of a preceding vehicle traveling in front of the vehicle may be recognized as a moving object separate from the preceding vehicle. If PCS control is performed based on such erroneous recognition, unnecessary PCS control may be activated even when the moving object is not actually approaching the vehicle.

[0006] The present disclosure has been made to solve the above problems. That is, one of the objects of the present disclosure is to effectively suppress unnecessary operations of PCS control.

[0007] The technology of the present disclosure is a vehicle control device, wherein the control device includes a target detection unit (40) that detects an object in front of the host vehicle as a front-side target, and a processor (10). The processor (10) when a certain moving object (WH, F) detected as the front-side target by the target detection unit (40) satisfies a predetermined collision condition, performs avoidance processing for avoiding a collision between the host vehicle (SV) and the certain moving object (WH, F) or reducing damage caused by the collision; and suppression processing for suppressing the execution of the collision avoidance control based on the certain moving object (WH, F) when another moving object (VB) or a stationary object (UB) is detected within a predetermined range near the certain moving object (WH, F) by the target detection unit (40), and is configured to be capable of executing the suppression processing.

[0008] According to the above aspect, when the processor (10) detects a certain moving object (WH, F) as a front-side target, if another moving object (VB) or a stationary object (UB) that is the main body of the certain moving object (WH, F) is detected within a predetermined range near the certain moving object (WH, F), the execution of the collision avoidance control based on the certain moving object (WH, F) is suppressed. Thereby, it becomes possible to effectively suppress unnecessary operations of the collision avoidance control.

[0009] In another aspect of the present disclosure, the processor (10) calculates an index value (RD) indicating the possibility that the certain moving object (WH, F) detected by the target detection unit (40) actually exists, and when the index value (RD) is equal to or greater than a predetermined threshold value (RDth) and the certain moving object (WH, F) satisfies the collision condition, executes the collision avoidance control. In the suppression process, when the target detection unit (40) detects another moving object (VB) or a stationary object (UB) within the specified range, it is preferable to suppress the implementation of the collision avoidance control based on the one moving object (WH, F) by reducing the index value (RD).

[0010] In another aspect of the present disclosure, The processor (10) When the target detection unit (40) detects the other moving object (VB), if the one moving object (WH) and the other moving object (VB) are located in an adjacent lane adjacent to the lane in which the host vehicle (SV) is traveling and within a predetermined distance ahead of the host vehicle (SV), the suppression process is executed; When the target detection unit (40) detects the stationary object (UB), it is preferable to execute the suppression process when the one moving object (F) and the stationary object (UB) are located within a set range set based on the average external dimensions of the outdoor unit.

[0011] In the above description, in order to facilitate understanding of the invention, the symbols used in the embodiments are added in parentheses to the constituent elements of the invention corresponding to the embodiments, but each constituent element of the invention is not limited to the embodiments defined by the symbols. [Brief explanation of the drawings]

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0013] Hereinafter, a vehicle control device, a vehicle control method, and a program according to this embodiment will be described with reference to the drawings.

[0014] [Hardware configuration] 1 is a schematic diagram showing the hardware configuration of a vehicle SV according to this embodiment. Hereinafter, the vehicle SV may be referred to as the host vehicle when it is necessary to distinguish it from other vehicles.

[0015] The vehicle SV has an ECU 10. ECU is an abbreviation for Electronic Control Unit. The ECU 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and an interface device 14. The CPU 11 executes various programs stored in the ROM 12. The ROM 12 is a non-volatile memory that stores data and the like required for the CPU 11 to execute the various programs. The RAM 13 is a volatile memory that provides a working area into which the various programs are expanded when the CPU 11 executes them. The interface device 14 is a communication device for communicating with external devices.

[0016] The ECU 10 is a central device that performs driving assistance control of the vehicle SV, such as PCS control. Driving assistance control is a concept that includes automatic driving control. For this reason, the ECU 10 is communicably connected to a drive unit 20, a steering unit 21, a braking unit 22, an internal sensor unit 30, an external sensor unit 40, and the like.

[0017] The drive device 20 generates a driving force to be transmitted to the drive wheels of the vehicle SV. Examples of the drive device 20 include an electric motor and an engine. In the present device, the vehicle SV may be any of a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHEV), a fuel cell vehicle (FCEV), a battery electric vehicle (BEV), and an engine vehicle. The steering device 21 applies a steering force to the wheels of the vehicle SV. The braking device 22 applies a braking force to the wheels of the vehicle SV.

[0018] The in-vehicle sensor device 30 is sensors for detecting the state of the vehicle SV. Specifically, the vehicle state detection device 30 includes a vehicle speed sensor 31, a steering angle sensor 32, a yaw rate sensor 33, an acceleration sensor 34, etc.

[0019] The vehicle speed sensor 31 detects the traveling speed (vehicle speed V) of the vehicle SV. The vehicle speed sensor 31 may be a wheel speed sensor. The steering angle sensor 32 detects the rotation angle of a steering wheel or a steering shaft (not shown) of the vehicle SV, that is, the steering angle θS. The yaw rate sensor 33 detects the yaw rate Yr of the vehicle SV. The acceleration sensor 34 detects the acceleration G of the vehicle SV. The in-vehicle sensor device 30 transmits the state of the vehicle SV detected by each of the sensors 31 to 34 to the ECU 10 at a predetermined cycle.

[0020] The external sensor device 40 is sensors for recognizing target information regarding targets existing in front of and in the front side of the vehicle SV. Specifically, the external sensor device 40 includes a front camera 41, a front millimeter-wave radar 42, a left front-side millimeter-wave radar 43L, and a right front-side millimeter-wave radar 43R. Hereinafter, when it is not necessary to distinguish between the front millimeter-wave radar 42, the left front-side millimeter-wave radar 43L, and the right front-side millimeter-wave radar 43R, these are also referred to as "millimeter-wave radars". Further, when it is not necessary to distinguish between the left front-side millimeter-wave radar 43L and the right front-side millimeter-wave radar 43R, these are also referred to as "front-side millimeter-wave radars 43".

[0021] As shown in FIG. 2, the front camera 41 is disposed at the center CT2 in the vehicle width direction at the upper part of the front window of the vehicle SV. The front camera 41 is, for example, a stereo camera or a monocular camera, and a digital camera having an imaging element such as a CMOS or a CCD can be used. The front camera 41 acquires an imaging image by photographing the imaging region PR in front of the vehicle SV. The imaging region PR is a wide-angle region with a central angle θ3 extending forward in the longitudinal axis direction of the vehicle SV from the central part CT2. The front camera 41 acquires target information in front of the vehicle SV by processing the imaging image, and transmits the acquired target information to the ECU 10 at a predetermined cycle. The target information is information representing the type of the target detected in front of the vehicle SV, the relative distance between the vehicle SV and the target, the relative speed between the vehicle SV and the target, and the like. The type of the target may be recognized by machine learning such as pattern matching, for example.

[0022] The millimeter-wave radar emits radio waves (millimeter waves) in the millimeter-wave band and receives the millimeter waves (reflected waves) reflected by the targets existing within the radiation range. The millimeter-wave radar acquires target information around the vehicle SV based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, the time from transmitting the millimeter waves to receiving the reflected waves, and the like, and transmits the acquired target information to the ECU 10 at a predetermined cycle. The target information is information representing the relative distance between the vehicle SV and the target, the relative speed between the vehicle SV and the target, and the like.

[0023] As shown in FIG. 2, the front millimeter-wave radar 42 is disposed at the center CT1 in the vehicle width direction at the front end of the vehicle SV. The front millimeter-wave radar 42 receives the millimeter waves reflected by an object (hereinafter, the front target) located in the detection region DF in front of the vehicle SV, and detects the front target. The detection region DF is a wide-angle region having an angle θ1 in each of the left direction and the right direction around the central axis C1. The central axis C1 is an axis extending forward in the longitudinal axis direction of the vehicle SV from the central part CT1.

[0024] The left-side millimeter-wave radar 43L is disposed at the left end LE in the vehicle width direction at the front end of the vehicle SV. The left-side millimeter-wave radar 43L detects an object (hereinafter referred to as the left-side target) located in the detection area DSL on the left front side of the vehicle SV. The detection area DSL is a wide-angle area having an angle θ2 in the left and right directions respectively around the central axis C2. The central axis C2 is an axis extending from the left end LE toward the left front side of the vehicle SV.

[0025] The right-side millimeter-wave radar 43R is disposed at the right end RE in the vehicle width direction at the front end of the vehicle SV. The right-side millimeter-wave radar 43R detects an object (hereinafter referred to as the right-side target) located in the detection area DSR on the right front side of the vehicle SV. The detection area DSR is a wide-angle area having an angle θ2 in the left and right directions respectively around the central axis C3. The central axis C3 is an axis extending from the right end RE toward the right front side of the vehicle SV.

[0026] When there is no need to distinguish between the detection areas DSL and DSR, they may be referred to as the "front-side detection area DS". The targets detected by the left front-side millimeter-wave radar 43L and the right front-side millimeter-wave radar 43R may be referred to as "front-side targets".

[0027] [Overview of the operation of PCS control] Next, the overview of the operation of PCS control by the ECU 10 will be described. The ECU 10 is capable of executing forward PCS control and side PCS control. The forward PCS control and the side PCS control are controls for avoiding a collision with a forward target and a front-side target respectively or reducing the damage caused by a collision. When there is no need to distinguish between the forward PCS control and the side PCS control, they may also be referred to as "PCS control".

[0028] ECU 10 basically executes PCS control according to the flow shown in FIG. 3. First, based on the target information transmitted from the external sensor device 40, ECU 10 acquires the coordinate information of the objects existing in the regions in front of and on the front side of the host vehicle SV (step S100). Also, ECU 10 calculates the turning radius of the host vehicle SV based on the detection results of the vehicle speed sensor 31, the steering angle sensor 32, and the yaw rate sensor 33, and calculates the trajectory of the host vehicle SV based on this turning radius (step S110). The processes in step S100 and step S110 may be in any order and may be simultaneous.

[0029] ECU 10 determines whether the object is an obstacle (step S120). Specifically, for forward PCS control, ECU 10 determines whether the moving objects and stationary objects in front of the host vehicle SV are obstacles that may collide with the host vehicle SV. Also, for side PCS control, ECU 10 determines whether the moving objects on the front side of the host vehicle SV are obstacles that may collide with the host vehicle SV. When the object is a moving object, ECU 10 calculates the trajectory of the moving object based on the coordinate information of the moving object, and determines the moving object as an obstacle when the trajectory of the moving object intersects with the trajectory of the host vehicle SV. Also, when the object is a stationary object, ECU 10 determines the stationary object as an obstacle when the trajectory of the host vehicle SV intersects with the current position of the stationary object.

[0030] When the ECU 10 determines that an object is an obstacle, it calculates the predicted time until the host vehicle SV collides with the obstacle (Time To Collision: hereinafter referred to as TTC) based on the distance L from the host vehicle SV to the obstacle and the relative speed Vr of the host vehicle SV with respect to the obstacle (step S130). TTC is an index value indicating the possibility of the host vehicle SV colliding with the obstacle. TTC can be obtained by dividing the distance L from the host vehicle SV to the obstacle by the relative speed Vr (TTC = L / vr). The ECU 10 determines whether TTC is less than or equal to a predetermined collision determination threshold value TTCth (step S140). When TTC is less than or equal to the collision determination threshold value TTCth, the ECU 10 determines that the possibility of the host vehicle SV colliding with the obstacle is high and starts deceleration control (step S150). The deceleration control is control to decelerate the vehicle SV so that the deceleration of the vehicle SV matches a preset target deceleration by controlling the operation of the braking device 22.

[0031] Here, as shown in FIG. 2, for a forward target located in a region where the detection region DF and the imaging region PR overlap (hereinafter referred to as the forward detection region FR), the ECU 10 performs forward PCS control. A part of the forward detection region FR overlaps with the detection region DS of the front side millimeter wave radar 43. Hereinafter, the region where the forward detection region FR and the detection region DS overlap is referred to as the overlapping region OR. The ECU 10 integrates the radar target information transmitted from the forward millimeter wave radar 42 and the camera target information transmitted from the forward camera 41, and recognizes moving objects and stationary objects existing in the forward detection region FR as forward targets. In the present embodiment, since the imaging region PR includes the detection region DF, the forward detection region FR is substantially the detection region DF.

[0032] On the other hand, as shown in FIG. 2, for the lateral object located in the area of the detection area DS of the front side millimeter wave radar 43 that does not overlap with the front detection area FR (hereinafter referred to as the non-overlapping area ER), the ECU 10 performs lateral PCS control. The ECU 10 recognizes a moving object existing in the non-overlapping area ER as a lateral object based on the radar target information transmitted from the front side millimeter wave radar 43. Here, since the lateral object is recognized only based on the radar target information transmitted from the front side millimeter wave radar 43, the target recognition accuracy of the non-overlapping area ER is relatively lower than the target recognition accuracy of the front detection area FR that integrates camera target information. Therefore, it is desirable to grasp whether the lateral object is an actual object based on some index value.

[0033] When performing the lateral PCS control, the ECU 10 calculates the reliability RD of the lateral object, and sets the condition for executing the deceleration control that the reliability RD is equal to or higher than a predetermined threshold reliability RDth. 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. Hereinafter, the details of the calculation procedure of the reliability RD will be described.

[0034] [Reliability: Calculation Process] FIG. 4 is a flowchart for explaining the calculation process routine of the reliability RD by the ECU 10. This routine starts when the host vehicle SV is running.

[0035] In step S200, the ECU 10 selects one lateral object from the lateral objects as the object to be processed. Next, in step S210, the ECU 10 determines whether the object to be processed is an object newly detected. If the object to be processed is an object newly detected (Yes), the ECU 10 sequentially executes the processes of step S215 and step S220.

[0036] In step S215, the ECU 10 sets the reliability RD to "10". Next, in step S220, the ECU 10 determines whether the object to be processed is located in the overlapping area OR.

[0037] If it is determined in step S220 that the object to be processed is located in the overlap region OR (Yes), the ECU 10 proceeds to processing in step S225 and sets the reliability upper limit value RDL to "90." On the other hand, if it is determined in step S220 that the object to be processed is not located in the overlap region OR (i.e., the object to be processed is located in the non-overlap region ER), the ECU 10 proceeds to processing in step S230 and sets the reliability upper limit value RDL to "100."

[0038] In this embodiment, the above-mentioned threshold reliability RDth is set to, for example, "95." Therefore, when the front-side target is located in the overlap region OR, the reliability RD does not become equal to or greater than the threshold reliability RDth, and the ECU 10 does not execute the side PCS control. In this case, the ECU 10 executes the front PCS control. On the other hand, when the front-side target is located in the non-overlapping region ER, the reliability RD may become equal to or greater than the threshold reliability RDth, and the ECU 10 may execute the side PCS control.

[0039] Thereafter, the ECU 10 proceeds to step S235, and determines whether the reliability RD is greater than the reliability upper limit value RDL. If the reliability RD is equal to or less than the reliability upper limit value RDL (No), the ECU 10 sequentially executes the processes of step S238 and step S240. The ECU 10 then proceeds to step S235, where it determines whether the reliability RD is greater than the reliability upper limit value RDL. If the reliability RD is greater than the reliability upper limit value RDL (Yes), the ECU 10 proceeds to the processing of step S255, where it sets the reliability RD to the reliability upper limit value RDL. Then, the ECU 10 proceeds to step S238. On the other hand, if it is determined in step S235 that the reliability RD is equal to or less than the reliability upper limit value RDL (No), the ECU 10 skips the processing of step S255 and proceeds to step S238.

[0040] In step S238, the ECU 10 stores the reliability RD of the object to be processed in the RAM. Next, in step S240, the ECU 10 determines whether all of the front-side objects have been selected as objects to be processed. If all of the front-side objects have not yet been selected as objects to be processed (No), the ECU 10 returns to the process of step S200 and selects a new object to be processed.

[0041] If the object to be processed selected in step S200 is not a newly detected object, the ECU 10 determines "No" in step S210 and proceeds to the processing of step S245. In step S245, the ECU 10 determines whether an abnormality condition is met. Specifically, the ECU 10 determines that an abnormality condition is met when at least one of the following conditions A1 to A3 is met.

[0042] Condition A1: The RCS (radar cross-section) is equal to or less than a threshold RCSth. RCS is a measure of an object's ability to reflect millimeter waves. The smaller the RCS, the shorter the distance at which the object can be detected. For example, if an object with a very short detectable distance is detected as a front-side target, there is a high possibility that the front-side target has been mistakenly detected. For this reason, the above condition A1 is considered one of the abnormal conditions.

[0043] Condition A2: The difference between the total length of the object to be processed detected this time (current total length) and the total length of the object to be processed detected previously (previous total length) is equal to or greater than a threshold value. If the difference in overall length is equal to or greater than the threshold, it is unlikely that the currently detected object is the same as the previously detected object, and it is highly likely that the currently detected object has been mistakenly detected. For this reason, condition A2 is considered to be one of the abnormal conditions.

[0044] Condition A3: The magnitude of the difference between the angle θ between the relative movement direction MD of the currently detected object to be processed and the front-rear axis direction and the angle θ of the previously detected object to be processed is equal to or greater than a threshold value. If the magnitude of the difference in the formed angle θ is equal to or greater than the threshold value, the relative movement direction MD has changed abruptly, and it is unlikely that the processed object detected this time is the same object as the processed object detected last time. Instead, it is highly likely that the processed object detected this time has been erroneously detected. For this reason, the above condition A3 is regarded as one of the abnormal conditions.

[0045] Note that the ECU 10 may also determine that an abnormal condition has been met even when at least one of conditions A4 and A5 is satisfied. Condition A4: Micro-Doppler is detected. Condition A5: The pedestrian likelihood representing the pedestrian-likeness of the processed object is equal to or less than the threshold value.

[0046] If the abnormal condition is not met in the determination of step S245 (No), the ECU 10 proceeds to step S250. In step S250, the ECU 10 adds "30" to the reliability RD. Next, the ECU 10 proceeds to step S220 and executes the processes after step S220.

[0047] On the other hand, if the abnormal condition is met in the determination of step S245 (Yes), the ECU 10 proceeds to the process of step S260. In step S260, the ECU 10 subtracts "10" from the reliability RD. Next, the ECU 10 proceeds to the process of step S220 and executes the processes after step S220. If all the front-side objects have been selected as the processed object when the ECU 10 proceeds to step 240 (Yes), the ECU 10 temporarily terminates this routine.

[0048] By repeating the calculation process shown in Fig. 4, the ECU 10 sets a front lateral target (moving object) whose reliability RD has increased to or above the threshold reliability RDth as a target for deceleration control by lateral PCS control. That is, the ECU 10 determines whether a moving object whose reliability RD has increased to or above the threshold reliability RDth is an obstacle that may collide with the host vehicle SV, and executes deceleration control if the TTC is equal to or below the collision determination threshold TTCth. However, even if the reliability RD of a moving object gradually increases through the calculation process shown in Fig. 4, it may not actually be a moving object approaching the host vehicle SV.

[0049] Examples of such moving objects include the wheels WH of a preceding vehicle V1 traveling in front of the host vehicle SV, as shown in FIG. 5A, or the fan F of an outdoor unit OU located in front of the host vehicle SV, as shown in FIG. 5B. The vehicle body VB, which is the main body of the wheels WH, moves in substantially the same direction as the host vehicle SV, while the wheels WH rotate. Furthermore, the outdoor unit body UB, which is the main body of the fan F, is stationary, while the fan F rotates. That is, although the wheels WH and the fan F do not actually approach the host vehicle SV, they rotate differently from the main body, resulting in a lateral velocity relative to the host vehicle SV. For this reason, the front-side millimeter-wave radar 43 may erroneously recognize the wheels WH of the preceding vehicle V1 or the fan F of the outdoor unit OU as a moving object separate from the main body (the vehicle body VB, the outdoor unit body UB). Hereinafter, a front-side target erroneously recognized by the front-side millimeter-wave radar 43 as a moving object separate from the main body is referred to as a "ghost target." If such ghost targets are subjected to lateral PCS control, it may result in unnecessary operation of deceleration control.

[0050] When the front-side millimeter-wave radar 43 acquires a moving object of unknown type, the ECU 10 determines whether the moving object is a ghost target, and if it is determined to be a ghost target, reduces the reliability RD to suppress the implementation of side PCS control, i.e., suppress unnecessary operation of deceleration control. Specific processing of side PCS control will be described in detail below.

[0051] [Side PCS control] FIG. 6 is a flowchart for explaining a routine of the lateral PCS control by the ECU 10. This routine starts when the host vehicle SV travels and is executed in parallel with the routine of the reliability calculation process shown in FIG. 4.

[0052] In step S300, the ECU 10 determines whether the front side millimeter wave radar 43 has detected a front side target FST. When the front side millimeter wave radar 43 has detected the front side target FST (Yes), the ECU 10 sequentially executes the processes of step S305 and step S310. On the other hand, when the front side millimeter wave radar 43 has not detected the front side target FST (No), the ECU 10 returns this routine.

[0053] In step S305, the ECU 10 acquires the reliability RD of the front side target FST. The reliability RD is acquired from the reliability RD stored in the RAM in the process of step S238 of the reliability calculation process shown in FIG. 4. Next, in step 310, the ECU 10 determines whether there is an unknown moving object UKM of an unknown type among the front side targets FST based on the detection result of the external sensor device 40. When there is an unknown moving object UKM of an unknown type (Yes), the ECU 10 proceeds to the process of step S320. On the other hand, when there is no unknown moving object UKM of an unknown type (No), the ECU 10 proceeds to the process of step S340.

[0054] In step S320, the ECU 10 determines whether there is a target (hereinafter referred to as a main body target BT) that can be a main body within a predetermined range near the unknown moving object UKM of an unknown type, that is, whether the unknown moving object UKM of an unknown type is a ghost target. Here, if all the unknown moving objects UKM of an unknown type are regarded as ghost targets, there is a possibility that moving objects such as cross vehicles and pedestrians will be excluded from the target of the lateral PCS control.

[0055] The ECU 10 searches for the presence of a main body target BT within a predetermined range around the unknown moving object UKM. Specifically, as shown by the dashed line in Fig. 5A, for the preceding vehicle V1, the search range for the main body target BT (vehicle body VB), i.e., the predetermined range, is set to the width W1 of the adjacent lane L2 adjacent to the lane L1 in which the host vehicle SV is traveling in the vehicle width direction (lateral direction) and the length S1 obtained by adding a predetermined margin to the length of one vehicle from the front of the host vehicle SV in the traveling direction (longitudinal direction). Also, as shown by the dashed line in Fig. 5B, for the outdoor unit OU, the search range for the main body target BT (outdoor unit body UB), i.e., the predetermined range, is set to a rectangular range RA based on the average external dimensions of the outdoor unit. For the non-overlapping area ER, the ECU 10 searches for the main body target BT based on target information acquired by the front side millimeter wave radar 43, and for the forward detection area FR, based on target information acquired by the front camera 41 and the front radar sensor 42.

[0056] When the ECU 10 acquires a main body target BT continuously within the search range (predetermined range) for a predetermined time or more, the ECU 10 recognizes the unknown type of moving object UKM as a ghost target. That is, the ECU 10 determines "Yes" in step S320 and proceeds to the processing of step S330. On the other hand, when the ECU 10 does not acquire a main body target BT continuously within the search range (predetermined range) for a predetermined time or more, the ECU 10 determines "No" in step S320 and proceeds to the processing of step S340.

[0057] In step S330, the ECU 10 reduces the reliability RD of the moving object recognized as a ghost target by subtracting a predetermined amount (for example, 10 to 30) from the reliability RD. This effectively prevents the reliability RD of the moving object recognized as a ghost target from exceeding the threshold reliability RDth in step S350, which will be described later. In other words, unnecessary operation of the deceleration control can be suppressed.

[0058] In step S340, the ECU 10 determines whether the front-side object FST is an obstacle that may collide with the host vehicle SV. If the front-side object FST is an obstacle (Yes), the ECU 10 proceeds to the processing of step S350. On the other hand, if the front-side object FST is not an obstacle (No), the ECU 10 returns from this routine.

[0059] In step S350, the ECU 10 determines whether the TTC is equal to or less than the collision determination threshold TTCth. If the TTC is equal to or less than the collision determination threshold TTCth (Yes), the ECU 10 proceeds to the process of step S360. On the other hand, if the TTC is not equal to or less than the collision determination threshold TTCth (No), the ECU 10 returns from this routine.

[0060] In step S360, ECU 10 determines whether the reliability RD of the moving object is equal to or greater than the threshold reliability RDth. If the reliability RD is equal to or greater than the threshold reliability RDth (Yes), ECU 10 proceeds to the processing of step S370. On the other hand, if the reliability RD is not equal to or greater than the threshold reliability RDth (No), ECU 10 returns from this routine. Note that the processing of step S360 and the processing of steps S340 and S350 may be performed in any order, and the processing of step S360 may be performed before step S340. In step S370, ECU 10 executes deceleration control to decelerate the host vehicle SV based on the target deceleration, and then returns from this routine.

[0061] The above describes the vehicle control device, control method, and program according to this embodiment, but the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the purpose of the present disclosure. [Explanation of symbols]

[0062] 10...ECU, 20...drive device, 21...steering device, 22...braking device, 30...internal sensor device, 40...external sensor device, 41...front camera, 42...front millimeter wave radar, 43...front side millimeter wave radar

Claims

1. A vehicle control device, wherein the control device includes an object detection unit that detects an object in front of the vehicle as a front object, and a processor, and the processor is configured to: perform avoidance processing for avoiding a collision between the host vehicle and the one moving object or reducing damage caused by the collision when the one moving object detected as the front object by the object detection unit satisfies a predetermined collision condition; perform suppression processing for suppressing the execution of the collision avoidance control based on the one moving object when another moving object or a stationary object is detected within a predetermined range including the periphery of the one moving object by the object detection unit; calculate an index value indicating the possibility that the one moving object detected by the object detection unit actually exists, and execute the collision avoidance control when the index value is equal to or greater than a predetermined threshold value and the one moving object satisfies the collision condition; in the suppression processing, when the other moving object or the stationary object is detected within the predetermined range by the object detection unit, the execution of the collision avoidance control based on the one moving object is suppressed by decreasing the index value A vehicle control device.

2. The vehicle control device according to claim 1, wherein the processor is configured to: execute the suppression processing when the object detection unit detects the other moving object and the one moving object and the other moving object are within an adjacent lane adjacent to the lane in which the host vehicle is traveling and within a predetermined distance in front of the host vehicle; execute the suppression processing when the object detection unit detects the stationary object and the one moving object and the stationary object are within a set range set based on the average external dimensions of an outdoor unit. A vehicle control device.

3. In a processor of a vehicle control device including an object detection unit that detects an object in front of the vehicle as a front object, causing the processor to perform avoidance processing for avoiding a collision between the host vehicle and the one moving object or reducing damage caused by the collision when the one moving object detected as the front object by the object detection unit satisfies a predetermined collision condition; causing the processor to perform suppression processing for suppressing the execution of the collision avoidance control based on the one moving object when another moving object or a stationary object is detected within a predetermined range including the periphery of the one moving object by the object detection unit Calculate an index value indicating the possibility of the existence of the one moving object detected by the object detection unit, and when the index value is equal to or greater than a predetermined threshold value and the one moving object satisfies the collision condition, execute the collision avoidance control. In the suppression process, when the other moving object or the stationary object is detected within the predetermined range by the object detection unit, a process is executed to suppress the implementation of the collision avoidance control based on the one moving object by decreasing the index value. Program.

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