Vehicle control device

Abstract

To provide a vehicle control apparatus capable of accurately determining a collision of an own vehicle with a target while the own vehicle is turning.SOLUTION: When there is satisfied a collision condition that an own vehicle 100 collides with a target 200 ahead of the own vehicle, a vehicle control apparatus 10 executes collision avoidance control to autonomously decelerate the own vehicle, thereby avoiding a collision of the own vehicle with the target. The collision condition includes at least a condition that a lap rate of the own vehicle and the target is equal to or greater than a lap rate threshold. The vehicle control apparatus sets the lap rate threshold to a greater value when the own vehicle is turning than when the own vehicle is not turning. In addition, when a condition satisfaction time is equal to or longer than a prescribed time, the vehicle control apparatus sets the lap rate threshold to a smaller value than when the condition satisfaction time is shorter than the prescribed time. The condition satisfaction time is a time during which a collision probability condition that the own vehicle has a probability of colliding with the target continues to be satisfied while the own vehicle is turning.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] BACKGROUND ART There is known a vehicle control device that executes collision avoidance control to prevent a host vehicle from colliding with another vehicle while the host vehicle is turning (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-112274 Summary of the Invention

[0004] In order to determine whether a host vehicle will collide with a target such as another vehicle while turning, it is possible to use the overlap ratio between the host vehicle and the target. The overlap ratio is an index value that represents the degree of overlap between the host vehicle and the target in the vehicle width direction of the host vehicle, and the larger the overlap ratio, the greater the degree of overlap between the host vehicle and the target.

[0005] When the overlap ratio is used, for example, the overlap ratio being equal to or greater than a predetermined value (threshold value of overlap ratio) is one of the conditions for determining that the host vehicle will collide with a target. In this case, when the host vehicle is turning, the host vehicle is more likely to collide with a target than when the host vehicle is traveling straight ahead. Since the estimation error of the overlap rate is large, If the overlap ratio threshold when the host vehicle is turning is set to a value greater than the overlap ratio threshold when the host vehicle is traveling straight, Even if the overlap ratio estimation error is large, it is possible to avoid a collision with a high overlap ratio where the possibility of collision (the possibility of the host vehicle colliding with a target) is high while suppressing unnecessary execution of collision avoidance control.

[0006] However, during the turning of the host vehicle, for example, in the first half and the second half of the turning, Estimation error of overlap rate Since the overlap ratio threshold is different, the overlap ratio threshold is set to a constant value when the vehicle is turning. big If you maintain the value, There is a possibility that collision avoidance control will not be executed even though it is necessary to execute collision avoidance control.

[0007] The object of the present invention is to It is possible to appropriately prevent collision avoidance control from being executed even when the host vehicle will not collide with a target. To provide a vehicle control device.

[0008] A vehicle control device according to the present invention includes a control device that executes collision avoidance control to avoid a collision between a host vehicle and a target by autonomously decelerating the host vehicle when a collision condition is met that the host vehicle will collide with a target ahead of the host vehicle. The collision condition includes at least a condition that an overlap ratio between the host vehicle and the target is equal to or greater than an overlap ratio threshold. The control device is configured to set the overlap ratio threshold to a larger value when the host vehicle is turning compared to when the host vehicle is not turning. Furthermore, the control device is configured to set the overlap ratio threshold to a smaller value when a condition fulfillment time during which a collision possibility condition that the host vehicle may collide with the target while turning continues to be fulfilled is equal to or greater than a predetermined time compared to when the condition fulfillment time is shorter than the predetermined time.

[0009] When the host vehicle starts to turn and there is a target ahead of the host vehicle, the behavior of the host vehicle is stable for a certain period of time after the host vehicle starts to turn. Therefore, the accuracy of estimating the vehicle's trajectory does not improve. Therefore, even if the vehicle can pass by the target without colliding with it, Estimated Therefore, if the overlap ratio threshold is set to a small value, when the host vehicle approaches the target in an attempt to pass by the side of the target, Estimated The overlap rate may exceed the overlap rate threshold, causing collision avoidance control to be executed. 。

[0010] According to the present invention, when a target object is present ahead of the host vehicle when the host vehicle starts to turn, the overlap ratio threshold is set to a large value until a predetermined time has elapsed since the collision possibility condition was first established. Therefore, in the early stage of the turning of the host vehicle when the behavior of the host vehicle is not stable, collision avoidance control may be executed even if the host vehicle does not collide with the target object. appropriately Can be suppressed 。

[0011] On the other hand, once a certain amount of time has passed since the vehicle started turning, the vehicle's behavior will stabilize, This improves the accuracy of estimating the vehicle's trajectory, making it easier to estimate the overlap rate. Therefore, in order to suppress unnecessary execution of collision avoidance control, If the overlap ratio threshold remains set to a large value, collision avoidance control may not be executed even if the host vehicle collides with a target. 。

[0012] According to the present invention, after a predetermined time has elapsed since the host vehicle started to turn, the overlap ratio threshold is set to a small value, so that collision avoidance control can be reliably executed when there is a high possibility that the host vehicle will collide with a target. 。

[0013] In addition, in the vehicle control device according to the present invention, the control device may be configured to set the overlap ratio threshold to a value corresponding to the condition fulfillment time when the condition fulfillment time is equal to or longer than the predetermined time.

[0014] The behavior of the vehicle during a turn becomes more stable as the time elapsed since the start of the turn increases. Estimation error of overlap rate becomes smaller as the time elapsed since the start of a turn becomes longer. Therefore, in order to properly execute collision avoidance control, it is preferable that the overlap ratio threshold be set to a value corresponding to the time elapsed since the start of a turn. According to the present invention, when the condition satisfaction time is equal to or longer than a predetermined time, the overlap ratio threshold is set to a value corresponding to the condition satisfaction time. Therefore, it is possible to properly execute collision avoidance control.

[0015] Furthermore, in the vehicle control device according to the present invention, the control device may be configured such that, when the condition-fulfilled time is equal to or longer than the predetermined time, the overlap ratio threshold value is set to a smaller value as the condition-fulfilled time is longer.

[0016] As mentioned earlier, Estimation error of overlap rateThe overlap ratio threshold is set to a smaller value as the time elapsed since the start of the turn increases. According to the present invention, when the time period during which the condition is satisfied is equal to or longer than a predetermined time, the overlap ratio threshold is set to a smaller value as the time period during which the condition is satisfied increases. This allows for more appropriate execution of collision avoidance control.

[0017] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a vehicle control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing a situation in which a preceding vehicle is present in front of the host vehicle while the host vehicle is turning. [Figure 4] FIG. 4 is a diagram showing the overlap rate. DETAILED DESCRIPTION OF THE INVENTION

[0019] A vehicle control device according to an embodiment of the present invention will be described below with reference to the drawings. The vehicle control device 10 will be described below using as an example a case where the operator of the host vehicle 100 is a person who gets into the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100). Therefore, in this example, the vehicle control device 10 is mounted on the host vehicle 100 as shown in FIG. 1.

[0020] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle control device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 for remotely driving the vehicle 100, and the functions of the vehicle control device 10 described below are shared between the vehicle control device 10 mounted on the vehicle 100 and the vehicle control device 10 mounted on the remote operation facility.

[0021] The vehicle control device 10 includes an ECU 90 as a control device. The ECU 90 is an electronic control unit (electronic control device). The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions. In this example, the vehicle control device 10 includes one ECU, but as will be described later, the vehicle control device 10 may also be configured to include multiple ECUs and have the ECUs individually share and execute various processes described later.

[0022] As shown in FIG. 1, the vehicle 100 is equipped with a driving device 21, a braking device 22, and a steering device 23.

[0023] The drive device 21 is a device that outputs a drive force to be applied to the host vehicle 100, and includes, for example, an internal combustion engine and / or at least one motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive force output from the drive device 21.

[0024] The braking device 22 is a device that applies a braking force to the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking force that is applied to the host vehicle 100 by the braking device 22.

[0025] The steering device 23 is a device, such as a power steering device, that applies a steering force to the host vehicle 100. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering force applied to the host vehicle 100 by the steering device 23.

[0026] Furthermore, the host vehicle 100 is equipped with an accelerator pedal 41, an accelerator pedal operation amount sensor 42, a brake pedal 43, a brake pedal operation amount sensor 44, a steering wheel 45, a steering shaft 46, a steering angle sensor 47, a steering torque sensor 48, a vehicle speed detection device 51, a yaw rate sensor 52, an acceleration sensor 53, a surrounding information detection device 60, a host vehicle position detection device 70, and a vehicle-to-vehicle communication device 80.

[0027] The accelerator pedal 41 is a device that is operated by the driver to accelerate the host vehicle 100. The accelerator pedal operation amount sensor 42 is a device that detects the amount of operation of the accelerator pedal 41. When the operator of the host vehicle 100 is a remote operator of the host vehicle 100, the accelerator pedal 41 and the accelerator pedal operation amount sensor 42 are mounted on a remote operation facility.

[0028] The accelerator pedal operation amount sensor 42 is electrically connected to the ECU 90. The ECU 90 obtains the operation amount of the accelerator pedal 41 from the accelerator pedal operation amount sensor 42 as the accelerator pedal operation amount AP. The ECU 90 calculates the acceleration of the host vehicle 100 requested by the driver based on the accelerator pedal operation amount AP as the driver-requested acceleration Ga_driver. When the driver-requested acceleration Ga_driver is greater than zero, the ECU 90 executes normal driving control, which controls the driving force output from the drive device 21 so that the driver-requested acceleration Ga_driver is achieved, except when executing collision avoidance control, which will be described later.

[0029] The brake pedal 43 is a device that is operated by the driver to decelerate the host vehicle 100. The brake pedal operation amount sensor 44 is a device that detects the amount of operation of the brake pedal 43. When the operator of the host vehicle 100 is a remote operator of the host vehicle 100, the brake pedal 43 and the brake pedal operation amount sensor 44 are mounted on a remote operation facility.

[0030] The brake pedal operation amount sensor 44 is electrically connected to the ECU 90. The ECU 90 obtains the operation amount of the brake pedal 43 from the brake pedal operation amount sensor 44 as the brake pedal operation amount BP. The ECU 90 calculates the deceleration of the host vehicle 100 requested by the driver based on the brake pedal operation amount BP as the driver-requested deceleration Gd_driver. When the driver-requested deceleration Gd_driver is greater than zero, the ECU 90 executes normal driving control that controls the braking force applied to the host vehicle 100 by the braking device 22 so that the driver-requested deceleration Gd_driver is achieved, except when executing collision avoidance control, which will be described later.

[0031] The steering angle sensor 47 is a sensor that detects the rotation angle of the steering shaft 46 relative to the neutral position, and is electrically connected to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft 46 from the steering angle sensor 47 as a steering angle θ.

[0032] The steering torque sensor 48 is a sensor that detects the torque input by the driver to the steering shaft 46 via the steering wheel 45, and is electrically connected to the ECU 90. The ECU 90 obtains the torque input by the driver to the steering shaft 46 via the steering wheel 45 from the steering torque sensor 48 as a driver input torque TQ_driver.

[0033] The vehicle speed detection device 51 is a device that detects the traveling speed of the host vehicle 100, and includes, for example, wheel speed sensors provided on each wheel of the host vehicle 100. The vehicle speed detection device 51 is electrically connected to the ECU 90. The ECU 90 obtains the traveling speed of the host vehicle 100 as the host vehicle speed V from the vehicle speed detection device 51.

[0034] The ECU 90 calculates and obtains the steering force (steering torque) required by the driver as a required steering force (required steering torque) based on the steering angle θ, the driver input torque TQ_driver, and the host vehicle speed V. The ECU 90 controls the operation of the steering device 23 so that a steering force equivalent to the required steering force is applied to the host vehicle 100 from the steering device 23.

[0035] The yaw rate sensor 52 is a sensor that detects the yaw rate of the host vehicle 100, and is electrically connected to the ECU 90. The ECU 90 obtains the yaw rate of the host vehicle 100 from the yaw rate sensor 52 as a yaw rate YR.

[0036] The acceleration sensor 53 is a sensor that detects the acceleration in the longitudinal direction (front-rear direction) and the acceleration in the lateral direction (width direction) of the host vehicle 100, and is electrically connected to the ECU 90. The ECU 90 obtains the acceleration in the longitudinal direction of the host vehicle 100 from the acceleration sensor 53 as a longitudinal acceleration Gx, and obtains the acceleration in the lateral direction of the host vehicle 100 as a lateral acceleration Gy.

[0037] The surrounding information detection device 60 is a device that acquires information about the surrounding conditions of the vehicle 100, and in this example, includes an electromagnetic wave sensor 61 and an image sensor 62.

[0038] The electromagnetic wave sensor 61 is a sensor that acquires data (target data) related to targets in the vicinity of the host vehicle 100, and is, for example, a radio wave sensor such as a radar sensor (millimeter wave radar), a sound wave sensor such as an ultrasonic sensor (clearance sonar), or an optical sensor such as a laser radar (LiDAR). The electromagnetic wave sensor 61 emits electromagnetic waves, and when the electromagnetic waves are reflected by a target, receives the electromagnetic waves (reflected waves). The target data is information related to the emitted electromagnetic waves and the reflected waves. The electromagnetic wave sensor 61 is electrically connected to the ECU 90. The ECU 90 acquires the target data from the electromagnetic wave sensor 61 as surrounding detection information IS.

[0039] The image sensor 62 is a sensor, such as a camera sensor, that captures an image of the surroundings of the vehicle 100 and acquires image data. The image sensor 62 is electrically connected to the ECU 90. The ECU 90 acquires the image data from the image sensor 62 as surroundings detection information IS.

[0040] The inter-vehicle communication device 80 is a device that performs wireless communication (inter-vehicle communication) with the ECUs of other vehicles. The inter-vehicle communication device 80 is electrically connected to the ECU 90. The ECU 90 can acquire, via the inter-vehicle communication device 80, surrounding detection information (target data, image data, etc.) transmitted by the ECUs of other vehicles near the host vehicle 100 as surrounding detection information IS.

[0041] The host vehicle position detection device 70 is a device that detects the position of the host vehicle 100, and in particular, in this example, is a device that receives GPS signals to obtain the current position of the host vehicle 100. In this example, the host vehicle position detection device 70 is equipped with a GPS receiver 71. The GPS receiver 71 receives GPS signals. The GPS receiver 71 is electrically connected to the ECU 90. The ECU 90 obtains the current position of the host vehicle 100 (host vehicle position) as surrounding detection information IS based on the GPS signals received by the GPS receiver 71.

[0042] In addition, the surrounding information detection device 60 may include a device that receives information transmitted wirelessly from equipment installed on the side of the road, and in this case, may be configured to acquire that information as surrounding detection information IS.

[0043] <Vehicle control device operation> Next, an operation of the vehicle control device 10 will be described. As described below, the vehicle control device 10 executes collision avoidance control as automatic driving control, which avoids a collision between the host vehicle 100 and a target by autonomously decelerating the host vehicle 100 when a collision condition is met that the host vehicle 100 will collide with a target ahead of the host vehicle 100. The target against which a collision is avoided by the collision avoidance control is, for example, a preceding vehicle, a pedestrian, or a structure such as a guardrail ahead of the host vehicle 100. However, the following describes the operation of the vehicle control device 10 when the target against which a collision is avoided by the collision avoidance control is a preceding vehicle.

[0044] The vehicle control device 10 detects targets such as a preceding vehicle, a pedestrian, or a structure ahead of the host vehicle 100 based on the surrounding detection information IS. The preceding vehicle is another vehicle traveling ahead of the host vehicle 100 and within a predetermined distance from the host vehicle 100.

[0045] The vehicle control device 10 is configured to execute the routine shown in Fig. 2 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle control device 10 starts processing from step S200 of the routine shown in Fig. 2, and proceeds to step S205 to determine whether or not the preceding vehicle 200 is present.

[0046] If the vehicle control device 10 determines "Yes" in step S205, the process proceeds to step S210, where it determines whether the host vehicle 100 is turning on a curved road or the like and an intersection condition is met. In other words, the vehicle control device 10 determines whether the host vehicle 100 is turning and a collision possibility condition is met, that is, whether there is a possibility that the host vehicle 100 will collide with the preceding vehicle 200.

[0047] The vehicle control device 10 determines whether the host vehicle 100 is turning based on the steering angle θ, the yaw rate YR, the lateral acceleration Gy, and the like.

[0048] The intersection condition is a condition that the predicted travel route R100 of the host vehicle 100 and the predicted travel route R200 of the preceding vehicle 200 intersect. As shown in Fig. 3, the predicted travel route R100 of the host vehicle 100 is a route that the host vehicle 100 is predicted to travel in the future, and the predicted travel route R200 of the preceding vehicle 200 is a route that the preceding vehicle 200 is predicted to travel in the future. The vehicle control device 10 acquires the predicted travel route R100 of the host vehicle 100 based on the steering angle θ, yaw rate YR, and lateral acceleration Gy of the host vehicle 100, as well as surrounding detection information IS, and acquires the predicted travel route R200 of the preceding vehicle 200 based on the surrounding detection information IS.

[0049] If the vehicle control device 10 determines "Yes" in step S210, the process proceeds to step S215, where it determines whether the condition fulfillment time T is equal to or longer than a predetermined time (predetermined condition fulfillment time Tth).

[0050] The condition satisfaction time T is the time during which the determination in step S210 continues to be "Yes" for a certain preceding vehicle 200 after the determination in step S210 is "Yes" for the first time. In other words, the condition satisfaction time T is the time during which the collision possibility condition continues to be satisfied, and is also an index value indicating the number of times it has been determined that the collision possibility condition is satisfied.

[0051] If the vehicle control device 10 determines "No" in step S215, it proceeds to step S220, sets the overlap ratio threshold LAPth to a predetermined value (turn initial threshold LAPu), and then proceeds to step S235. The turn initial threshold LAPu is set to a relatively large value close to 100%, or is set to 100%.

[0052] The overlap ratio threshold LAPth is a threshold related to the overlap ratio LAP and is used in step S235, which will be described later. As shown in FIG. 4, the overlap ratio LAP is the ratio of the overlap width dW to the overall width W of the host vehicle 100 (LAP=dW / W). The overlap width dW is the length in the host vehicle width direction Y of the portion of the preceding vehicle 200 that is present within the range of the overall width W of the host vehicle 100. The host vehicle width direction Y is a direction perpendicular to the fore-and-aft direction X of the host vehicle 100.

[0053] In the example shown in Fig. 4(A), the overlap rate LAP is 100%, and in the example shown in Fig. 4(B), the overlap rate LAP is 50%. In the example shown in Fig. 4(C), the overlap rate LAP is 100%, and in the example shown in Fig. 4(D), the overlap rate LAP is 50%.

[0054] If the vehicle control device 10 determines "Yes" in step S215, it proceeds to step S225, sets the overlap ratio threshold LAPth to a predetermined value (turning stability threshold LAPs), and then proceeds to step S235. The turning stability threshold LAPs is set to a relatively large value, but is set to a value smaller than the turning initial threshold LAPu. Note that the turning stability threshold LAPs may be set to a constant value regardless of the length of the condition satisfaction time T, or may be set to a value according to the condition satisfaction time T. In this case, for example, the turning stability threshold LAPs is set to a smaller value as the condition satisfaction time T is longer.

[0055] If the vehicle control device 10 determines "No" in step S210, the process proceeds to step S230, where the overlap ratio threshold LAPth is set to a predetermined value (normal threshold LAPn), and then the process proceeds to step S235. The normal threshold LAPn is set to a relatively small value close to 0%, a value smaller than the turning stability threshold LAPs, and in particular, is set to 0%.

[0056] When the process proceeds to step S235, the vehicle control device 10 determines whether the overlap ratio LAP is equal to or greater than the overlap ratio threshold LAPth. If the determination in step S235 is "Yes," the vehicle control device 10 proceeds to step S240 and determines whether the inter-vehicle distance D is equal to or less than a predetermined distance (predetermined inter-vehicle distance threshold Dth).

[0057] As shown in Fig. 3, the inter-vehicle distance D is the distance between the host vehicle 100 and the preceding vehicle 200. The predetermined inter-vehicle distance threshold Dth is a threshold related to the inter-vehicle distance D, and in this example, is set based on the time (predicted arrival time TTC) at which the host vehicle 100 is predicted to reach the preceding vehicle 200. That is, the predicted arrival time TTC is a value obtained by dividing the inter-vehicle distance D by the relative speed ΔV of the host vehicle 100 with respect to the preceding vehicle 200 (TTC = D / ΔV), and the minimum predicted arrival time TTC required to avoid a collision between the host vehicle 100 and the preceding vehicle 200 is set as the predetermined predicted arrival time TTCth. The vehicle control device 10 sets the value obtained by multiplying the predetermined predicted arrival time TTCth by the relative speed ΔV as the predetermined inter-vehicle distance threshold Dth (Dth = TTCth ΔV).

[0058] If the vehicle control device 10 determines "Yes" in step S240, the process proceeds to step S245, where collision avoidance control is executed, and then the process proceeds to step S295, where the process of this routine is temporarily ended.

[0059] The collision avoidance control is a control for decelerating the host vehicle 100 so that the host vehicle 100 does not collide with the preceding vehicle 200 based on the inter-vehicle distance D and the host vehicle speed V at the start of the collision avoidance control. If the preceding vehicle 200 is stopped, the host vehicle 100 is stopped by the collision avoidance control before reaching the preceding vehicle 200.

[0060] On the other hand, if the vehicle control device 10 determines "No" in step S235 or step S240, the process proceeds directly to step S295, and the process of this routine is temporarily ended.

[0061] Furthermore, if the vehicle control device 10 determines "No" in step S205, it also proceeds directly to step S295 and temporarily ends the processing of this routine.

[0062] The operation of the vehicle control device 10 is as described above.

[0063] <Effects> When the host vehicle 100 starts to turn and there is a preceding vehicle 200 in front of the host vehicle 100, the behavior of the host vehicle 100 is not stable until a certain time has elapsed since the host vehicle 100 started to turn. LAP estimation error Therefore, even if the host vehicle 100 can pass beside the preceding vehicle 200 without colliding with it, the overlap ratio LAP may change significantly. I can see it Therefore, if the overlap ratio threshold LAPth is set to a small value, when the host vehicle 100 approaches the preceding vehicle 200 in an attempt to pass beside the preceding vehicle 200, the overlap ratio LAP may exceed the overlap ratio threshold LAPth, and collision avoidance control may be executed. 。

[0064] According to the vehicle control device 10, when the host vehicle 100 starts to turn and there is a preceding vehicle 200 ahead of the host vehicle 100, the overlap ratio threshold LAPth is set to a relatively large value close to 100% or is set to 100% until a predetermined time (predetermined condition satisfaction time Tth) has elapsed since the collision possibility condition was first satisfied. Therefore, in the early stage of the turning of the host vehicle 100 when the behavior of the host vehicle 100 is not stable, it is possible to prevent the collision avoidance control from being executed even though the host vehicle 100 will not collide with the preceding vehicle 200. 。

[0065] On the other hand, after a certain time has passed since the start of turning of the host vehicle 100, the behavior of the host vehicle 100 becomes stable. LAP estimation errorTherefore, if the overlap ratio threshold LAPth is set to a relatively large value or remains set to 100%, there is a possibility that collision avoidance control will not be executed even if the host vehicle 100 collides with the preceding vehicle 200. 。

[0066] According to the vehicle control device 10, after a predetermined time (predetermined condition satisfaction time Tth) has elapsed since the start of turning of the host vehicle 100, the overlap ratio threshold LAPth is set to a small value, so that collision avoidance control can be reliably executed when there is a high possibility that the host vehicle 100 will collide with the preceding vehicle 200. 。

[0067] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0068] 10...vehicle control device, 20...drive device, 30...braking device, 60...surrounding information detection device, 70...own vehicle position detection device, 80...vehicle-to-vehicle communication device, 90...ECU, 100...own vehicle, 200...preceding vehicle

Claims

1. a control device that executes collision avoidance control to avoid a collision between the host vehicle and the target by autonomously decelerating the host vehicle when a collision condition that the host vehicle will collide with the target in front of the host vehicle is established, the collision condition includes at least a condition that an overlap ratio between the host vehicle and the target is equal to or greater than an overlap ratio threshold, The control device is configured to set the overlap ratio threshold to a larger value when the host vehicle is turning compared to when the host vehicle is not turning. In the vehicle control device, the control device is configured to set the overlap ratio threshold to a smaller value when a condition satisfaction time during which a collision possibility condition that the host vehicle may collide with the target while the host vehicle is turning continues to be satisfied is equal to or longer than a predetermined time, compared to when the condition satisfaction time is shorter than the predetermined time. Vehicle control device.

2. 2. The vehicle control device according to claim 1, the control device is configured to set the overlap ratio threshold to a value corresponding to the condition fulfillment time when the condition fulfillment time is equal to or longer than the predetermined time. Vehicle control device.

3. 3. The vehicle control device according to claim 2, the control device is configured to set the overlap ratio threshold to a smaller value as the condition-fulfilled time period is longer when the condition-fulfilled time period is equal to or longer than the predetermined time period; Vehicle control device.

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