Vehicle control device, control method, and program

Abstract

To effectively suppress collision with an oncoming vehicle while reducing a processing load of a processor.SOLUTION: A vehicle control device comprises a processor 11. The processor 11 is configured to be capable of executing: an estimation process which estimates whether or not an adjacent lane L2 is an opposite lane; and an avoidance process which, when a front target satisfies a collision condition, executes a steering control for avoiding a collision. The vehicle control device is configured to: if it is estimated that the adjacent lane L2 is the opposite lane in the estimation process, maintain an estimation result that the adjacent lane L2 is the opposite lane until a cancellation condition is satisfied; and if the adjacent lane L2 is estimated to be the opposite lane or the estimation result thereof is maintained, execute the steering control without causing an own vehicle SV to enter the adjacent lane L2.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] There is known a vehicle control device that performs steering control by automatically controlling the steering angle of the steered wheels of the vehicle when an object that is likely to collide with the vehicle is detected in front of the vehicle so as to avoid a collision between the vehicle and the object. For example, Patent Document 1 discloses a control device that prohibits the execution of steering control when an adjacent lane is an oncoming lane and an oncoming vehicle traveling in the oncoming lane is detected, and that cancels the prohibition of steering control after a predetermined time has passed since the oncoming vehicle is no longer detected. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-018618 Summary of the Invention

[0004] If the device described in Patent Document 1 constantly monitors whether there is an oncoming vehicle in the oncoming lane, there is a problem that the processing load on the processor increases. Also, when the device starts steering control due to the detection of a primary object, if an oncoming vehicle approaches in the steering direction of the host vehicle, the relative speed of the oncoming vehicle to the host vehicle becomes very fast. Therefore, at the timing when steering control for the primary object is started, it may not be possible to detect the oncoming vehicle as a secondary object that may collide with the host vehicle.

[0005] One of the objects of the present disclosure is to effectively prevent a collision with an oncoming vehicle while reducing the processing load on a processor.

[0006] The vehicle control device disclosed herein includes a target detection unit that detects objects present at least in the area ahead of the host vehicle as forward targets, and a processor. The processor is configured to execute an estimation process that estimates whether an adjacent lane adjacent to the host vehicle lane in which the host vehicle is traveling is an oncoming lane in which the vehicle is traveling in the opposite direction to the host vehicle lane, and an avoidance process that performs steering control to avoid at least a collision between the host vehicle and the object if the object detected as the forward target by the target detection unit satisfies a predetermined collision condition. If the estimation process estimates that the adjacent lane is the oncoming lane, the estimation result that the adjacent lane is the oncoming lane is maintained until a predetermined release condition is met, and when the collision condition is satisfied, if the estimation result that the adjacent lane is the oncoming lane is maintained, the processor performs the steering control without allowing the host vehicle to enter the adjacent lane.

[0007] According to the above configuration, when the control device estimates that the adjacent lane is an oncoming lane, it retains the estimation result that the adjacent lane is an oncoming lane until a predetermined cancellation condition is met. Furthermore, when performing avoidance processing, if the control device estimates or retains the estimation result that the adjacent lane is an oncoming lane, it executes steering control without causing the host vehicle to enter the adjacent lane. This makes it possible to effectively prevent a collision with an oncoming vehicle while reducing the processing load on the processor. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a hardware configuration of a vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. [Figure 3] FIG. 2 is a schematic diagram illustrating an example of a vehicle lane and an adjacent lane. [Figure 4] 10 is a flowchart illustrating a routine of a lane estimation process. [Figure 5] 4 is a flowchart illustrating a routine for processing collision avoidance control. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle control device, a control method, and a program according to this embodiment will be described with reference to the drawings.

[0010] [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.

[0011] The vehicle SV has an ECU (Electronic Control Unit) 10. 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 is a processor that 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.

[0012] The ECU 10 is a central device that performs driving assistance control such as collision avoidance control. Driving assistance control is a concept that includes automatic driving control. 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, a display unit 90, a speaker 95, and the like.

[0013] The drive device 20 generates a drive 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 this embodiment, the vehicle SV may be a hybrid vehicle (HEV), a plug-in hybrid vehicle (PHEV), a fuel cell vehicle (FCEV), an electric vehicle (BEV), or 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.

[0014] The internal sensor device 30 is a group of sensors that detect the state of the vehicle SV. Specifically, the internal sensor device 30 includes a vehicle speed sensor 31, a steering angle sensor 32, a yaw rate sensor 33, an acceleration sensor 34, a turn signal switch 35, etc.

[0015] The vehicle speed sensor 31 detects the traveling speed (vehicle speed V) of the vehicle SV. The steering angle sensor 32 detects the rotation angle of a steering wheel or steering shaft (not shown) of the vehicle SV, i.e., the steering angle. The yaw rate sensor 33 detects the yaw rate of the vehicle SV. The acceleration sensor 34 detects the acceleration of the vehicle SV. The turn signal switch 35 detects the operation of a turn signal lever (not shown) by the driver. The internal sensor device 30 transmits the state of the vehicle SV detected by each of the sensors 31 to 35 to the ECU 10 at a predetermined interval.

[0016] The external sensor device 40 is a type of sensor that recognizes target information related to targets around the vehicle SV. Specifically, the external sensor device 40 includes a radar sensor 41, a camera sensor 42, etc. Examples of target information include nearby vehicles, pedestrians, bicycles, road markings, curbs, guardrails, fallen objects, etc.

[0017] The radar sensor 41 is provided, for example, at the front of the vehicle SV and detects targets present in the area ahead of the vehicle SV. The radar sensor 41 includes a millimeter-wave radar and / or a lidar. The millimeter-wave radar emits millimeter-wave radio waves (millimeter waves) and receives millimeter waves (reflected waves) reflected by targets present within the emission range. The millimeter-wave radar acquires the relative distance and relative speed between the vehicle SV and the target based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves. The lidar sequentially scans a pulsed laser beam with a wavelength shorter than that of millimeter waves in multiple directions and receives the reflected light reflected by the target to acquire the shape of the target detected ahead of the vehicle SV, the relative distance and relative speed between the vehicle SV and the target, etc.

[0018] The camera sensor 42 is, for example, a stereo camera or a monocular camera, and a digital camera having an imaging element such as a CMOS or CCD can be used. The camera sensor 42 is disposed, for example, above the front windshield glass of the vehicle SV. The camera sensor 42 captures an image of the area ahead of the vehicle SV and processes the captured image data to acquire target information ahead of the vehicle SV. The target information is information that indicates the type of target detected ahead of the vehicle SV, the relative distance between the vehicle SV and the target, the relative speed between the vehicle SV and the target, etc. The type of target may be recognized, for example, by machine learning such as pattern matching.

[0019] The external sensor device 40 transmits the acquired target information to the ECU 10 at a predetermined cycle. The ECU 10 determines the relative relationship between the vehicle SV and the target by combining the relative relationship between the vehicle SV and the target obtained by the radar sensor 41 and the relative relationship between the vehicle SV and the target obtained by the camera sensor 42. Note that the external sensor device 40 does not necessarily have to include both the radar sensor 41 and the camera sensor 42, and may include, for example, only the camera sensor 42.

[0020] The display device 90 is, for example, a multi-information display, a head-up display, a display of a navigation system, or the like, and displays various images in response to commands from the ECU 10. The speaker 95 is, for example, a speaker of an audio system or a speaker of a navigation system, and outputs warning sounds and the like in response to commands from the ECU 10.

[0021] [Software configuration] 2 is a schematic diagram showing the software configuration of the ECU 10 according to this embodiment. As shown in FIG. 2, the ECU 10 includes, as functional elements, a lane information acquisition unit 100, a lane estimation unit 110, a collision avoidance control unit 120, and the like. These functional elements 100-120 are realized by the CPU 11 of the ECU 10 reading a program stored in the ROM 12 into the RAM 13 and executing the program. Note that in this embodiment, the functional elements 100-120 are described as being included in the ECU 10, which is an integrated piece of hardware; however, some of these functional elements may be provided in another ECU separate from the ECU 10. Furthermore, all or some of the functional elements 100-120 of the ECU 10 may be provided in an information processing device in a facility (e.g., a management center) capable of communicating with the vehicle SV.

[0022] The lane information acquisition unit 100 acquires lane information for the lane in which the host vehicle SV is traveling (hereinafter referred to as the host vehicle lane) and for lanes adjacent to the host vehicle lane (hereinafter referred to as adjacent lanes) based on the detection results of the external sensor device 40. Here, the host vehicle lane and adjacent lanes refer to the vehicle's traveling area defined not only by dividing lines such as white and yellow lines painted on the road surface, but also by structures such as curbs, guardrails, and walls. For convenience, the boundaries of the traveling area defined by these dividing lines and structures will be referred to as "boundary lines" below.

[0023] 3 is a schematic diagram illustrating an example of a host vehicle lane L1 and an adjacent lane L2 about which lane information is acquired by the lane information acquisition unit 100. The lane information acquisition unit 100 acquires the lateral positions (distances in the lane width direction from the host vehicle SV) of boundary lines LL1, LR1, and LR2 of the host vehicle lane L1 and the adjacent lane L2 as lane information.

[0024] Specifically, the lane information acquisition unit 100 acquires the lateral position XL1 of the left boundary line LL1 of the host vehicle lane L1 and the lateral position XR1 of the right boundary line LR1 as lane information for the host vehicle lane L1 based on the detection results of the external sensor device 40. The lane information acquisition unit 100 also calculates the curve radius R of the center line LC, which is the center position between the first left boundary line LL1 and the first right boundary line LR1, based on the detection results of the external sensor device 40, and acquires the calculated curve radius R as lane information for the host vehicle lane L1. The lane information acquisition unit 100 also acquires the lateral position XR2 of the right boundary line LR2 of the adjacent lane L2 as lane information for the adjacent lane L2 based on the detection results of the external sensor device 40. The lane information acquisition unit 100 transmits the acquired lane information for the host vehicle lane L1 and the adjacent lane L2 to the lane estimation unit 110.

[0025] In the example shown in Figure 3, the lane information acquisition unit 100 acquires lane information for the adjacent lane L2 located to the right of the host vehicle lane L1 relative to the host vehicle SV. However, if there is also an adjacent lane on the left side of the host vehicle lane L1, the lane information acquisition unit 100 may acquire lane information for not only the adjacent lane L2 on the right side, but also the adjacent lane on the left side.

[0026] The lane estimation unit 110 estimates whether the adjacent lane L2 is an oncoming lane or a same-direction lane based on the lane information transmitted from the lane information acquisition unit 100 and the target information in front of the host vehicle SV acquired by the external sensor device 40. Here, the oncoming lane refers to a lane in which the traveling direction of the vehicle is opposite to that of the host vehicle SV among the adjacent lanes. The same-direction lane refers to a lane in which the traveling direction of the vehicle is the same as that of the host vehicle SV. The lane estimation unit 110 detects an object such as another vehicle existing in front of the host vehicle SV (hereinafter referred to as the front object OB) based on the detection result of the external sensor device 40. When the lane estimation unit 110 detects the front object OB, it acquires the lateral position of the front object OB (the distance in the lane width direction with respect to the host vehicle SV) based on the detection result of the external sensor device 40. Specifically, the lane estimation unit 110 acquires the lateral position XLB of the left end of the front object OB and the lateral position XRB of the right end of the front object OB as viewed from the host vehicle SV.

[0027] The lane estimation unit 110 determines whether or not a first condition indicating that the front object OB exists in the adjacent lane L2 is satisfied. The first condition is satisfied, for example, when the lateral position XLB of the left end of the front object OB is greater than the lateral position XR1 of the right boundary line LR1 of the host lane L1 (XLB > XR1) and the lateral position XRB of the right end of the front object OB is smaller than the lateral position XR2 of the right boundary line LR2 of the adjacent lane L2 (XRB < XR2). When the first condition is satisfied, the lane estimation unit 110 determines whether or not a second condition that the traveling direction of the front object OB is opposite to the traveling direction of the host vehicle SV is satisfied. The second condition is satisfied, for example, when the speed VOB of the front object OB is a negative value (VOB < 0). That is, even when the speed VOB of the front object OB is lower than the vehicle speed V of the host vehicle SV, if the speed VOB of the front target OB is the same positive value (the traveling direction is the same) as the vehicle speed V of the host vehicle SV, the second condition is not satisfied.

[0028] When the first condition is met and the second condition is met, the lane estimation unit 110 estimates the adjacent lane L2 as the oncoming lane. When the lane estimation unit 110 estimates the adjacent lane L2 as the oncoming lane, it turns on the oncoming lane flag F1 (F1=1). After turning on the oncoming lane flag F1, the lane estimation unit 110 keeps the oncoming lane flag F1 until a cancellation condition, which will be described later, is met.

[0029] When the first condition is met and the second condition is not met, and the opposite lane flag F1 is off (F1=0), the lane estimation unit 110 estimates the adjacent lane L2 as a same-direction lane. When the lane estimation unit 110 estimates the adjacent lane L2 as a same-direction lane, it turns on the same-direction lane flag F2 (F2=1). On the other hand, even when the first condition is met and the second condition is not met, the lane estimation unit 110 does not estimate the adjacent lane L2 as a same-direction lane if the opposite lane flag F1 is on (F1=1). In other words, the lane estimation unit 110 keeps the opposite lane flag F1 on without switching the opposite lane flag F1 from on to off. In this way, once the adjacent lane L2 is estimated as an opposite lane, the estimation result that the adjacent lane L2 is an opposite lane is maintained, that is, the opposite lane flag F1 is kept on (F1=1), until a cancellation condition, which will be described later, is met. This eliminates the need to constantly monitor whether the adjacent lane L2 is an oncoming lane, that is, whether an oncoming vehicle is present, and makes it possible to effectively reduce the processing load on the CPU 11.

[0030] After turning on the opposite lane flag F1 or the same direction lane flag F2, the lane estimation unit 110 switches these flags F1 and F2 from on to off when any of the following cancellation conditions is met. Cancellation condition (1): When the external sensor device 40 cannot recognize at least one of the boundary lines LL1, LR1 of the host vehicle lane L1 and the boundary line LR2 of the adjacent lane L2. Cancellation condition (2): When the steering angle θ of the host vehicle SV acquired by the steering angle sensor 32 exceeds a predetermined threshold steering angle θv. Cancellation condition (3): When the curve radius R of the vehicle lane L1 acquired by the lane information acquisition unit 100 exceeds a predetermined threshold radius Rv. Cancellation condition (4): When the turn signal switch 35 detects that the occupant of the vehicle SV has operated the turn signal lever to the left or right.

[0031] When the release condition (1) is satisfied, i.e., when the external sensor device 40 loses sight of the boundary lines LL1, LR1, and LR2, the lane estimation unit 110 is unable to estimate whether the adjacent lane L2 is an oncoming lane or a same-direction lane. Furthermore, when any of the release conditions (2), (3), and (4) is satisfied, the behavior of the vehicle SV changes significantly, reducing the accuracy with which the external sensor device 40 recognizes the boundary lines LL1, LR1, and LR2. When any of the release conditions (1), (2), (3), and (4) is satisfied, switching the oncoming lane flag F1 and the same-direction lane flag F2 from on to off effectively prevents erroneous determination. The threshold steering angle θv of the release condition (2) and the threshold radius Rv of the release condition (3) may be fixed or variable. When the threshold steering angle θv is variable, for example, the threshold steering angle θv may be reduced as the vehicle speed V increases.

[0032] The collision avoidance control unit 120 executes collision avoidance control to avoid a collision between the host vehicle SV and a forward target or to mitigate damage from the collision. The collision avoidance control unit 120 acquires coordinate information of an object present ahead of the host vehicle SV based on target information transmitted from the external sensor device 40. The collision avoidance control unit 120 also 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. The collision avoidance control unit 120 determines whether an object ahead of the host vehicle SV is a target that may collide with the host vehicle SV. For example, if the object is a moving object, the collision avoidance control unit 120 determines the moving object as a target if the trajectory of the moving object intersects with the trajectory of the host vehicle SV. If the object is a stationary object, the collision avoidance control unit 120 determines the stationary object as a target if the trajectory of the vehicle SV intersects with the current position of the stationary object.

[0033] When the collision avoidance control unit 120 determines that the object is a target, it calculates a predicted time to collision (hereinafter referred to as TTC) until the host vehicle SV collides with the target based on the distance L from the host vehicle SV to the target and the relative speed Vr of the host vehicle SV with respect to the target. The TTC is an index value that indicates the possibility that the host vehicle SV will collide with the target. The TTC can be calculated by dividing the distance L from the host vehicle SV to the target by the relative speed Vr (TTC=L / vr).

[0034] If the TTC is equal to or less than a predetermined collision determination threshold Tv, the collision avoidance control unit 120 determines that there is a high possibility that the host vehicle SV will collide with the target. When the collision avoidance control unit 120 determines that there is a high possibility of a collision, it issues an alarm via the speaker 95 and / or the display device 90, and searches for an avoidance route to avoid a collision between the host vehicle SV and the target.

[0035] Here, when the adjacent lane L2 is an oncoming lane, that is, when the oncoming lane flag F1 is on (F1=1), if an avoidance route is set within the adjacent lane L2, even if a collision with the target (primary target) is avoided, there is a possibility that a collision with an oncoming vehicle (secondary target) traveling in the adjacent lane L2 may occur. When the oncoming lane flag F1 is off (F1=0), the collision avoidance control unit 120 searches for an avoidance route within an area including the adjacent lane L2. On the other hand, when the oncoming lane flag F1 is on (F1=1), the collision avoidance control unit 120 searches for an avoidance route within the host vehicle lane L1. This makes it possible to effectively prevent the host vehicle SV from entering the adjacent lane L2 by steering control, which will be described later, and colliding with an oncoming vehicle traveling in the adjacent lane L2.

[0036] When the collision avoidance control unit 120 sets an avoidance route, it calculates a target steering angle required for the host vehicle SV to travel along the avoidance route, and controls the operation of the steering device 21 based on the calculated target steering angle. This steers the steering wheels of the host vehicle SV, realizing steering control that avoids a collision between the host vehicle SV and the target object or reduces damage. If the collision avoidance control unit 120 cannot set an avoidance route, it controls the operation of the braking device 22 based on a predetermined target deceleration, thereby executing deceleration control that decelerates the host vehicle SV within the host vehicle lane L1.

[0037] 4 is a flowchart illustrating a lane estimation processing routine executed by the CPU 11 of the ECU 10. This routine is started, for example, when the vehicle SV starts moving.

[0038] In step S100, the ECU 10 determines whether or not lane information of the vehicle's lane L1 and the adjacent lane L2 has been acquired based on the detection results of the external sensor device 40. If the lane information has been acquired (Yes), the ECU 10 proceeds to processing in step S110. On the other hand, if the lane information has not been acquired (No), the ECU 10 returns from this routine.

[0039] In step S110, the ECU 10 determines whether or not a forward object OB has been detected based on the detection result of the external sensor device 40. If a forward object OB has been detected (Yes), the ECU 10 proceeds to the processing of step S120. On the other hand, if a forward object OB has not been detected (No), the ECU 10 returns from this routine.

[0040] In step S120, the ECU 10 determines whether or not the first condition that the forward object OB exists in the adjacent lane L2 is satisfied. When the horizontal position XLB of the left end of the forward object OB is greater than the horizontal position XR1 of the right boundary line LR1 of the host vehicle lane L1 (XLB>XR1), and the horizontal position XRB of the right end of the forward object OB is smaller than the horizontal position XR2 of the right boundary line LR2 of the adjacent lane L2 (XRB<XR2), the ECU 10 determines that the first condition is satisfied. When the first condition is satisfied (Yes), the ECU 10 proceeds to the process of step S130. On the other hand, when the first condition is not satisfied (No), the ECU 10 returns from this routine.

[0041] In step S130, the ECU 10 determines whether or not the second condition that the forward object OB travels in the direction opposite to the traveling direction of the host vehicle SV is satisfied. When the speed VOB of the forward object OB is a negative value (VOB<0), the ECU 10 determines that the second condition is satisfied. When the second condition is satisfied (Yes), the ECU 10 proceeds to the process of step S140.

[0042] In step S140, the ECU 10 estimates the adjacent lane L2 as an oncoming lane. Next, in step S145, the ECU 10 turns on the oncoming lane flag F1 (F1 = 1) and proceeds to the determination in step S150.

[0043] In step S150, the ECU 10 determines whether or not any one of the above-described cancellation conditions (1) to (4) is satisfied. When none of the cancellation conditions (1) to (4) is satisfied (No), the ECU 10 returns to the process of step S130. That is, the oncoming lane flag F1 is continuously kept on. On the other hand, when any one of the cancellation conditions (1) to (4) is satisfied (Yes), the ECU 10 proceeds to the process of step S155, switches the oncoming lane flag F1 off (F1 = 0), and returns from this routine.

[0044] If the second condition is not satisfied in the determination of step S130 (No), the ECU 10 proceeds to the processing of step S160. In step S160, the ECU 10 determines whether the opposite lane flag F1 is set to on (F1=1). If the opposite lane flag F1 is set to on (F1=1) (Yes), the ECU 10 proceeds to the processing of step S150. That is, once the adjacent lane L2 is estimated to be the opposite lane, the estimation result of the opposite lane is retained without being overwritten until the cancellation condition is satisfied. On the other hand, if the opposite lane flag F1 is not set to on, that is, if the opposite lane flag F1 is off (F1=0) (No), the ECU 10 proceeds to the processing of step S170.

[0045] In step S170, the ECU 10 estimates that the adjacent lane L2 is a same-direction lane. Next, in step S175, the ECU 10 turns on the same-direction lane flag F2 (F2=1), and proceeds to the determination in step S180.

[0046] In step S180, the ECU 10 determines whether any of the aforementioned cancellation conditions (1) to (4) is met. If none of the cancellation conditions (1) to (4) is met (No), the ECU 10 returns to the processing of step S170. That is, the same-direction lane flag F2 continues to be held on. On the other hand, if any of the cancellation conditions (1) to (4) is met (Yes), the ECU 10 proceeds to step S185, switches the same-direction lane flag F2 off (F2=0), and returns from this routine.

[0047] 5 is a flowchart illustrating a processing routine for collision avoidance control by the CUP 11 of the ECU 10. This routine is started when the vehicle SV starts moving, and is executed in parallel with the lane estimation processing routine shown in FIG.

[0048] In step S200, the ECU 10 acquires coordinate information of an object present in a region ahead of the host vehicle SV based on target information transmitted from the external sensor device 40. Next, in step S210, the ECU 10 calculates the trajectory 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. Note that the processing of steps S200 and S210 may be performed in any order, or may be performed simultaneously.

[0049] In step S220, the ECU 10 determines whether an object ahead of the host vehicle SV is a target that may collide with the host vehicle SV. If the object is a moving object, the ECU 10 determines the moving object to be a target if the trajectory of the moving object intersects with the trajectory of the host vehicle SV. Also, if the object is a stationary object, the ECU 10 determines the stationary object to be a target if the trajectory of the host vehicle SV intersects with the current position of the stationary object. If the ECU 10 determines that the object ahead of the host vehicle SV is a target (Yes), the ECU 10 proceeds to processing of step S230. On the other hand, if the ECU 10 determines that the object ahead of the host vehicle SV is not a target (No), the ECU 10 returns this routine.

[0050] In step S230, the ECU 10 calculates the TTC (=L / vr) by dividing the distance L from the host vehicle SV to the target by the relative speed Vr. Next, in step S240, the ECU 10 determines whether the TTC is equal to or less than the collision determination threshold Tv. If the TTC is equal to or less than the collision determination threshold Tv (Yes), the ECU 10 proceeds to the processing of step S250. On the other hand, if the TTC is greater than the collision determination threshold Tv (No), the ECU 10 returns from this routine.

[0051] In step S250, the ECU 10 issues a warning. Next, in step S255, the ECU 10 determines whether the adjacent lane L2 is an oncoming lane, i.e., whether the determined oncoming lane flag F1 is set to on (F1=1). If the determined oncoming lane flag F1 is on (Yes), the ECU 10 proceeds to step S260 and searches for an avoidance route within the host vehicle lane L1. On the other hand, if the determined oncoming lane flag F1 is off (No), the ECU 10 proceeds to step S270 and searches for an avoidance route within an area including the adjacent lane L2.

[0052] In step S280, the ECU 10 determines whether or not an avoidance route has been set as a result of the search. If an avoidance route has been set (Yes), the ECU 10 proceeds to processing in step S290, where it starts steering control that controls the operation of the steering device 21 based on a target steering angle that causes the host vehicle SV to travel along the avoidance route. On the other hand, if an avoidance route has not been set (No), the ECU 10 proceeds to processing in step S295, where it starts deceleration control that decelerates the host vehicle SV at a predetermined target deceleration within the host vehicle lane L1. Thereafter, the ECU 10 returns to this routine.

[0053] According to the present embodiment described above in detail, the control device is configured to execute an estimation process for estimating whether the adjacent lane L2 adjacent to the host vehicle lane L1 is an oncoming lane, and an avoidance process for performing steering control to avoid a collision between the host vehicle SV and the object when a predetermined collision condition is met. Furthermore, if the control device estimates that the adjacent lane L2 is an oncoming lane, it retains the estimation result that the adjacent lane L2 is an oncoming lane until at least one of the cancellation conditions (1) to (4) is met. This reduces the processing load on the CPU 11. Furthermore, when performing the avoidance process, if the control device estimates or retains the estimation result that the adjacent lane is an oncoming lane, it performs steering control without causing the host vehicle SV to enter the adjacent lane L2. This effectively prevents a collision between the host vehicle SV and an oncoming vehicle.

[0054] 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 invention.

[0055] For example, in the above embodiment, the lane estimation unit 110 has been described as estimating whether the adjacent lane L2 is an oncoming lane based on the detection result of the external sensor device 40. However, the lane estimation unit 110 may be configured to estimate whether the adjacent lane L2 is an oncoming lane based on the detection result of the external sensor device 40 as well as road information around the host vehicle SV obtained from a GPS device, a map database, V2X communication, etc. Furthermore, the application of the present disclosure is not limited to vehicles capable of performing driving assistance, but may also be applied to vehicles capable of performing autonomous driving (including fully autonomous driving). [Explanation of symbols]

[0056] 10...ECU, 20...drive device, 21...steering device, 22...braking device, 30...internal sensor device, 40...external sensor device, 100...lane information acquisition unit, 110...lane determination unit, 120...collision avoidance control unit

Claims

1. A control device for a vehicle, The control device includes a target detection unit that detects an object present at least in a forward area of ​​the host vehicle as a forward target, and a processor; The processor: an estimation process for estimating whether an adjacent lane adjacent to the host vehicle lane in which the host vehicle is traveling is an oncoming lane in which the vehicle is traveling in an opposite direction to the host vehicle lane; an avoidance process that performs steering control to avoid a collision between at least the host vehicle and the object when the object detected as the forward target by the target detection unit satisfies a predetermined collision condition, When the adjacent lane is estimated to be the oncoming lane in the estimation process, the estimation result that the adjacent lane is the oncoming lane is maintained until a predetermined cancellation condition is met, When the collision condition is satisfied, if the adjacent lane is estimated to be the oncoming lane or if an estimation result is held, the steering control is executed without causing the host vehicle to enter the adjacent lane. Vehicle control device.

2. The vehicle control device according to claim 1, The cancellation condition includes at least one of a first condition that lane information of at least one of the host vehicle lane and the adjacent lane cannot be acquired, a second condition that a steering angle of the host vehicle exceeds a predetermined threshold steering angle, a third condition that a curve radius of the host vehicle lane in which the host vehicle is traveling exceeds a predetermined threshold radius, and a fourth condition that the host vehicle changes course from the host vehicle lane. Vehicle control device.

3. The vehicle control device according to claim 2, The threshold steering angle of the second condition is set to a smaller value as the vehicle speed of the host vehicle increases. Vehicle control device.

4. A control method for a vehicle equipped with a target detection unit that detects an object present at least in a forward area of ​​the vehicle as a forward target, an estimation process for estimating whether an adjacent lane adjacent to the host vehicle lane in which the host vehicle is traveling is an oncoming lane in which the vehicle is traveling in an opposite direction to the host vehicle lane; an avoidance process for performing steering control to avoid a collision between at least the host vehicle and the object when the object detected as the forward target by the target detection unit satisfies a predetermined collision condition; When the adjacent lane is estimated to be the oncoming lane in the estimation process, the estimation result that the adjacent lane is the oncoming lane is maintained until a predetermined cancellation condition is met, When the collision condition is satisfied, if the adjacent lane is estimated to be the oncoming lane or if an estimation result is held, the steering control is executed without causing the host vehicle to enter the adjacent lane. How to control the vehicle.

5. A processor of a vehicle control device including a target detection unit that detects an object present at least in a forward area of ​​the vehicle as a forward target, an estimation process for estimating whether an adjacent lane adjacent to the host vehicle lane in which the host vehicle is traveling is an oncoming lane in which the vehicle is traveling in an opposite direction to the host vehicle lane; an avoidance process for performing steering control to avoid a collision between at least the host vehicle and the object when the object detected as the forward target by the target detection unit satisfies a predetermined collision condition; When the adjacent lane is estimated to be the oncoming lane in the estimation process, the estimation result that the adjacent lane is the oncoming lane is maintained until a predetermined cancellation condition is met, When the collision condition is satisfied, if the adjacent lane is estimated to be the oncoming lane or if an estimation result is held, the steering control is executed without causing the host vehicle to enter the adjacent lane. program.

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