Vehicle control device, vehicle control method and program

Abstract

To provide a vehicle control device capable of appropriately executing predetermined control in a case there is a possibility that an object collides with a self vehicle even while reducing a processing load of the vehicle control device.SOLUTION: A vehicle control device comprises: a sensor which is mounted on a self vehicle, detects an object being present outside of the self vehicle and acquires self vehicle object information relating to the detected object; a receiver for receiving external object information on an object detected by an external device, which is present outside of the self vehicle, from the external device; and a control unit capable of executing predetermined control on the basis of at least the self vehicle object information. The control unit, if a shield condition is not held that a position of a sensor object, which is an object detected by the sensor, with respect to the self vehicle is located at a position where the sensor is shielded, executes control on the basis of the self vehicle object information and if the shield condition is held, executes control on the basis of the self vehicle object information and the external object information.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that executes predetermined control based on host vehicle object information acquired by a sensor mounted on the host vehicle, a vehicle control method in which a computer mounted on the host vehicle executes the control based on the host vehicle object information, and a program that causes the computer to execute the control based on the host vehicle object information. [Background technology]

[0002] Conventionally, vehicle control devices that execute predetermined control based on host vehicle object information related to objects in the vicinity of the host vehicle have been known. The host vehicle object information is information acquired by sensors (such as a camera and a millimeter-wave radar) mounted on the host vehicle. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines whether or not the host vehicle is likely to collide with the preceding vehicle based on the host vehicle object information and "other vehicle object information acquired through vehicle-to-vehicle communication with other vehicles traveling around the host vehicle." If the conventional device determines that the host vehicle is likely to collide with the preceding vehicle, it performs predetermined control (for example, issuing an alarm).

[0003] When the conventional device determines that the vehicle can communicate with the preceding vehicle, it does not determine the possibility of a collision because the preceding vehicle can travel safely based on the other vehicle object information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-15920 Summary of the Invention

[0005] Even when the host vehicle is able to communicate with the preceding vehicle, it is desirable to always determine the possibility of a collision, and to perform predetermined control when it is determined that a collision is likely. However, if an object is present in a position that blocks the detection range of the sensor, the sensor cannot fully scan the detection range. In such a case, it is desirable to obtain object information about "objects present in a range that the sensor cannot scan" from an external device such as another vehicle, and to determine the possibility of a collision.

[0006] On the other hand, if there is no object blocking the sensor's detection range, the sensor can scan the detection range sufficiently. In such a case, if object information is acquired from an external device, the processing load for processing the object information is unnecessary.

[0007] The present invention has been made to address the above-mentioned problems, and aims to provide a vehicle control device that can appropriately execute the above-mentioned control while reducing the processing load on the vehicle control device.

[0008] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") comprises: The vehicle is equipped with Lateral sensors (22, 24, 26L, 26R) for detecting an object present in the vicinity of the vehicle and acquiring host vehicle object information relating to the detected object; a receiving device (36) that receives external object information relating to an object detected by an external device present outside the vehicle from the external device; Based on at least the subject vehicle object information At least one of warning control for informing the driver of the presence of the object and deceleration control for decelerating the host vehicle. a control unit (20) capable of executing the above; Equipped with The control unit The position of a sensor object, which is an object detected by the sensor, relative to the host vehicle is a position that blocks the sensor. is If the shielding condition with is not satisfied (step 415 "No"), When it is determined that the object recognized based on the subject vehicle object information is located in a predetermined side collision area set in advance on the side of the subject vehicle and is approaching the subject vehicle (step 455, step 435 "Yes"), at least one of the warning control (step 440) and the deceleration control (step 450) is executed, If the occlusion condition is met (step 415 "Yes"), When it is determined that the object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle (step 430, step 435 "Yes"), at least one of the warning control and the deceleration control is executed. It is structured as follows.

[0009] When the occlusion condition is not met, there is a high possibility that the sensor mounted on the host vehicle can scan a sufficient range of the detection area. Therefore, when the occlusion condition is not met, the device of the present invention executes the above control based on the host vehicle object information without using the external object information. As a result, when the occlusion condition is not met, the device of the present invention executes the above control without using the external object information, and therefore the device of the present invention can reduce the processing load for the external object information.

[0010] On the other hand, if the shielding condition is met, the sensor is likely unable to scan a sufficient range of the detection area due to the detection area being shielded by the sensor object. The external device may be able to detect an object present in the "area of ​​the sensor's detection area that is shielded by the sensor object." If the shielding condition is met, the device of the present invention executes the above control based on the host vehicle object information and the external object information. This increases the possibility that the device of the present invention can recognize the "object present in the area shielded by the sensor object" based on the external object information when the shielding condition is met. Therefore, the device of the present invention can appropriately execute the above control even when the shielding condition is met. Furthermore, the likelihood of a collision with an object that satisfies the condition of being located in the side collision area and approaching the host vehicle is higher than the likelihood of a collision with an object that does not satisfy this condition. When such a condition is met, at least one of the warning control and the deceleration control is executed as the above control, thereby increasing the likelihood that a collision between the host vehicle and the object will be avoided or suppressed.

[0011] In one aspect of the device of the present invention, The control unit A first condition (step 515) is that the distance between the host vehicle and the sensor object is equal to or less than a predetermined threshold distance; and of the vehicle Lateral A second condition that the sensor object is located in a shielded area that is set in advance. If at least one of the above is satisfied, it is determined that the occlusion condition is satisfied (step 520).

[0012] If at least one of the first and second conditions is met, there is a high possibility that the sensor object is blocking the detection area of ​​the sensor. The device of the present invention can increase the possibility of determining that the blocking condition is met when the sensor object is blocking the detection area of ​​the sensor.

[0013] In the above aspect, The control unit If at least one of the first condition and the second condition is met, and if both the third condition (step 505) that the vehicle speed of the host vehicle is equal to or less than a predetermined first threshold speed and the fourth condition (step 510) that the magnitude of the relative speed of the sensor object with respect to the host vehicle is equal to or less than a predetermined second threshold speed are met, it is determined that the blocking condition is met (step 520).

[0014] If both the third and fourth conditions are met, there is a high possibility that the state in which the sensor object blocks the detection area of ​​the sensor will continue. The device of the present invention can increase the possibility of determining that the blocking condition is met when the state in which the sensor object blocks the detection area of ​​the sensor continues.

[0015] In one aspect of the device of the present invention, The control unit If the occlusion condition is not met (step 415 "No"), the control is executed based on the possibility of collision between the object recognized based on the host vehicle and the host vehicle object information (step 455, steps 435 to 450). If the occlusion condition is met (step 415 "Yes"), the control is executed based on the collision possibility of the object recognized based on the host vehicle object information and the external object information (steps 430 to 450). It is structured as follows.

[0018] In one aspect of the device of the present invention, If the type of sensor object present in a position blocking the sensor is a vehicle (step 605 "Yes"), the control unit is configured to perform vehicle-to-vehicle communication with the vehicle to acquire the external object information (step 615).

[0019] When the type of the sensor object present in a position blocking the sensor mounted on the host vehicle is a vehicle, the sensor mounted on the vehicle is likely to be able to scan a sufficient range of the area blocked by the vehicle within the detection area of ​​the sensor mounted on the host vehicle. In this aspect, external object information is acquired from the vehicle by performing vehicle-to-vehicle communication with the vehicle. This increases the possibility of recognizing "an object present in the area blocked by the sensor object (vehicle)."

[0020] In one aspect of the device of the present invention, If the occlusion condition is met, the control unit is configured to notify the driver that the occlusion condition is met (step 460).

[0021] This allows the driver to know that the occlusion condition exists, and encourages the driver to drive carefully when the occlusion condition exists.

[0022] The vehicle control method of the present invention includes: at least, The vehicle's own ... Lateral A computer (20) mounted on the vehicle detects an object based on the vehicle object information relating to the sensor object, which is an object present in the vehicle. At least one of warning control for informing the driver of the presence of the object and deceleration control for decelerating the host vehicle. This is a method for doing this. The vehicle control method includes: before Note The position of the object relative to the host vehicle is such that it blocks the sensor. is If the occlusion condition with respect to the object is not satisfied (step 415 "No"), the computer: When it is determined that the object recognized based on the subject vehicle object information is located in a predetermined side collision area set in advance on the side of the subject vehicle and is approaching the subject vehicle (step 455, step 435 "Yes"), at least one of the warning control (step 440) and the deceleration control (step 450) is executed. First step P and , If the occlusion condition is met (step 415 "Yes"), the computer: External object information relating to an object detected by an external device present outside the host vehicle is acquired from the external device, and when it is determined that an object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle (step 430, step 435 "Yes"), at least one of the warning control and the deceleration control is executed.Second step P and , Includes:

[0023] The program of the present invention is at least, The vehicle's own ... Lateral Based on the subject vehicle object information regarding the sensor object, which is an object present at At least one of warning control for informing the driver of the presence of the object and deceleration control for decelerating the host vehicle. The program is executed by a computer (20) mounted on the vehicle. The program before Note The position of the object relative to the host vehicle is such that it blocks the sensor. is If the shielding condition with is not satisfied (step 415 "No"), When the computer determines that the object recognized based on the host vehicle object information is located in a predetermined side collision area set in advance on the side of the host vehicle and is approaching the host vehicle (step 455, step 435 "Yes"), the computer is caused to execute at least one of the warning control (step 440) and the deceleration control (step 450), If the occlusion condition is met (step 415 "Yes"), the computer External object information relating to an object detected by an external device located outside the host vehicle is obtained from the external device, and when the computer determines that an object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle (step 455, step 435 "Yes"), the computer is caused to execute at least one of the warning control and the deceleration control.

[0024] According to the vehicle control method and program, the control can be appropriately executed while reducing the processing load on the computer installed in the vehicle. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention; [Figure 2] FIG. 2 is an explanatory diagram of the detection range of a millimeter wave radar provided in the vehicle control device. [Figure 3] FIG. 2 is an explanatory diagram of an example of operation of the vehicle control device. [Figure 4] 2 is a flowchart of a routine executed by a CPU of the vehicle control ECU shown in FIG. 1. [Figure 5] 2 is a flowchart of a subroutine executed by a CPU of the vehicle control ECU shown in FIG. 1. [Figure 6] 2 is a flowchart of a subroutine executed by a CPU of the vehicle control ECU shown in FIG. 1. [Figure 7] FIG. 10 is an explanatory diagram of an example of operation of a vehicle control device according to a sixth modified example of the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0026] As shown in FIG. 1, a vehicle control device according to this embodiment (hereinafter referred to as "the device 10") is applied to a host vehicle SV, and includes the components shown in FIG.

[0027] The vehicle control ECU 20 is an ECU that performs predetermined control based on at least the host vehicle object information, and will be referred to as "ECU 20" hereinafter.

[0028] In this specification, an "ECU" is an electronic control device that includes a microcomputer as its main component. The ECU is also called a control unit, a controller, or a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. At least one function realized by the ECU 20 may be realized by multiple ECUs.

[0029] As shown in Fig. 2, the camera 22 is disposed above the front window of the host vehicle SV. The camera 22 acquires image data by capturing images of the scenery ahead of the host vehicle SV. The camera 22 acquires camera object information based on the image data and transmits the camera object information to the ECU 20. The camera object information includes the position of an object located ahead of the host vehicle SV relative to the host vehicle SV.

[0030] When there is no need to distinguish between the forward millimeter-wave radar 24, the left side millimeter-wave radar 26L, and the right side millimeter-wave radar 26R, they will be referred to as "millimeter-wave radars." Furthermore, when there is no need to distinguish between the left side millimeter-wave radar 26L and the right side millimeter-wave radar 26R, they will be referred to as "side millimeter-wave radars 26."

[0031] The millimeter-wave radar detects an object by transmitting millimeter waves and receiving the reflected waves from the object. The millimeter-wave radar identifies the position of the object with respect to the host vehicle SV and the relative velocity Vr of the object with respect to the host vehicle SV, and transmits radar object information including these to the ECU 20.

[0032] As shown in Fig. 2, the forward millimeter-wave radar 24 is disposed at the center of the front end of the host vehicle SV in the vehicle width direction. The forward millimeter-wave radar 24 detects objects located in a detection area DR1 in front of the host vehicle SV. The detection area DR1 is a sector-shaped area having an angle θ1 to the left and right with respect to a central axis C1. The central axis C1 extends forward from the position where the forward millimeter-wave radar 24 is disposed in the longitudinal direction of the host vehicle SV.

[0033] As shown in FIG. 2, the left side millimeter-wave radar 26L is disposed at the left end of the front end of the vehicle SV in the vehicle width direction. The left side millimeter-wave radar 26L detects objects located in a detection area DR2L on the left front side of the vehicle SV. The detection area DR2L is a sector-shaped area having an angle θ2 to the left and right with a central axis C2 as the center. The central axis C2 extends from the position where the left side millimeter-wave radar 26L is disposed toward the left front side of the vehicle SV.

[0034] As shown in FIG. 2, the right side millimeter-wave radar 26R is disposed at the right end of the front end of the vehicle SV in the vehicle width direction. The right side millimeter-wave radar 26R detects objects located in a detection area DR2R on the right front side of the vehicle SV. The detection area DR2R is a sector-shaped area having an angle θ2 to the left and right with a central axis C3 as the center. The central axis C3 extends from the location of the right side millimeter-wave radar 26R toward the right front side of the vehicle SV.

[0035] When there is no need to distinguish between the detection areas DR2L and DR2R, they may be referred to as "side detection areas." Objects detected by the left side millimeter-wave radar 26L and the right side millimeter-wave radar 26R may be referred to as "side objects." The angle θ2 of the left side millimeter-wave radar 26L and the angle θ2 of the right side millimeter-wave radar 26R may be set to the same value or may be set to different values.

[0036] The camera 22 and the millimeter-wave radar are sensors for detecting objects, and may be simply referred to as "sensors." An object detected by the camera 22 and the millimeter-wave radar may be referred to as a sensor object.

[0037] The vehicle speed sensor 28 detects the vehicle speed Vs representing the speed of the host vehicle SV. The accelerator operation amount sensor 32 detects the operation amount AP (hereinafter referred to as "accelerator operation amount AP") of an accelerator pedal (not shown) of the host vehicle SV. The brake operation amount sensor 34 detects the operation amount BP (hereinafter referred to as "brake operation amount BP") of a brake pedal (not shown) of the host vehicle SV. The ECU 20 acquires the detection values ​​of these sensors 28 to 34. The communication device 36 communicates with an external device (e.g., another vehicle) outside the host vehicle SV. The communication device 36 may also be referred to as a "receiving device." The GNSS (Global Navigation Satellite System) receiver 38 receives signals from multiple artificial satellites and identifies the current position (latitude and longitude) of the vehicle VA based on the received signals.

[0038] The power train actuator 42 changes the driving force generated by the drive device (e.g., an internal combustion engine and / or an electric motor) of the host vehicle SV. The brake actuator 44 controls the braking force applied to the wheels of the host vehicle SV. The display device 46 displays a warning screen, which will be described later. The speaker 48 emits a warning sound, which will be described later.

[0039] (prescribed control) In this embodiment, the ECU 20 identifies the position of the object (sensor object) based on the camera object information and the radar object information. When a lateral approaching object approaching from the front side of the host vehicle SV is present, the ECU 20 performs a predetermined control. Note that the camera object information and the radar object information are information acquired by sensors mounted on the host vehicle SV, and are therefore sometimes referred to as "host vehicle object information."

[0040] More specifically, the ECU 20 preliminarily defines a left side collision area LCA and a right side collision area RCA on the left front side and the right front side of the host vehicle SV, respectively, as shown in Fig. 3. The ECU 20 identifies an object that exists in at least one of the left side collision area LCA and the right side collision area RCA and is approaching the host vehicle SV as a lateral approaching object. The CPU determines whether an object is approaching the host vehicle based on the relative speed Vr included in the radar object information.

[0041] When a side approaching object is present, the ECU 20 performs the warning control as the above control. In the warning control, the ECU 20 causes the display device 46 to display a "warning screen for notifying the driver of the presence of a side approaching object." The warning screen may notify the driver that the side approaching object is present on the right or left side. When side approaching objects are present on both the right and left sides, the warning screen may notify the driver that side approaching objects are present on both sides. In the warning control, the ECU 20 may cause the speaker 48 to emit a buzzer sound instead of displaying the warning screen. Furthermore, the ECU 20 may simultaneously display the warning screen and emit a buzzer sound.

[0042] When the driver releases the brake pedal and depresses the accelerator pedal while an object is approaching from the side, the ECU 20 performs the warning control and also performs deceleration control. In the deceleration control, the ECU 20 controls the power train actuator 42 and the brake actuator 44 so that the deceleration Gdec of the host vehicle SV coincides with a predetermined target deceleration Gtgt.

[0043] The warning control described above is sometimes called FCTA (Front Cross Traffic Alert), and the deceleration control described above is sometimes called FCTB (Front Cross Traffic Brake).

[0044] The ECU 20 may execute at least one of the warning control and the deceleration control as the control.

[0045] (Overview of operation) The device 10 determines whether a shielding condition is met, which is met when a "sensor object detected by the sensor" is present in a position that shields the sensor. If the shielding condition is met, the device 10 receives "external object information regarding an object present outside the host vehicle SV detected by the external device" by communicating with an external device via the communication device 36. Examples of external devices include a vehicle capable of vehicle-to-vehicle communication with the host vehicle SV, and a predetermined infrastructure facility (roadside unit) capable of communicating with the host vehicle SV. The infrastructure facility is equipped with a sensor capable of detecting objects and is capable of transmitting external object information including the position of the object detected by the sensor relative to the infrastructure facility, the relative speed of the object relative to the infrastructure facility, and the position of the infrastructure facility.

[0046] The device 10 then determines whether or not a laterally approaching object exists based on the host vehicle object information and the external object information. On the other hand, if the occlusion condition is not met, the device 10 determines whether or not a laterally approaching object exists based on the host vehicle object information. If a laterally approaching object exists, the device 10 executes the above control.

[0047] <Shielding conditions> The device 10 determines that the blocking condition is met when all of the following vehicle speed condition, relative speed condition, and position condition are met. Vehicle speed condition: Vehicle speed Vs is equal to or less than a predetermined threshold vehicle speed Vsth. Relative speed condition: The magnitude of the relative speed Vr of the object with respect to the host vehicle SV is equal to or less than a predetermined threshold speed Vrth. Position condition: The lateral distance Dy between the object and the host vehicle SV in the vehicle width direction of the host vehicle SV is equal to or less than a predetermined threshold distance Dyth.

[0048] As an example, the threshold vehicle speed Vsth is set to the vehicle speed Vs (e.g., 5 km / h) when the host vehicle SV is creeping. As an example, the threshold speed Vrth is set to approximately 0 km / h. This is because if the relative speed Vr is 0 km / h, the object will continue to be located in a position that blocks the sensor. The threshold distance Dyth is set to the lateral distance Dy (e.g., 3.5 m) when the object is located in an adjacent lane. This is because if the object is located farther away than the adjacent lane, it is highly likely that the object is not blocking the sensor in the first place.

[0049] If the occlusion condition is not met, the device 10 can determine whether or not an object is approaching from the side based only on the host vehicle object information, and therefore does not use external object information to determine whether or not to execute the above control, thereby reducing the load on processing the external object information. On the other hand, when the occlusion condition is met, the device 10 cannot determine whether or not an object approaching laterally is present based on the subject vehicle object information alone, so the device 10 uses the external object information and the subject vehicle object information to determine whether or not to execute the above control. This allows the device 10 to accurately determine whether or not an object approaching laterally is present, and to appropriately execute the above control.

[0050] (Example of operation) An example of the operation of the present device 10 will be described with reference to Figure 3. In the situation shown in Figure 3, an adjacent vehicle NV is present to the right of the host vehicle SV. Furthermore, in the situation shown in Figure 3, it is assumed that the occlusion condition is met. That is, it is assumed that the vehicle speed Vs of the host vehicle SV is equal to or less than a threshold vehicle speed Vsth, the magnitude of the relative speed Vr of the adjacent vehicle NV is equal to or less than a threshold speed Vrth, and the lateral distance Dy of the adjacent vehicle NA is equal to or less than a threshold distance Dyth.

[0051] As shown in Figure 3, the adjacent vehicle NV blocks the detection range DR2R of the right side millimeter-wave radar 26R. For this reason, the right side millimeter-wave radar 26R cannot sufficiently scan the detection range DR2R. As shown in Figure 3, "approaching vehicle IV approaching host vehicle SV from the right side of host vehicle SV" is present in the right side collision area RCA, but because the detection range DR2R is blocked by the adjacent vehicle NV, the right side millimeter-wave radar 26R cannot detect the approaching vehicle IV.

[0052] Since the shielding condition is satisfied based on the above assumption, the device 10 acquires external object information from an external device. An example of the external device is an adjacent vehicle NV for which the shielding condition is satisfied (in other words, an adjacent vehicle NV detected by the right-side millimeter-wave radar 26R). The adjacent vehicle NA, like the host vehicle SV, is equipped with a camera 22 and millimeter-wave radars 24, 26L, and 26R. The right-side millimeter-wave radar 26R of the adjacent vehicle NV detects an approaching object IV within its detection range DR2R'. The adjacent vehicle NA transmits external object information regarding the object detected by the sensors (camera 22 and millimeter-wave radars 24, 26L, and 26R) mounted on the adjacent vehicle NV to the host vehicle SV. As an example, the external object information includes the position of the object relative to the adjacent vehicle NV, the relative speed of the object relative to the adjacent vehicle NV, and the current position (latitude and longitude) of the adjacent vehicle NV.

[0053] When the occlusion condition is met, the device 10 acquires external object information from the adjacent vehicle NV and determines whether the object is a laterally approaching object based on the host vehicle object information and the external object information. The process by which the device 10 determines whether an object is a laterally approaching object based on the external object information will be described. First, the device 10 identifies the position of the object relative to the host vehicle SV based on the object's position relative to the adjacent vehicle NV, the current position of the adjacent vehicle NV, and the current position of the host vehicle SV. Furthermore, the device 10 determines whether the object is approaching the host vehicle SV based on the object's relative speed relative to the adjacent vehicle NV and the relative speed Vr of the adjacent vehicle NV relative to the host vehicle SV.

[0054] This allows the device 10 to identify the position of the approaching vehicle IV relative to the host vehicle SV, which could not be detected because the detection range DR2R of the right side millimeter-wave radar 26 was blocked by the adjacent vehicle NV. Since the approaching vehicle IV is a "lateral approaching object that is present in the right side collision area RCA and is approaching the host vehicle SV," the device 10 executes the above control.

[0055] (Specific operation) <Side control routine> The CPU of the ECU 20 executes the routine shown in the flowchart of FIG. 4 every time a predetermined time elapses.

[0056] When the appropriate time arrives, the CPU begins processing at step 400 in FIG.

[0057] Step 405: The CPU acquires the host vehicle object information. Step 410: The CPU executes a shielding condition determination subroutine to determine whether the shielding condition is met or not. Details of the shielding condition determination subroutine will be described with reference to FIG. Step 415: The CPU determines whether the occlusion condition is met.

[0058] If the occlusion condition is met, the CPU determines "Yes" in step 415 and executes steps 420 and 425. Step 420: The CPU executes an external object information acquisition subroutine for acquiring external object information, the details of which will be described with reference to FIG. Step 425: The CPU determines whether or not the external object information has been acquired.

[0059] If the external object information has been acquired, the CPU determines "Yes" in step 425 and executes steps 430 and 435. Step 430: The CPU identifies the position of the object relative to the host vehicle SV based on the host vehicle object information and the external object information. Step 435: The CPU determines whether or not an object approaching from the side is present.

[0060] If an object is approaching from the side, the CPU determines that there is a high probability of a collision between the host vehicle SV and the object. In this case, the CPU determines "Yes" in step 435 and executes steps 440 and 445. Step 440: The CPU executes the above alarm control. Step 445: The CPU determines whether the brake operation amount BP is equal to or less than a predetermined threshold operation amount BPth and the accelerator operation amount AP is equal to or more than a predetermined threshold operation amount APth.

[0061] If the brake operation amount BP is equal to or less than the threshold operation amount BPth and the accelerator operation amount AP is equal to or greater than the predetermined threshold operation amount AP, the CPU determines that the driver has released the brake pedal and depressed the accelerator pedal. In this case, the CPU determines "Yes" in step 445 and proceeds to step 450. In step 450, the CPU executes the deceleration control. Thereafter, the CPU proceeds to step 495 and temporarily ends this routine.

[0062] If the occlusion condition is not met when the CPU proceeds to step 415, the CPU determines "No" in step 415 and proceeds to step 455. In step 455, the CPU identifies the position of the object relative to the host vehicle SV based on the host vehicle object information. Thereafter, the CPU proceeds to processing from step 435 onwards.

[0063] If the CPU has not been able to acquire external information when it proceeds to step 425, the CPU determines "No" in step 425 and proceeds to step 460. In step 460, the CPU causes the display device 46 to display an occlusion notification screen. The occlusion notification screen is a screen for informing the driver that an occlusion condition has been met and for calling the driver's attention to the direction of the occlusion. Thereafter, the CPU proceeds to processing from step 455 onwards.

[0064] If there is no object approaching from the side when the CPU proceeds to step 435, the CPU determines that the collision possibility is low. In this case, the CPU determines "No" in step 435, proceeds to step 495, and temporarily ends this routine.

[0065] When the CPU proceeds to step 445, if the brake operation amount BP is greater than the threshold operation amount BPth or the accelerator operation amount AP is less than the threshold operation amount APth, the CPU judges "No" in step 445, proceeds to step 495, and temporarily ends this routine.

[0066] <Subroutine for determining occlusion conditions> 4, the CPU starts the process from step 500 in FIG. 5 and proceeds to step 505. In step 505, the CPU determines whether or not the host vehicle speed condition is met (i.e., whether or not the vehicle speed Vs is equal to or less than the threshold vehicle speed Vsth).

[0067] If the host vehicle speed condition is met (i.e., if the vehicle speed Vs is equal to or less than the threshold vehicle speed Vsth), the CPU determines "Yes" in step 505 and proceeds to step 510. In step 510, the CPU determines whether or not there is an object that satisfies the relative speed condition (i.e., the magnitude of the relative speed Vr is equal to or less than the threshold speed Vrth) among the objects identified as being located to the side of the host vehicle SV based on the host vehicle object information.

[0068] If an object that satisfies the relative velocity condition exists, the CPU determines "Yes" in step 510 and proceeds to step 515. In step 515, the CPU determines whether the object that satisfies the relative velocity condition satisfies the position condition (i.e., whether the lateral distance Dy is equal to or less than the threshold distance Dyth).

[0069] If the object satisfies the position condition (i.e., if the lateral distance Dy is equal to or less than the threshold distance Dyth), the CPU determines "Yes" in step 515 and proceeds to step 520. In step 520, the CPU determines that the occlusion condition is met. Thereafter, the CPU proceeds to step 595 to temporarily end this routine, and proceeds to step 415 shown in FIG. 4.

[0070] If the host vehicle speed condition is not satisfied when the CPU proceeds to step 505, the CPU determines "No" in step 505 and proceeds to step 525. In step 525, the CPU determines that the occlusion condition is not satisfied. Thereafter, the CPU proceeds to step 595 to temporarily end this routine, and proceeds to step 415 shown in FIG. 4.

[0071] If there is no object that satisfies the relative velocity condition when the CPU proceeds to step 510, the CPU determines "No" in step 510 and proceeds to step 525. If there is no object that satisfies the relative velocity condition when the CPU proceeds to step 515, the CPU determines "No" in step 515 and proceeds to step 525.

[0072] <External object information acquisition subroutine> 4, the CPU starts the process from step 600 in Fig. 6 and proceeds to step 605. In step 605, the CPU determines whether the type of the object (blocking object) that has satisfied the blocking condition is a vehicle, based on the image data and the "reflection intensity of the reflected wave of the millimeter-wave radar."

[0073] If the type of the shielding object is a vehicle, the CPU determines "Yes" in step 605 and proceeds to step 610. In step 610, the CPU determines whether vehicle-to-vehicle communication with the shielding object is possible. In detail, the CPU causes the communication device 36 to perform vehicle-to-vehicle communication with surrounding vehicles present around the host vehicle SV, thereby causing the communication device 36 to receive communication data from the surrounding vehicles. This communication data includes the positions (latitude and longitude) of the surrounding vehicles. The CPU determines the position (latitude and longitude) of the shielding object based on the current position determined by the GNSS receiver 38 and the position of the shielding object relative to the host vehicle SV. If the position of the surrounding vehicles included in the communication data is within a predetermined range centered on the position of the shielding object, the CPU determines that vehicle-to-vehicle communication with the shielding object is possible.

[0074] If vehicle-to-vehicle communication with the shielding object is possible, the CPU determines "Yes" in step 610 and proceeds to step 615. In step 615, the CPU acquires external object information from the shielding object by performing vehicle-to-vehicle communication with the shielding object. Thereafter, the CPU proceeds to step 695 to temporarily end this routine, and proceeds to step 425 shown in FIG. 4.

[0075] If the type of the obstructing object is not a vehicle when the CPU proceeds to step 605, the CPU determines "No" in step 605 and proceeds to step 620. In step 620, the CPU determines whether or not there is a predetermined infrastructure facility (roadside unit) that can communicate with the host vehicle SV. This infrastructure facility is equipped with a sensor that can detect objects and can transmit external object information including the position of the object detected by the sensor.

[0076] If the infrastructure exists, the CPU determines "Yes" in step 620 and proceeds to step 625. In step 625, the CPU acquires external object information from the infrastructure. Thereafter, the CPU proceeds to step 695 to temporarily end this routine, and proceeds to step 425 shown in FIG. 4.

[0077] If the above infrastructure equipment does not exist, the CPU determines "No" in step 620 and proceeds to step 630. In step 630, the CPU determines that external object information cannot be acquired. Thereafter, the CPU proceeds to step 695 to temporarily end this routine, and proceeds to step 425 shown in FIG. 4.

[0078] If vehicle-to-vehicle communication with the obstructing object is not possible when the CPU proceeds to step 610, the CPU determines "No" in step 610 and proceeds to processing from step 620 onwards.

[0079] As described above, the device 10 performs the above control based on the host vehicle object information and the external object information when the occlusion condition is met, and performs the above control based on the host vehicle object information when the occlusion condition is not met. This reduces the load on the device 10 for processing the external object information and enables the device 10 to appropriately perform the above control.

[0080] Furthermore, the device 10 determines that the occlusion condition is met when the vehicle speed condition, the relative speed condition, and the position condition are met, thereby enabling the occlusion condition to be met accurately when an object is occluding the sensor.

[0081] Furthermore, if the type of the shielding object is a vehicle and vehicle-to-vehicle communication with the shielding object is possible, the device 10 acquires external object information from the shielding object. There is a high possibility that the sensor mounted on the shielding object can sufficiently scan the detection area of ​​the sensor of the host vehicle SV that is shielded by the shielding object. Therefore, the device 10 can increase the possibility of detecting an object present in the detection area shielded by the shielding object.

[0082] The present invention is not limited to the above-described embodiment, and various modifications of the present invention can be adopted.

[0083] (First Modification) The external object information does not have to include the relative speed of the object with respect to the external device (vehicle and infrastructure equipment). In this case, the CPU acquires the relative speed of the object with respect to the external device based on the position history of the object with respect to the external device.

[0084] (Second Modification) The CPU determines that the occlusion condition is met when the vehicle speed condition, the relative speed condition, and the position condition are met, but it may also determine that the occlusion condition is met when the vehicle speed condition, the relative speed condition, and the occlusion area condition are met. Shielded area condition: The object exists in a shielded area SA that is set in advance on the side of the host vehicle SV.

[0085] 3, a right shielded area RSA is set in advance in an area "highly likely to shield the detection area DR2R of the right-side millimeter-wave radar 26R" on the right side of the host vehicle SV. Similarly, a left shielded area LSA is set in advance in an area "highly likely to shield the detection area DR2L of the left-side millimeter-wave radar 26L" on the left side of the host vehicle SV. When there is no need to distinguish between the right shielded area RSA and the left shielded area LSA, they are referred to as "shielded areas SA."

[0086] As an example, the shielded area SA is set to have a rectangular shape, with the length of the shielded area SA in the vehicle width direction of the host vehicle SV being set to about 3.5 m and the length of the shielded area SA in the longitudinal direction of the host vehicle SV being set to about 5.0 m.

[0087] (Third Modification) The CPU may determine that the blocking condition is met when at least one of the position condition and the blocking area condition is met. Furthermore, the CPU may determine that the blocking condition is met when at least one of the position condition and the blocking area condition is met and both the host vehicle speed condition and the relative speed condition are met.

[0088] The position condition, the blocked area condition, the vehicle speed condition, and the relative speed condition may be referred to as the "first condition," the "second condition," the "third condition," and the "fourth condition," respectively.

[0089] (Fourth Modification) In the above embodiment, the CPU displays the occlusion notification screen when the occlusion condition is met ("Yes" in step 415 shown in FIG. 4) and external object information cannot be acquired ("No" in step 425 shown in FIG. 4). However, when the occlusion condition is met, the CPU may display the occlusion notification screen regardless of whether external object information has been acquired.

[0090] (Fifth Modification) In the above embodiment, when the execution condition that an object (lateral approaching object) approaching the host vehicle SV is present in at least one of the right side collision area RCA and the left side collision area LCA is met, the CPU executes the above control because the possibility of a collision between the host vehicle SV and the object is higher than when the execution condition is not met, but the execution condition is not limited to this.

[0091] For example, the CPU may execute the above control when a condition is met that the time required for a lateral approaching object to collide with the host vehicle SV (hereinafter referred to as "TTC") is equal to or less than a predetermined first threshold time T1th. TTC stands for Time To Collision. The CPU The distance D between the side approaching object and the vehicle SV is calculated by the relative speed Vr of the side approaching object to the vehicle SV. Obtain TTC by division.

[0092] Furthermore, the CPU may execute the above control when a condition is met that the distance D is equal to or less than a threshold distance Dth.

[0093] The TTC and the distance D are index values ​​that represent the likelihood of a collision, and may be expressed as collision index values. When the TTC is equal to or less than the first threshold time T1th, the likelihood of a collision is higher than when the TTC is greater than the first threshold time T1th, and when the distance D is equal to or less than the threshold distance Dth, the likelihood of a collision is higher than when the distance D is greater than the threshold distance Dth.

[0094] (Sixth Modification) In the above embodiment, the CPU executes control (FCTA and FCTB) for an object approaching from the side of the host vehicle SV, but it may also execute control (at least one of warning control and deceleration control) for an object approaching from the front of the host vehicle SV. An example of such control is PCS (Pre-Crash Safety). The predetermined control described in the above embodiment and the predetermined control described in this modification can both be expressed as control for avoiding or suppressing a collision between the host vehicle SV and an object.

[0095] The CPU identifies a forward object present in front of the host vehicle SV based on the camera object information and the radar object information from the forward millimeter-wave radar 24. The CPU acquires the TTC of the forward object, and executes the above control if the TTC is equal to or less than a predetermined second threshold time T2th.

[0096] 7, when the "preceding vehicle PV traveling ahead of the host vehicle SV" blocks the photographing area of ​​the camera 22 and the detection area DR1 of the forward millimeter-wave radar 24, the CPU cannot detect the obstacle OB present in front of the preceding vehicle PV. Therefore, when the preceding vehicle PV changes course to avoid the obstacle OB, the host vehicle SV may experience a delay in executing the above control.

[0097] Therefore, in this modification, when the following occlusion condition is met, the CPU acquires external object information and recognizes an object ahead of the host vehicle SV based on the host vehicle object information and the external object information. Then, the CPU acquires the TTC of the recognized object ahead, and if the TTC is equal to or less than the second threshold time T2th, executes the above control.

[0098] <Shielding conditions> The shielding condition of this modified example is met when both the above-mentioned relative velocity condition and the following forward position condition are met. Forward position condition: The longitudinal distance Dx between the object and the host vehicle SV in the longitudinal direction of the host vehicle SV is equal to or less than a predetermined threshold distance Dxth.

[0099] In addition, if the type of the obstructing object is a vehicle and vehicle-to-vehicle communication with that vehicle is possible (i.e., if the preceding vehicle PV satisfies the obstruction condition and vehicle-to-vehicle communication with the preceding vehicle PV is possible), the CPU performs vehicle-to-vehicle communication with the vehicle to obtain external object information.

[0100] As a result, in the example shown in Figure 7, the CPU acquires external object information from the preceding vehicle PV and can recognize the obstacle OB before the preceding vehicle PV changes course, so the above control can be performed at the appropriate timing.

[0101] In this modification, the CPU may determine that the blocking condition is met when the above-mentioned relative speed condition and forward blocked area condition are met. Forward occlusion area condition: The object exists in a forward occlusion area FSA that is set in advance to the side of the host vehicle SV. As shown in FIG. 7, a forward shielded area FSA is set in advance in an area in front of the host vehicle SV that is likely to shield the detection area DR1 of the forward millimeter-wave radar 24.

[0102] The CPU may determine that the blocking condition is met when at least one of the forward position condition and the forward blocking area condition is met. Furthermore, the CPU may determine that the blocking condition is met when at least one of the forward position condition and the forward blocking area condition is met and the relative speed condition is met.

[0103] The device 10 is applicable to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. The device 10 is also applicable to autonomous vehicles. The present invention can also be understood as a computer-readable non-transitory storage medium on which a program for realizing the functions of the device 10 is stored. [Explanation of symbols]

[0104] 10...vehicle control device, 22...camera, 24...forward millimeter-wave radar, 26L...left side millimeter-wave radar, 26R...right side millimeter-wave radar, 42...power train actuator, 44...brake actuator, 46...display device, 48...speaker

Claims

1. a sensor mounted on the host vehicle, configured to detect an object present on the side of the host vehicle and acquire host vehicle object information relating to the detected object; a receiving device that receives external object information relating to an object detected by an external device located outside the vehicle from the external device; a control unit capable of executing at least one of an alarm control for notifying a driver of the presence of the object and a deceleration control for decelerating the host vehicle based on at least the host vehicle object information; Equipped with The control unit When a blocking condition that a position of a sensor object, which is an object detected by the sensor, relative to the host vehicle is a position that blocks the sensor is not satisfied, and when it is determined that an object recognized based on the host vehicle object information is located in a predetermined side collision area that is set in advance on the side of the host vehicle and is approaching the host vehicle, at least one of the warning control and the deceleration control is executed; When the occlusion condition is satisfied, when it is determined that an object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle, at least one of the warning control and the deceleration control is executed. A vehicle control device configured as above.

2. 2. The vehicle control device according to claim 1, The control unit A first condition is that the distance between the host vehicle and the sensor object is equal to or less than a predetermined threshold distance; and a second condition that the sensor object is located in a shielded area that is set in advance on the side of the vehicle; When at least one of the following is satisfied, it is determined that the occlusion condition is satisfied. Vehicle control device.

3. 3. The vehicle control device according to claim 2, The control unit the detecting device is configured to determine that the blocking condition is met when at least one of the first condition and the second condition is met, and also when both a third condition that the vehicle speed of the host vehicle is equal to or less than a predetermined first threshold speed and a fourth condition that the magnitude of the relative speed of the sensor object with respect to the host vehicle is equal to or less than a predetermined second threshold speed are met. Vehicle control device.

4. 2. The vehicle control device according to claim 1, the control unit is configured to, when a type of a sensor object present at a position blocking the sensor is a vehicle, perform vehicle-to-vehicle communication with the vehicle to acquire the external object information; Vehicle control device.

5. 2. The vehicle control device according to claim 1, The control unit is configured to notify a driver that the occlusion condition is met when the occlusion condition is met. Vehicle control device.

6. A vehicle control method in which, based on at least subject vehicle object information relating to a sensor object, which is an object present to the side of the subject vehicle detected by a sensor mounted on the subject vehicle, a computer mounted on the subject vehicle executes at least one of an alarm control to notify the driver of the presence of the object and a deceleration control to decelerate the subject vehicle, The vehicle control method includes: a first step of executing at least one of the warning control and the deceleration control when the computer determines that the object recognized based on the host vehicle object information is located in a predetermined side collision area set in advance on the side of the host vehicle and is approaching the host vehicle, in a case where a blocking condition that the position of the sensor object relative to the host vehicle is a position that blocks the sensor is not satisfied; a second step in which, when the occlusion condition is satisfied, the computer acquires external object information relating to an object detected by an external device present outside the host vehicle from the external device, and when it determines that an object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle, executes at least one of the warning control and the deceleration control; A vehicle control method comprising:

7. A program that causes a computer mounted on a host vehicle to execute at least one of an alarm control for informing a driver of the presence of a sensor object, which is an object present to the side of the host vehicle detected by a sensor mounted on the host vehicle, and a deceleration control for decelerating the host vehicle, based on host vehicle object information, The program when the computer determines that the object recognized based on the host vehicle object information is located in a predetermined side collision area set in advance on the side of the host vehicle and is approaching the host vehicle, if a blocking condition that the position of the sensor object relative to the host vehicle is a position that blocks the sensor is not satisfied, the computer executes at least one of the warning control and the deceleration control; When the occlusion condition is satisfied, the computer is caused to acquire external object information relating to an object detected by an external device present outside the host vehicle from the external device, and when the computer determines that an object recognized based on the host vehicle object information and the external object information is located in the side collision area and is approaching the host vehicle, the computer is caused to execute at least one of the warning control and the deceleration control. program.

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