Vehicle control device, vehicle control method and program

Abstract

To provide a vehicle control device capable of starting a control operation at an appropriate timing even if a preceding vehicle does not decelerate in response to a sudden deceleration of a two-preceding vehicle, or if the preceding vehicle is delayed to decelerate.SOLUTION: A vehicle control device that performs predetermined control based on a first index value for indicating a possibility of a collision between a self vehicle and an object is configured to perform control based on a second index value for indicating a possibility of a collision between the self vehicle and a two-preceding vehicle when there is the preceding vehicle traveling ahead of the self vehicle and the two-preceding vehicle traveling ahead of the preceding vehicle, and a reduced speed of the two-preceding vehicles is equal to or greater than a predetermined threshold reduced speed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that performs predetermined control based on an index value that indicates the possibility of a collision between the vehicle and an object, a vehicle control method in which a computer installed in the vehicle performs the control based on the index value, and a program that causes the computer to perform the control based on the index value. [Background technology]

[0002] Conventionally, there have been known vehicle control devices that execute predetermined control (such as issuing an alert to the driver and deceleration control) based on the possibility of a collision with an object. For example, a vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") normally executes the above control when the TTC, which is the time it takes for an obstacle ahead to collide with or come closest to the host vehicle, is equal to or less than a first threshold time. However, if the obstacle ahead is at the end (last) of a traffic jam and there is no space at the end of the traffic jam for the host vehicle to avoid it, the above control is executed if the TTC is equal to or less than a second threshold time that is greater than the first threshold time. In other words, if the obstacle ahead is at the end (last) of a traffic jam and there is no space at the end of the traffic jam for the host vehicle to avoid it, the conventional device advances the start timing of the above control. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-97346 Summary of the Invention

[0004] Here, let's assume that the obstacle ahead is a "preceding vehicle traveling ahead of the vehicle," and that the second-first vehicle is traveling ahead of the preceding vehicle and suddenly decelerates. If the driver of the preceding vehicle does not notice the sudden deceleration of the second-first vehicle and therefore the preceding vehicle does not decelerate, or if the driver of the preceding vehicle is late in noticing the sudden deceleration of the second-first vehicle and therefore the preceding vehicle decelerates late, the TTC for the preceding vehicle will not decrease. For this reason, conventional devices are likely to delay the start of the above control.

[0005] Even if the conventional device were to initiate the above control when the distance between the preceding vehicle and the subject vehicle is equal to or less than a threshold distance, the same problem would occur because the distance between the preceding vehicle would not decrease if the preceding vehicle does not decelerate or if the preceding vehicle's deceleration is delayed.

[0006] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control device that can start control at an appropriate timing even when the preceding vehicle does not decelerate in response to the sudden deceleration of the vehicle ahead of it, or when the preceding vehicle decelerates late.

[0007] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") comprises: A vehicle control device performs predetermined control based on a first index value that indicates the possibility of a collision between a host vehicle (SV) and an object (step 430), The vehicle control device is configured to perform the control based on a second index value that represents the possibility of a collision between the host vehicle and the second-preceding vehicle (step 475, step 430) when there is a preceding vehicle traveling in front of the host vehicle and a vehicle further ahead traveling in front of the preceding vehicle (step 440 "Yes"), and the deceleration of the second-preceding vehicle is equal to or greater than a predetermined threshold deceleration (step 455 "Yes").

[0008] According to the device of the present invention, when the deceleration of the vehicle second ahead is equal to or greater than the threshold deceleration (i.e., when the vehicle second ahead suddenly decelerates), control is performed based on the second index value that indicates the possibility of a collision between the vehicle and the vehicle second ahead, rather than the preceding vehicle. This allows the device of the present invention to start control at an appropriate timing even when the preceding vehicle does not decelerate in response to the sudden deceleration of the vehicle second ahead, or when the preceding vehicle's deceleration is delayed. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention; [Figure 2] FIG. 10 is an explanatory diagram of a situation in which a preceding vehicle cannot change lanes due to the presence of an oncoming vehicle. [Figure 3] FIG. 10 is an explanatory diagram of a situation in which a preceding vehicle cannot change lanes due to the presence of a guardrail and a hazard vehicle. [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. DETAILED DESCRIPTION OF THE INVENTION

[0010] 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.

[0011] The vehicle control ECU is an ECU that performs predetermined control based on an "index value that indicates the possibility of a collision between the host vehicle SV and an object," and is hereinafter referred to as "ECU 20."

[0012] In this specification, an "ECU" is an electronic control device that includes a microcomputer as its main component. The ECU is also called a controller or a computer. The microcomputer includes a CPU (processor), ROM, RAM, an interface, etc. The ECU 20 and some or all of the multiple ECUs described below may be integrated into a single ECU.

[0013] 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 and white line information based on the image data. The camera object information includes the position of an object located ahead of the host vehicle SV relative to the host vehicle SV. The white line information includes the position of a white line on the road on which the host vehicle SV is traveling relative to the host vehicle SV. The camera 22 transmits the camera object information and white line information to the ECU 20.

[0014] The millimeter-wave radar 24 transmits millimeter waves ahead of the host vehicle SV and receives waves reflected by an object, thereby acquiring radar object information including the "position of the object with respect to the host vehicle SV" and the "relative speed Vr of the object with respect to the host vehicle SV." The millimeter-wave radar 24 transmits the radar object information to the ECU 20.

[0015] The millimeter-wave radar 24 is disposed in a position (for example, near the license plate at the front end of the host vehicle SV) where part of the light emitted by the millimeter-wave radar 24 passes under the preceding vehicle PV and is reflected by the second preceding vehicle PPV traveling ahead of the preceding vehicle PV. This allows the millimeter-wave radar 24 to detect the second preceding vehicle PPV.

[0016] The preceding vehicle PV is a vehicle located ahead of the host vehicle SV in the host vehicle lane SL in which the host vehicle SV is traveling, traveling in the same direction as the host vehicle SV, and closest to the host vehicle SV. The ECU 20 detects the preceding vehicle PV based on camera object information, radar object information, and lidar object information (described later). The second-to-last vehicle PPV is a vehicle located ahead of the preceding vehicle PV in the own lane SL, traveling in the same direction as the own vehicle SV, and closest to the preceding vehicle PV. The ECU 20 detects the second-to-last vehicle PPV based on radar object information.

[0017] The lidar 25 emits light ahead of the host vehicle SV and receives light reflected by an object, thereby acquiring lidar object information including the “position of the object relative to the host vehicle SV” and the “relative speed Vr of the object relative to the host vehicle SV.” The lidar 25 transmits the lidar object information to the ECU 20. The lidar 25 is disposed above the millimeter-wave radar 24.

[0018] The vehicle speed sensor 26 detects the vehicle speed Vs that indicates the speed of the host vehicle SV. The ECU 20 acquires the detected value of the vehicle speed sensor 26.

[0019] The power train actuator 32 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 34 controls the braking force applied to the wheels of the host vehicle SV. The display device 36 displays a warning screen, which will be described later. The speaker 38 emits a warning sound, which will be described later.

[0020] (Control based on index values) ECU20 determines the position of the object relative to the host vehicle SV based on the camera object information, radar object information, and Lidar object information, and identifies an object present in a specified area in front of the host vehicle SV as an "object that may collide with the host vehicle SV."

[0021] The ECU 20 acquires the time required for an object that may collide with the host vehicle SV to collide with the host vehicle SV. Hereinafter, this time will be referred to as the "time required for collision," "first index value," or "TTC (short for Time To Collision)." Note that the smaller the TTC value, the higher the possibility that the host vehicle SV will collide with the object. The TTC may also be referred to as the "index value representing the possibility of collision." The ECU 20 acquires the TTC by dividing the "distance between the host vehicle SV and the object" by the relative speed Vr of the object.

[0022] When the TTC is equal to or less than the threshold time Tth, the ECU 20 executes a predetermined control. Specifically, the ECU 20 executes at least one of a warning control and a deceleration control as the control.

[0023] <Warning Control> The ECU 20 displays a warning screen on the display device 36 to warn the driver that there is a possibility of a collision with an object. The ECU 20 may also cause the speaker 38 to emit a warning sound to warn the driver that there is a possibility of a collision with an object.

[0024] <Deceleration control> The ECU 20 controls the power train actuator 32 and the brake actuator 34 so that the acceleration G coincides with a predetermined target acceleration Gtgt. The target acceleration Gtgt is set in advance to a predetermined negative value. The acceleration G is a positive value when the host vehicle SV moves forward, and a negative value when the host vehicle SV moves backward.

[0025] (Activated) The operation of the ECU 20 of the device 10 will be described with reference to FIGS. When the ECU 20 detects the preceding vehicle PV and the vehicle ahead of the preceding vehicle PPV, the ECU 20 determines whether or not a sudden deceleration condition is met. The sudden deceleration condition is met when all of the following conditions A1 to A3 are met.

[0026] Condition A1: The preceding vehicle PV is following the preceding vehicle PPV. Condition A2: The preceding vehicle PV cannot change lanes. Condition A3: The second preceding vehicle PPV has suddenly decelerated (that is, the deceleration Gdec of the second preceding vehicle PPV is equal to or greater than a predetermined threshold deceleration Gth). The deceleration Gdec is a positive value when the second preceding vehicle PPV approaches the host vehicle SV, and is a negative value when the second preceding vehicle PPV moves away from the host vehicle SV. The threshold deceleration Gth is set to a predetermined positive value.

[0027] When the ECU 20 determines that the sudden deceleration condition is met, it acquires the TTC (hereinafter referred to as "TTCpp" or "second index value") for the second-preceding vehicle PPV. More specifically, the ECU 20 acquires a subtraction value (Dpp-Lp-Dmin) obtained by subtracting the "length Lp of the preceding vehicle and the minimum inter-vehicle distance Dmin" from the "inter-vehicle distance Dpp between the host vehicle SV and the second-preceding vehicle PPV." The inter-vehicle distance Dpp may also be referred to as the "inter-vehicle distance Dpp between the second-preceding vehicle."

[0028] The preceding vehicle length Lp is preset to a value representing the length of the preceding vehicle PV. The minimum inter-vehicle distance Dmin is preset to a value representing the minimum inter-vehicle distance when the preceding vehicle PV is following the vehicle PPV ahead of the preceding vehicle. It is desirable that the minimum inter-vehicle distance Dmin be set based on statistical information of general drivers. The subtracted value represents the inter-vehicle distance between the vehicle ahead of the vehicle PPV and the host vehicle SV on the assumption that the preceding vehicle PV does not exist.

[0029] The ECU 20 obtains the TTCpp by dividing the subtracted value by the "relative speed Vrpp of the second preceding vehicle PPV with respect to the host vehicle SV." If the TTCpp is smaller than the "smallest minimum TTC of the TTCs for the object" or if the TTCpp is equal to or shorter than the threshold time Tth, the ECU 20 performs the above control.

[0030] When the sudden deceleration condition is met, the above control is performed based on the TTCpp for the second-ahead vehicle PPV (i.e., an index value indicating the possibility of a collision between the second-ahead vehicle PPV and the host vehicle SV). Even if the preceding vehicle PV does not decelerate in response to the sudden deceleration of the second-ahead vehicle PPV or if the preceding vehicle PV decelerates late, the TTCpp for the suddenly decelerating second-ahead vehicle PPV becomes small. This allows the above control to be performed at an appropriate timing even if the preceding vehicle PV does not decelerate in response to the sudden deceleration of the second-ahead vehicle PPV or if the preceding vehicle PV decelerates late.

[0031] Furthermore, the subtraction value (Dpp-Lp-Dmin) representing the inter-vehicle distance between the second preceding vehicle PPV and the host vehicle SV when it is assumed that the preceding vehicle PV does not exist is used as the inter-vehicle distance between the second preceding vehicle PPV and the host vehicle SV. This allows the above control to be executed at an appropriate timing without setting a threshold time when the sudden deceleration condition is met.

[0032] 2, hazard vehicles HV1 and HV2 exist in the right adjacent lane RNL and the left adjacent lane LNL of the own lane SL, respectively. The ECU 20 recognizes the own lane SL, the right adjacent lane RNL, and the left adjacent lane LNL based on the white line information.

[0033] A hazard vehicle HV is a vehicle that has its hazard lights flashing. Generally, when a vehicle is at the end of a traffic jam, the driver of that vehicle flashes its hazard lights. Therefore, when hazard vehicles HV1 and HV2 exist in the right adjacent lane RNL and the left adjacent lane LNL, respectively, there is a high possibility that congestion has occurred in the right adjacent lane RNL and the left adjacent lane LNL. Therefore, the preceding vehicle PV cannot change lanes, and the above condition A2 is met. Note that, based on the image data, the ECU 20 identifies a vehicle whose hazard lights flash more than a predetermined threshold number of times as a hazard vehicle HV.

[0034] 3, a guardrail GR exists on the left side of the host vehicle SV, and an oncoming vehicle OV exists in the adjacent lane RNL to the right. The ECU 20 determines whether or not the guardrail GR exists and whether or not an oncoming vehicle OV exists based on the camera object information, radar object information, and lidar object information.

[0035] The preceding vehicle PV cannot change lanes in the direction where the guardrail GR is located. Furthermore, the preceding vehicle PV cannot change lanes into a lane where an oncoming vehicle OV is located. For this reason, in the example shown in FIG. 3, the preceding vehicle PV cannot change lanes, and the above condition A2 is satisfied.

[0036] 2 and 3, if the above conditions A1 and A3 are satisfied, the above condition A2 is satisfied, and therefore the rapid deceleration condition is satisfied. Therefore, the ECU 20 acquires the TTCpp, and if the TTCpp is equal to or less than the threshold time Tth, performs the above control.

[0037] (Specific operation) <Control execution routine> The CPU of the ECU 20 executes the routine shown in the flowchart of FIG. 4 every time a predetermined time elapses. When the appropriate time arrives, the CPU starts processing at step 400 in FIG.

[0038] Step 405: The CPU acquires camera object information, white line information, radar object information, and Lidar object information as "environment information related to the surrounding environment of the host vehicle SV." Step 410: The CPU determines whether or not there is an object that may collide with the host vehicle SV.

[0039] If there is an object that may collide with the host vehicle SV, the CPU determines "Yes" in step 410 and executes steps 415 and 420.

[0040] Step 415: The CPU obtains the TTC of the object that may collide with the host vehicle SV. Step 420: The CPU determines whether or not a preceding vehicle PV and a vehicle ahead of the preceding vehicle PPV exist.

[0041] If there are no preceding vehicles PV and no preceding vehicles PPV, the CPU judges "No" in step 420 and determines whether the smallest TTC among the objects that may collide with the host vehicle SV is less than or equal to the threshold time Tth.

[0042] If the minimum TTC is longer than the threshold time Tth, the CPU determines "No" in step 425, proceeds to step 495, and temporarily ends this routine. If the minimum TTC is equal to or less than the threshold time Tth, the CPU determines "Yes" in step 420 and performs the above control. Thereafter, the CPU proceeds to step 495, and temporarily ends this routine.

[0043] When the CPU proceeds to step 420, if there are a preceding vehicle PV and a vehicle PPV preceding the preceding vehicle, the CPU determines "Yes" in step 420 and executes steps 435 and 440.

[0044] Step 435: The CPU executes a preceding vehicle following determination subroutine for determining whether the preceding vehicle PV is following the vehicle PPV before the preceding vehicle PPV. Step 440: The CPU determines whether or not it has been determined in the preceding vehicle following determination subroutine that the preceding vehicle PV is traveling following the vehicle PPV before the preceding vehicle PPV.

[0045] If it is determined in the preceding vehicle following determination subroutine that the preceding vehicle PV is following the vehicle PPV before the preceding vehicle, the CPU determines "Yes" in step 440 and executes steps 445 and 450.

[0046] Step 445: The CPU executes a lane change determination subroutine to determine whether the preceding vehicle PV is able to change lanes. Step 450: The CPU determines whether or not it has been determined in the lane change determination subroutine that the preceding vehicle PV is unable to change lanes.

[0047] If it is determined in the lane change determination subroutine that the preceding vehicle PV cannot change lanes, the CPU determines “Yes” in step 450 and proceeds to step 455 .

[0048] In step 455, the CPU determines whether the second-preceding vehicle PPV has suddenly decelerated by determining whether the deceleration Gdec of the second-preceding vehicle PPV is equal to or greater than the threshold deceleration Gth. The CPU determines the relative speed Vrpp of the second-preceding vehicle PPV with respect to the host vehicle SV based on the radar object information.The CPU then determines the speed Vpp of the second-preceding vehicle PPV based on the relative speed Vrpp and the current vehicle speed Vs of the host vehicle SV.The CPU obtains the acceleration Gpp of the second-preceding vehicle PPV by time-differentiating the speed Vpp.If the acceleration Gpp is negative, the CPU obtains the absolute value of the acceleration Gpp as the deceleration Gdec.

[0049] If the deceleration Gdec is equal to or greater than the threshold deceleration Gth (ie, if the second-leading vehicle PPV has suddenly decelerated), the CPU determines "Yes" in step 455 and executes steps 460 to 470.

[0050] Step 460: The CPU performs the above-mentioned warning control as the above-mentioned control. When the second-to-first vehicle PPV suddenly decelerates, the CPU performs warning control regardless of whether the TTC (or TTCpp) is equal to or less than the threshold time Tth. This allows the driver of the host vehicle SV to quickly notice that the second-to-first vehicle PPV has suddenly decelerated, and allows the driver to prepare for the sudden deceleration of the preceding vehicle PV that occurs in response to the sudden deceleration of the second-to-first vehicle PPV.

[0051] Step 465: The CPU obtains TTCpp by dividing the subtraction value (Dpp-Lp-Dmin) by the relative speed Vrpp, as described above. Step 470: The CPU determines whether the TTCpp is smaller than the minimum TTC.

[0052] If TTCpp is smaller than the minimum TTC, the CPU determines "Yes" in step 470 and proceeds to step 475. In step 475, the CPU determines whether TTCpp is equal to or smaller than the threshold time Tth.

[0053] If TTCpp is equal to or less than the threshold time Tth, the CPU determines "Yes" in step 475 and performs the above control in step 430. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0054] If TTCpp is longer than the threshold time Tth, the CPU determines "No" in step 475, proceeds to step 495, and temporarily ends this routine.

[0055] On the other hand, if TTCpp is equal to or greater than the minimum TTC when the CPU proceeds to step 470 (i.e., if the minimum TTC is equal to or less than TTCpp), the CPU determines "No" in step 470 and proceeds to processing from step 425 onwards. If the minimum TTC is equal to or less than the threshold time Tth, the CPU executes the above control.

[0056] When the deceleration of the preceding vehicle PV is greater than the deceleration Gdec of the vehicle PPV before the preceding vehicle, the minimum TTC (TTC relative to the preceding vehicle PV) is equal to or less than TTCpp. If the minimum TTC is equal to or less than TTCpp, the above control is performed if the minimum TTC is equal to or less than the threshold time Tth. Therefore, even in such a case, the CPU can perform the above control at an appropriate timing.

[0057] If it is determined in the preceding vehicle following determination subroutine that the preceding vehicle PV is not following the vehicle PPV before the preceding vehicle, the CPU determines "No" in step 440 and proceeds to the processing of step 425 and subsequent steps.

[0058] If it is determined in the lane change determination subroutine that the preceding vehicle PV is able to change lanes, the CPU determines "No" in step 450 and proceeds to the processing of step 425 and subsequent steps.

[0059] If the deceleration Gdec of the second-leading vehicle PPV is less than the threshold deceleration Gth (ie, if the second-leading vehicle PPV is not suddenly decelerating), the CPU determines "No" in step 455 and proceeds to the processing of step 425 and subsequent steps.

[0060] If there is no object that may collide with the host vehicle SV, the CPU determines "No" in step 410, proceeds to step 495, and temporarily ends this routine.

[0061] <Subroutine for determining whether to follow a preceding vehicle> When the CPU proceeds to step 435 in Fig. 4, it starts the process from step 500 in Fig. 5 and proceeds to step 505. In step 505, the CPU determines whether the inter-vehicle distance Dpv between the preceding vehicle PV and the vehicle before preceding vehicle PPV is equal to or less than a predetermined threshold distance Dpvth.

[0062] If the inter-vehicle distance Dpv is equal to or less than the threshold distance Dpvth, the CPU determines "Yes" in step 505 and proceeds to step 510. In step 510, the CPU determines that the preceding vehicle PV is following the vehicle PPV before the preceding vehicle PPV. Thereafter, the CPU proceeds to step 595 to temporarily end this routine, and then proceeds to step 440 shown in FIG. 4.

[0063] If the inter-vehicle distance Dpv is less than the threshold distance Dpvth, the CPU determines "No" in step 505 and proceeds to step 515. In step 515, the CPU determines whether the inter-vehicle time T between the preceding vehicle PV and the vehicle before preceding vehicle PPV is equal to or less than the threshold inter-vehicle time Tthp.

[0064] The inter-vehicle time T represents the time it takes for the preceding vehicle PV to travel the inter-vehicle distance Dpv. The CPU obtains the inter-vehicle time T by dividing the inter-vehicle distance Dpv by the vehicle speed Vp of the preceding vehicle PV.

[0065] If the time headway T is equal to or less than the threshold time headway Tthp, the CPU determines "Yes" in step 515 and proceeds to step 510.

[0066] If the time headway T is longer than the threshold time headway Tthp, the CPU determines "No" in step 515 and proceeds to step 520. In step 520, the CPU determines whether the absolute value (|Vpp-Vp|) of the difference obtained by subtracting the speed Vp of the preceding vehicle from the speed Vpp of the vehicle before preceding PPV has remained equal to or less than a predetermined threshold Vth for a certain period of time. Note that the absolute value represents the correlation between the speed Vpp and the vehicle speed Vp.

[0067] If the above state continues for a certain period of time, the CPU determines "Yes" in step 520 and proceeds to step 510.

[0068] If the above state has not continued for the certain period of time, the CPU determines "No" in step 520 and proceeds to step 525. In step 525, the CPU determines that the preceding vehicle PV is not following the vehicle PPV before the preceding vehicle PPV. Thereafter, the CPU proceeds to step 595 to temporarily end this routine, and proceeds to step 440 shown in FIG. 4.

[0069] <Lane change judgment subroutine> When the CPU proceeds to step 445 in Fig. 5, it starts the process from step 600 in Fig. 6 and proceeds to step 605. In step 605, the CPU determines whether or not both the right adjacent lane RNL and the left adjacent lane LNL exist based on the white line information.

[0070] If both the right adjacent lane RNL and the left adjacent lane LNL exist, the CPU determines "Yes" in step 605 and proceeds to step 610. In step 610, the CPU determines whether a hazard vehicle HV or an oncoming vehicle OV exists in the right adjacent lane RNL, or whether an object such as a guardrail or a sound barrier exists on the right boundary (for example, the right white line) of the own lane SL.

[0071] If a hazard vehicle HV or an oncoming vehicle OV is present in the right adjacent lane RNL, or if an object is present at the right boundary of the own lane SL, the CPU determines "Yes" in step 610 and proceeds to step 615. In step 615, the CPU determines whether a hazard vehicle HV or an oncoming vehicle OV is present in the left adjacent lane LNL, or whether an object is present at the left boundary of the own lane SL.

[0072] If a hazard vehicle HV or an oncoming vehicle OV is present in the left adjacent lane LNL, or if an object is present at the left boundary of the own lane SL, the CPU determines "Yes" in step 615 and proceeds to step 620. In step 620, the CPU determines that the preceding vehicle PV cannot change lanes. Thereafter, the CPU proceeds to step 695 to temporarily end this routine, and proceeds to step 450 shown in FIG. 4.

[0073] If there is no hazard vehicle HV or oncoming vehicle OV in the right adjacent lane RNL and no object on the right boundary of the own lane SL, the CPU determines "No" in step 610 and proceeds to step 625. If there is no hazard vehicle HV or oncoming vehicle OV in the left adjacent lane LNL and no object on the left boundary of the own lane SL, the CPU determines "No" in step 615 and proceeds to step 625.

[0074] In step 625, the CPU determines that the preceding vehicle PV can change lanes. After that, the CPU proceeds to step 695, where it temporarily ends this routine, and then proceeds to step 450 shown in FIG.

[0075] If at least one of the right adjacent lane RNL and the left adjacent lane LNL does not exist, the CPU determines "No" in step 605 and proceeds to step 630. In step 630, the CPU determines whether only the right adjacent lane RNL exists.

[0076] If only the right adjacent lane RNL exists (i.e., if the right adjacent lane RNL exists and the left adjacent lane LNL does not exist), the CPU determines "Yes" in step 630 and proceeds to step 635. In step 635, the CPU determines whether a hazard vehicle HV or an oncoming vehicle OV exists in the right adjacent lane RNL, or whether an object exists on the right boundary of the own lane SL.

[0077] If a hazard vehicle HV or an oncoming vehicle OV is present in the right adjacent lane RNL, or if an object is present at the right boundary of the own lane SL, the CPU determines "Yes" in step 635 and proceeds to step 620.

[0078] If there is no hazard vehicle HV or oncoming vehicle OV in the right adjacent lane RNL and no object exists on the right boundary of the own lane SL, the CPU determines “No” in step 635 and proceeds to step 625.

[0079] If there is no right adjacent lane RNL, the CPU determines "No" in step 630 and proceeds to step 640. In step 640, the CPU determines whether there is only a left adjacent lane LNL.

[0080] If only the left adjacent lane LNL exists (i.e., if the left adjacent lane LNL exists and the right adjacent lane RNL does not exist), the CPU determines "Yes" in step 640 and proceeds to step 645. In step 645, the CPU determines whether a hazard vehicle HV or an oncoming vehicle OV exists in the left adjacent lane LNL, or whether an object exists on the left boundary of the own lane SL.

[0081] If a hazard vehicle HV or an oncoming vehicle OV is present in the left adjacent lane LNL, or if an object is present at the left boundary of the own lane SL, the CPU determines "Yes" in step 645 and proceeds to step 620.

[0082] If there is no hazard vehicle HV or oncoming vehicle OV in the left adjacent lane LNL and no object is present on the left boundary of the own lane SL, the CPU determines “No” in step 645 and proceeds to step 625.

[0083] If neither the right adjacent lane RNL nor the left adjacent lane LNL exists, the CPU determines “No” in step 640 and proceeds to step 620 .

[0084] As a result, even if the preceding vehicle PV does not decelerate in response to the sudden deceleration of the vehicle ahead of the preceding vehicle PPV, or if the preceding vehicle PV decelerates late, the above control can be executed at an appropriate timing.

[0085] (Variation) In the above embodiment, the CPU uses TTC as the index value of the collision possibility, but other values ​​may be used. For example, the CPU may use "the distance D between the object with which the vehicle SV may collide and the object with which the vehicle SV may collide" as the index value of the collision possibility. When the sudden deceleration condition is not met, the CPU performs the above control if the distance D is equal to or less than a predetermined threshold distance Dth. When the sudden deceleration condition is met, the CPU performs the above control if the subtraction value (Dpp-Lp-Dmin) is equal to or less than the threshold distance Dth.

[0086] In the above embodiment, the CPU determines that the sudden deceleration condition is met when all of conditions A1 to A3 are met, but it may also determine that the sudden deceleration condition is met when condition A3 is met.

[0087] In the above embodiment, the millimeter-wave radar 24 detects the second-preceding vehicle PPV, but this is not limiting. For example, the camera 22 may be disposed on the roof of the host vehicle SV, and the camera 22 may detect the second-preceding vehicle PPV. Furthermore, the lidar 25 may be disposed in the same position as the millimeter-wave radar 24 in the above embodiment, and the lidar 25 may detect the second-preceding vehicle PPV. Furthermore, the sensors that detect objects are not limited to the camera 22, the millimeter-wave radar 24, and the lidar 25.

[0088] In the above embodiment, the CPU identified a preceding vehicle whose hazard lights flashed a threshold number of times or more as a hazard vehicle HV, but it may also identify a preceding vehicle whose hazard lights flashed for a threshold time or more as a hazard vehicle HV.

[0089] The device 10 can be applied to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles, as well as autonomous vehicles. Furthermore, 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]

[0090] 10...vehicle control device, 22...camera, 24...millimeter wave radar, 25...lidar, 32...power train actuator, 34...brake actuator, 36...display device, 38...speaker

Claims

1. 1. A vehicle control device that performs predetermined control based on a first index value that represents a possibility of a collision between a host vehicle and an object and is a value based on a distance between the host vehicle and the object, The vehicle control device is configured to perform the control based on a second index value that indicates the possibility of a collision between the vehicle and the second-preceding vehicle and is based on a subtraction value obtained by subtracting a predetermined value from the inter-vehicle distance between the vehicle and the second-preceding vehicle when there is a preceding vehicle traveling in front of the vehicle and a second-preceding vehicle traveling in front of the preceding vehicle, and the deceleration of the second-preceding vehicle is equal to or greater than a predetermined threshold deceleration.

2. In the vehicle control device according to claim 1, The vehicle control device includes: a value obtained by dividing a distance between the host vehicle and the object by a relative speed of the object with respect to the host vehicle, as the first index value; When the preceding vehicle and the second preceding vehicle exist, the preceding vehicle is traveling following the second preceding vehicle, the preceding vehicle is unable to change lanes, and the deceleration is equal to or greater than the threshold deceleration, a predetermined value representing the length of the preceding vehicle and being the sum of a predetermined minimum inter-vehicle distance value representing the minimum inter-vehicle distance when the preceding vehicle is traveling following the second preceding vehicle, is subtracted from the inter-vehicle distance of the second preceding vehicle, and the subtracted value is divided by the relative speed of the second preceding vehicle with respect to the host vehicle, and the second index value is obtained; When the second index value is smaller than the first index value, the control is performed based on the second index value; When the second index value is equal to or greater than the first index value, the control is performed based on the first index value. A vehicle control device configured as above.

3. A vehicle control method in which a computer mounted on a vehicle performs predetermined control based on a first index value which represents the possibility of a collision between the vehicle and an object and is a value based on the distance between the vehicle and the object, The vehicle control method includes: a first step in which the computer acquires, when there is a preceding vehicle traveling ahead of the host vehicle and a vehicle further ahead traveling ahead of the preceding vehicle, and the deceleration of the vehicle further ahead is equal to or greater than a predetermined threshold deceleration, a second index value that indicates a possibility of a collision between the host vehicle and the vehicle further ahead, and that is a value based on a subtraction value obtained by subtracting a predetermined value from a distance between the host vehicle and the vehicle further ahead; a second step in which the computer performs the control based on the second index value; Vehicle control method.

4. A program that causes a computer mounted on a vehicle to perform predetermined control based on a first index value that represents the possibility of a collision between the vehicle and an object and is a value based on the distance between the vehicle and the object, The program causes the computer to: a first step of acquiring a second index value that indicates a possibility of a collision between the host vehicle and the second-preceding vehicle, when there is a preceding vehicle traveling ahead of the host vehicle and a second-preceding vehicle traveling ahead of the preceding vehicle, and the second-preceding vehicle's deceleration is equal to or greater than a predetermined threshold deceleration, and that is based on a subtraction value obtained by subtracting a predetermined value from the second-preceding vehicle inter-vehicle distance between the host vehicle and the second-preceding vehicle; a second step of performing the control based on the second index value; A program that executes.

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