Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device and a vehicle control method capable of performing proper drive support when there is a possibility that a two-wheeler traveling in front of an obstacle enters a predicted track of an own vehicle.SOLUTION: A control device 50 includes a recognition unit 51 that can recognize surroundings of an own vehicle 1 and a control unit 52. The control unit executes at least one of notification to a driver of the own vehicle 1 and braking of the own vehicle 1 when it is determined from recognition results of the recognition unit 51 that the two-wheeler 120 and a front vehicle 110 are present outside a predicted trajectory L1 of the own vehicle 1 in front of the own vehicle 1 and the two-wheeler 120 is traveling toward the front vehicle 110 between the own vehicle 1 and the front vehicle 110.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a vehicle control method.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focusing on further improving traffic safety and convenience through research and development on preventive safety technologies have been carried out.

[0003] For example, Patent Document 1 discloses a driving support control device for controlling the running of a vehicle when there is a possibility of collision with an object. Specifically, Patent Document 1 describes that when it is determined that an object such as a two-wheeled vehicle existing on the side of a preceding vehicle during parking cannot stop in front of the object and collision / contact with the object cannot be avoided, the CPU determines the target position on the road on which the host vehicle should travel as the center position in the width direction at the rear part of the preceding vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Although Patent Document 1 discloses a technique for avoiding collision / contact between the host vehicle and an object when an object such as a two-wheeled vehicle already exists on the side of a preceding vehicle during parking, it does not disclose the case where an object traveling in front of a preceding vehicle during parking jumps out onto the host vehicle lane, and there was room for consideration in this regard.

[0006] This invention provides a vehicle control device and a vehicle control method that can provide appropriate driving assistance when a motorcycle traveling in front of an obstacle may enter the predicted trajectory of the vehicle. Ultimately, this contributes to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention provides a vehicle control device. First aspect teeth, A recognition unit capable of recognizing the area around the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, it performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. The control unit is a vehicle control device that, when it further determines that the deceleration required for the motorcycle to stop in relation to the obstacle is equal to or greater than a first deceleration, performs at least one of the following: notify the driver and brake the vehicle. . Furthermore, a second aspect of the vehicle control device of the present invention is: A recognition unit capable of recognizing the area around the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. The control unit is a vehicle control device that, when it determines that the vehicle is traveling at a second speed or higher, and that the deceleration required for the vehicle to stop in relation to the obstacle or the predicted area where the motorcycle will suddenly appear is a second deceleration or higher, it performs at least one of the following: notify the driver and brake the vehicle. Furthermore, a third aspect of the vehicle control device of the present invention is: A recognition unit capable of recognizing the area around the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. The control unit is a vehicle control device that, when it further determines that the vehicle is within a predetermined range of the obstacle or the predicted area where the motorcycle will jump out, performs at least one of the following: notify the driver and brake the vehicle. Furthermore, a fourth aspect of the vehicle control device of the present invention is: A recognition unit capable of recognizing the area around the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. The control unit is a vehicle control device that, when it further determines that the lateral distance between the predicted trajectory of the vehicle and the obstacle is below a predetermined threshold, performs at least one of the following: notify the driver and brake the vehicle.

[0008] Furthermore, the present invention Both systems Method First aspect teeth, Recognizing the surroundings of the vehicle, If the recognition results indicate that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle ahead of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, And if it is further determined that the deceleration required for the motorcycle to stop in relation to the obstacle is equal to or greater than the first deceleration, The system then performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. , a vehicle control method . Furthermore, a second aspect of the vehicle control method of the present invention is: Recognizing the surroundings of the vehicle, This vehicle control method involves, when the recognition results indicate that a motorcycle and an obstacle are present in front of the vehicle outside its predicted trajectory, and the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and the vehicle is traveling at a speed of 2 or higher, and the deceleration required for the vehicle to stop in the area where the obstacle or motorcycle is predicted to jump out is 2 or higher, then the method performs at least one of the following: notify the driver of the vehicle and brake the vehicle. Furthermore, a third aspect of the vehicle control method of the present invention is: Recognizing the surroundings of the vehicle, This vehicle control method involves, based on the recognition results, determining that a motorcycle and an obstacle exist outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and further determining that the vehicle is within a predetermined range of the predicted area from which the obstacle or the motorcycle will emerge, then performing at least one of the following: notifying the driver of the vehicle and braking the vehicle. Furthermore, a fourth aspect of the vehicle control method of the present invention is: Recognizing the surroundings of the vehicle, <000009​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​Figure 1 is a block diagram showing the internal configuration of vehicle 1. Vehicle 1 includes, for example, an external information acquisition device 10, a vehicle state detection unit 20, an information output device 30, a steering device 41, a driving force output device 42, a braking device 43, an operation detection unit 44, and a control device 50. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc.

[0013] The external information acquisition device 10 is a device that acquires information about the surroundings of the vehicle 1, and includes, for example, a camera 11, a radar device 12, a LIDAR (Light Detection and Ranging) 13, and an object recognition device 14. The camera 11, radar device 12, and LIDAR 13 are mounted at any location on the vehicle 1.

[0014] Camera 11 is a digital camera that uses an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor).

[0015] The radar device 12 emits radio waves such as millimeter waves around the vehicle 1 and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and direction) of the object.

[0016] LIDAR13 irradiates light (or electromagnetic waves with a wavelength close to light) around vehicle 1 and measures the scattered light. Based on the time from emission to reception, LIDAR13 detects the distance to the target. The irradiated light is, for example, pulsed laser light.

[0017] The object recognition device 14 performs sensor fusion processing on some or all of the detection results from the camera 11, radar device 12, and LIDAR 13 to recognize the position, type, speed, etc., of an object. The object recognition device 14 outputs the recognition results to the control device 50. The object recognition device 14 may also output the detection results from the camera 11, radar device 12, and LIDAR 13 directly to the control device 50.

[0018] The vehicle state detection unit 20 includes, for example, a vehicle speed sensor 21. The vehicle speed sensor 21 includes a speed sensor for detecting the vehicle's speed, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and a compass sensor for detecting the orientation of the vehicle.

[0019] The information output device 30 is a device that notifies occupants, including the driver, of predetermined information, and includes, for example, a display device 31 and an audio output device 32. The display device 31 includes a head-up display or a display device provided on the instrument panel, and notifies information visually. The audio output device 32 includes a speaker, etc., installed at any location inside the vehicle, and notifies information by sound. The information output device 30 may also have a vibration device that notifies predetermined information by vibration.

[0020] The steering device 41 is an operator that receives steering input. The steering device 41 includes, for example, a steering wheel 41a and a steering angle sensor (not shown) that detects the steering angle of the steering wheel 41a.

[0021] The drive force output device 42 outputs driving force (torque) to the drive wheels for the vehicle 1 to move. The drive force output device 42 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and a drive ECU (Electronic Control Unit) 42a that controls them. The drive ECU 42a controls the above configuration according to information input from the control device 50 or information input from the accelerator pedal 42b.

[0022] The braking system 43 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking system 43 also has a braking ECU 43a that performs braking force control of the vehicle 1. Based on the user's brake operation on the brake pedal 43b and instructions from the control device 50, the braking ECU 43a controls the electric motor so that a brake torque corresponding to the braking operation is output to each wheel. In this way, the braking force of the vehicle 1 is controlled.

[0023] The operation detection unit 44 detects driving operations input from the steering device 41, the drive force output device 42, and the braking device 43.

[0024] The control device 50 is implemented by a computer (e.g., an ECU) equipped with a CPU (Central Processing Unit) that performs various calculations, a memory device that stores various information, and an input / output device that controls the input and output of data between the inside and outside of the control device 50. The functions of the control device 50 can be implemented, for example, by the CPU executing a predetermined control program that has been pre-stored in the memory device. Furthermore, some or all of the functions of the control device 50 may be implemented by hardware such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit). In addition, some or all of the functions of the control device 50 may be implemented by the cooperation of software and hardware. The number of computers constituting the control device 50 can be designed as appropriate.

[0025] The control device 50 performs control related to driving assistance, including autonomous driving of the vehicle 1 (autonomous driving of the vehicle 1 without driver intervention). The driving assistance control that the control device 50 can perform includes collision mitigation brake control (also called CMBS (Collision Mitigation Brake System)). When the probability of collision with an object ahead increases, the collision mitigation brake control provides a warning to the driver by voice or other means, and / or activates the braking device 43, thereby assisting in avoiding and mitigating a collision between the vehicle 1 and the object.

[0026] The control device 50 includes, for example, a recognition unit 51 and a control unit 52.

[0027] The recognition unit 51 recognizes the surrounding conditions of the vehicle 1 based on information input from the camera 11, radar device 12, and LIDAR 13 via the object recognition device 14. Specifically, the recognition unit 51 recognizes the position of objects around the vehicle 1, as well as their speed, acceleration, and other driving conditions.

[0028] The control unit 52 includes a collision determination unit 53 and a CMBS control instruction unit 54. Based on the recognition result of the recognition unit 51, the collision determination unit 53 determines whether or not vehicle 1 will collide with an object if an object is present in front of vehicle 1. If the CMBS control instruction unit 54 determines that there is a possibility of collision between vehicle 1 and the object, it executes CMBS control and notifies the driver via the information output device 30 that there is a possibility of collision between vehicle 1 and the object, and / or issues a braking instruction to the braking device 43. As a result, the CMBS control instruction unit 54 can prompt the driver to perform braking operations to avoid a collision, or actually activate the braking device 43 to avoid a collision.

[0029] Figure 2 illustrates an example of a scenario in which CMBS control is performed by the control device 50. In the following, the vehicle 1 equipped with the control device 50 will also be referred to as "vehicle 1". The direction in which vehicle 1 moves will be referred to as the direction of travel, and the direction perpendicular to the direction of travel will be referred to as the left-right direction.

[0030] In the example shown in Figure 2, vehicle 1 is traveling on a road in the direction of travel shown in the figure, and vehicle 110 is parked in front of vehicle 1. For example, vehicle 110 is parked on the shoulder of the road, in front of and to the right of vehicle 1. Here, the distance between vehicle 1 and vehicle 110 in the left-right direction is represented by the symbol D1. Distance D1 is the distance between the right edge of vehicle 1 and the left edge of vehicle 110 in the left-right direction. Also, a motorcycle 120 is traveling in the direction of travel in front of vehicle 1 and behind vehicle 110. The motorcycle 120 is traveling on the side of vehicle 1 (in this case, to the left) of the center of vehicle 110 in the left-right direction. The motorcycle 120 is, for example, a bicycle and is a smaller mobile object than vehicle 110. Therefore, the external information acquisition device 10 acquires information on both vehicle 110 and motorcycle 120, which are located in front of vehicle 1. Here, the line extending in the direction of travel and passing through the center of the front vehicle 110 in the left-right direction (the dashed line in the figure) is represented by the symbol L0, and the distance between the motorcycle 120 and the center of the front vehicle 110 in the left-right direction is represented by the symbol D2. Distance D2 is the distance between the right end of the motorcycle 120 and line L0 in the left-right direction.

[0031] As the motorcycle 120 travels in the direction of travel, the stationary vehicle 110 in front becomes an obstacle, and there is a risk that the motorcycle 120 will veer to the side of the vehicle 110. At this time, if the position of the motorcycle 120 when it moves to the side of the vehicle 110 coincides with the predicted trajectory L1 (dotted line in the figure) of the vehicle 1, there is a risk that the vehicle 1 and the motorcycle 120 will collide.

[0032] Therefore, if the control device 50 determines from the recognition result of the recognition unit 51 that a motorcycle 120 and an obstacle (in this case, a stationary vehicle 110 in front of the vehicle 1) are located outside the predicted trajectory L1 of the vehicle 1 in front of the vehicle 1, and that the motorcycle 120 is traveling between the vehicle 1 and the obstacle towards the obstacle, it executes CMBS control, specifically by notifying the driver of the vehicle 1 and / or braking the vehicle 1. In this way, the control device 50 can alert the driver of the vehicle 1 or provide appropriate deceleration assistance when there is a high probability that the motorcycle 120 will enter the predicted trajectory L1 of the vehicle 1.

[0033] It is preferable to further define the conditions for executing CMBS control so that it can be performed at appropriate times. This can reduce the execution of excessive CMBS control.

[0034] To explain in more detail, it is preferable that the control device 50 determines whether or not to perform CMBS control based on information regarding the speed or deceleration of the motorcycle 120.

[0035] For example, if the control device 50 determines that the motorcycle 120 is traveling at a predetermined threshold or higher, it may notify the driver of its own vehicle 1 and / or apply the brakes to its own vehicle 1. In this case, there is a high probability that the motorcycle 120 will not be able to stop before the obstacle and will enter the predicted trajectory L1 of its own vehicle 1, so the control device may warn the driver of its own vehicle 1 in advance or provide appropriate deceleration assistance.

[0036] To give another example, the control device 50 determines that the deceleration required for the motorcycle 120 to stop in relation to an obstacle is a predetermined threshold (for example, 0.3 m / s 2 If it is determined that the situation is more than the specified threshold, the driver of vehicle 1 may be notified, and / or the brakes of vehicle 1 may be applied. In this way, if the motorcycle 120 cannot stop in front of the obstacle without rapidly decelerating, there is a high probability that the motorcycle 120 will enter the predicted trajectory L1 of vehicle 1, so the driver of vehicle 1 may be warned in advance, or appropriate deceleration assistance may be provided.

[0037] Furthermore, the aforementioned "speed" and "deceleration" may refer to either the absolute speed / absolute deceleration of the motorcycle 120, or the relative speed / relative deceleration between the vehicle 1 and the motorcycle 120.

[0038] Furthermore, it is preferable that the control device 50 determines whether or not to perform CMBS control based on information regarding the distance between the motorcycle 120 and the obstacle.

[0039] For example, if the control device 50 further determines that the motorcycle 120 is within a predetermined range of an obstacle, it may notify the driver of its own vehicle 1 and / or apply the brakes to its own vehicle 1. The predetermined range means, for example, that the distance between the motorcycle 120 and the obstacle in the direction of travel is within a predetermined threshold. In this case, there is a high probability that the motorcycle 120 will enter the predicted trajectory L1 of its own vehicle 1, so the control device may warn the driver of its own vehicle 1 in advance or provide appropriate deceleration assistance.

[0040] To give another example, if the control device 50 further determines that the motorcycle 120 is traveling on the side of the vehicle 1 with respect to the left-right center of the obstacle, it will notify the driver of the vehicle 1 and / or apply the brakes to the vehicle 1. If the motorcycle 120 is traveling on the opposite side of the vehicle 1 with respect to the left-right center of the obstacle, there is a high probability that the motorcycle 120 will swerve to the side of the obstacle from that opposite side. However, if the motorcycle 120 is traveling on the side of the vehicle 1 with respect to the left-right center of the obstacle, there is a high probability that the motorcycle 120 will enter the predicted trajectory L1 of the vehicle 1. Therefore, the control device 50 will warn the driver of the vehicle 1 in advance and provide appropriate deceleration assistance.

[0041] Furthermore, the control device 50 may be configured to notify the driver of vehicle 1 and / or apply the brakes to vehicle 1 when the motorcycle 120 is more than a predetermined threshold (e.g., 0.2 m) away from the center of the obstacle in the left-right direction toward vehicle 1. This allows CMBS control to be executed when there is a higher probability of the motorcycle entering the predicted trajectory L1 of vehicle 1.

[0042] Furthermore, it is preferable that the control device 50 determines whether or not to perform CMBS control based on information regarding the speed or deceleration of the vehicle 1.

[0043] For example, if the control device 50 determines that its own vehicle 1 is traveling at or above a predetermined threshold, it may notify the driver of its own vehicle 1 and / or apply the brakes to its own vehicle 1. In this case, since there is a high probability that the motorcycle 120 and the own vehicle 1 will come too close together once the motorcycle 120 enters the predicted trajectory L1 of the own vehicle 1, the control device 50 may warn the driver of its own vehicle 1 in advance or provide appropriate deceleration assistance.

[0044] To give another example, if the control device 50 further determines that the deceleration required for the vehicle 1 to stop in relation to an obstacle or a predicted area 150 is greater than or equal to a predetermined threshold, it may notify the driver of the vehicle 1 and / or apply the brakes to the vehicle 1. The predicted area 150 is a range in which the motorcycle 120 may enter the predicted trajectory L1 of the vehicle 1, and is a predetermined area that includes, for example, the area behind the obstacle and on the predicted trajectory L1 of the vehicle 1. In such a case, the vehicle 1 cannot stop in relation to the obstacle or the predicted area 150 unless it decelerates rapidly, so there is a high probability that the vehicle 1 and the motorcycle 120 will come too close together. Therefore, the control device 50 may warn the driver of the vehicle 1 in advance or provide appropriate deceleration assistance.

[0045] Furthermore, the aforementioned "speed" and "deceleration" may refer to either the absolute speed / absolute deceleration of vehicle 1, or the relative speed / relative deceleration between vehicle 1 and motorcycle 120.

[0046] Furthermore, it is preferable that the control device 50 determines whether or not to perform CMBS control based on information regarding the distance between its own vehicle 1 and an obstacle (vehicle ahead 110) or the predicted departure area 150.

[0047] For example, if the control device 50 determines that its own vehicle 1 is within a predetermined range relative to an obstacle or a predicted area 150, it may notify the driver of its own vehicle 1 and / or apply the brakes to its own vehicle 1. The predetermined range means, for example, that the distance between the vehicle 1 and the obstacle in the direction of travel, or the distance between the vehicle 1 and the predicted area 150, is within a predetermined threshold. In such cases, there is a high probability that the vehicle 1 and the motorcycle 120 will come too close together, so the control device may warn the driver of its own vehicle 1 in advance or provide appropriate deceleration assistance.

[0048] As another example, if the control device 50 determines that the lateral distance D1 between the predicted trajectory L1 of its own vehicle 1 and the obstacle is below a predetermined threshold, it may notify the driver of its own vehicle 1 and / or apply the brakes to its own vehicle 1. The predetermined threshold is, for example, a gap (e.g., 0.5 m) large enough for the motorcycle 120 to pass to the side of the obstacle without entering the predicted trajectory L1 of its own vehicle 1. If the distance D1 is below the predetermined threshold, there is a high probability that the motorcycle 120 will enter the predicted trajectory L1 of its own vehicle 1, so the control device may warn the driver of its own vehicle 1 in advance or provide appropriate deceleration assistance. If the condition for executing CMBS control is that the vehicle 1 and the obstacle overlap when viewed from the front or rear, the predetermined threshold may be set to 0 m or less.

[0049] When the control device 50 determines whether or not to perform CMBS control, it may combine the aforementioned conditions as it sees fit, and the combination and the number of conditions may be freely set.

[0050] Furthermore, the control device 50 may be configured such that, for example, even if there is an obstacle in front of the vehicle 1 and the motorcycle 120 is traveling between the vehicle 1 and the obstacle towards the obstacle, if the operation detection unit 44 detects that the driver of the vehicle 1 has performed a brake operation, it will not notify the driver of the vehicle 1 and / or perform braking on the vehicle 1.

[0051] Figure 3 shows a flowchart of the CMBS control performed by the control device 50 in the scenario shown in Figure 2. This flowchart is an example, and it is possible to add, change, and / or delete conditions for performing CMBS control as appropriate, and the order of each step can also be changed arbitrarily.

[0052] The control device 50 first determines whether or not there is an obstacle in front of the motorcycle 120 based on the recognition result of the recognition unit 51 (step S11).

[0053] If the control device 50 determines that there is no obstacle in front of the motorcycle 120, specifically the vehicle 110 in front (step S11: NO), the control device 50 determines that the motorcycle 120 will not enter the predicted trajectory L1 of its own vehicle 1, and terminates this flowchart without executing CMBS control.

[0054] If the control device 50 determines that there is an obstacle in front of the motorcycle 120 (step S11: YES), it determines, based on the recognition result of the recognition unit 51, whether the deceleration required for the motorcycle 120 to stop in front of the obstacle is greater than or equal to a predetermined threshold (step S12). If the deceleration is greater than or equal to the predetermined threshold, there is a high probability that the motorcycle 120 will not be able to stop in front of the obstacle and will enter the predicted trajectory L1 of the vehicle 1. If the deceleration is less than the predetermined threshold, there is a low probability that the motorcycle 120 will stop in front of the obstacle and enter the predicted trajectory L1 of the vehicle 1.

[0055] If the control device 50 determines that the deceleration is below a predetermined threshold (step S12: NO), it determines that the motorcycle 120 will not enter the predicted trajectory L1 of its own vehicle 1, and terminates this flowchart without performing CMBS control.

[0056] If the deceleration is greater than or equal to a predetermined threshold (step S12: YES), the control device 50 determines, based on the recognition result of the recognition unit 51, whether the motorcycle 120 is more than a predetermined threshold away from the left-right center of the obstacle on the vehicle 1 side (step S13). Specifically, as shown in Figure 2, the control device 50 determines whether the distance D2 between the motorcycle 120 and the line L0 passing through the left-right center of the vehicle in front of the vehicle 110, on the vehicle 1 side (in this case, the left side), is greater than or equal to a predetermined threshold.

[0057] If the motorcycle 120 is not more than a predetermined threshold away from the center of the obstacle in the left-right direction toward the vehicle 1 (step S13: NO), specifically, if the distance D2 is less than the predetermined threshold, there is a high probability that the motorcycle 120 will swerve to the side of the vehicle 110 in front from the opposite side of the vehicle 1. Therefore, the control device 50 determines that the motorcycle 120 will not enter the predicted trajectory L1 of the vehicle 1, and terminates this flowchart without executing CMBS control.

[0058] If the motorcycle 120 is located more than a predetermined threshold away from the center of the obstacle in the left-right direction towards the vehicle 1 (step S13: YES), the control device 50 determines whether the predicted position of the vehicle 1 at the time it catches up to the motorcycle 120 is within the predicted departure area 150 (step S14). The predicted position of the vehicle 1 is the predicted position of the vehicle 1 at the time it catches up to the motorcycle 120. The predicted position of the vehicle 1 is calculated based on the driving speed and acceleration of the vehicle 1 detected by the vehicle state detection unit 20, and the driving speed and acceleration of the motorcycle 120 recognized by the recognition unit 51.

[0059] If the predicted position of the vehicle is outside the predicted departure area 150 (step S14: NO), the probability of collision is low, so this flowchart is terminated without executing CMBS control.

[0060] If the predicted position of the vehicle is within the predicted departure area 150 (step S14: YES), the control device 50 determines whether the distance D1 in the left-right direction between the predicted trajectory L1 of the vehicle 1 and the obstacle is less than or equal to a predetermined threshold (step S15).

[0061] If the lateral distance D1 between the predicted trajectory L1 of the vehicle 1 and the obstacle is greater than a predetermined threshold (step S15: NO), the control device 50 determines that the motorcycle 120 will not enter the predicted trajectory L1 of the vehicle 1, and terminates this flowchart without executing CMBS control.

[0062] If the lateral distance D1 between the predicted trajectory L1 of the vehicle 1 and the obstacle is less than or equal to a predetermined threshold (step S15: YES), the control device 50 determines that a collision between the vehicle 1 and the motorcycle 120 is predicted (step S16). The control device 50 then performs CMBS control, that is, notifies the driver and / or applies the brakes to the vehicle 1 (step S17).

[0063] (Variation 1) As shown in Figure 4, for example, if the recognition unit 51 recognizes the presence of, for example, a guardrail 160 (or curb, etc.) on the opposite side of the vehicle 1 from the vehicle 1 in front of the vehicle 110 (for example, to the right of the vehicle 110 in front), the control device 50 may determine that the motorcycle 120 will enter the predicted trajectory L1 of the vehicle 1, regardless of the positional relationship of the motorcycle 120 to the center in the left-right direction of the obstacle.

[0064] (Modification 2) If the driver of a motorcycle 120 traveling in front of an obstacle (vehicle 110) turns to look towards vehicle 1 (left side), there is a high probability that the motorcycle 120 will move towards vehicle 1 to avoid the obstacle. The control device 50 may determine that the motorcycle 120 will enter the predicted trajectory L1 of vehicle 1 when the recognition unit 51 recognizes that the driver of the motorcycle 120 has turned to look towards vehicle 1.

[0065] Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to this embodiment. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these are also understood to naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiment may be combined in any way without departing from the spirit of the invention.

[0066] For example, in the embodiment described above, a bicycle was used as an example of a two-wheeled vehicle 120, but the two-wheeled vehicle 120 may be a motorcycle, an electric kick scooter, or the like.

[0067] Furthermore, the control device 50 may determine whether or not to perform CMBS control based on the amount of lateral movement of the motorcycle 120 on the vehicle 1 side. For example, even if the motorcycle 120 is traveling on the opposite side from the vehicle 1 with respect to the center of the obstacle in the left-right direction, if the motorcycle 120 is moving laterally towards the vehicle 1, the control device 50 may notify the driver of the vehicle 1 and / or apply the brakes to the vehicle 1.

[0068] This specification includes at least the following: The components and other elements corresponding to those in the embodiments described above are shown in parentheses as examples, but are not limited thereto.

[0069] (1) A recognition unit (recognition unit 51) capable of recognizing the surroundings of the vehicle (vehicle 1), The system includes a control unit (control unit 52) ​​that, when the recognition unit determines from its recognition results that a motorcycle (motorcycle 120) and an obstacle (forward vehicle 110) are located outside the predicted trajectory (predicted trajectory L1) of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, it performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. Vehicle control device.

[0070] According to (1), if there is a high probability that a motorcycle will enter the predicted trajectory of the vehicle, the system can alert the driver of the vehicle or provide appropriate deceleration assistance.

[0071] (2) A vehicle control device as described in (1), If the control unit further determines that the motorcycle is traveling at a speed of 1 or higher, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0072] According to (2), if the motorcycle is traveling at a high speed, there is a high probability that the motorcycle will not be able to stop in front of the obstacle and will enter the predicted trajectory of the vehicle. In such cases, the driver of the vehicle can be warned in advance or appropriate deceleration assistance can be provided.

[0073] (3) A vehicle control device as described in (1), If the control unit further determines that the deceleration required for the motorcycle to stop in relation to the obstacle is equal to or greater than the first deceleration, it shall perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0074] According to (3), if a motorcycle cannot stop in front of an obstacle without rapidly decelerating, there is a high probability that the motorcycle will enter the predicted trajectory of the vehicle. In such cases, the driver of the vehicle can be warned in advance or appropriate deceleration assistance can be provided.

[0075] (4) A vehicle control device as described in any of (1) to (3), If the control unit further determines that the motorcycle is within a predetermined range of the obstacle, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0076] According to (4), if a motorcycle is within a predetermined range of an obstacle, there is a high probability that the motorcycle will enter the predicted trajectory of the vehicle. In such cases, the driver of the vehicle can be warned in advance or appropriate deceleration assistance can be provided.

[0077] (5) A vehicle control device as described in any of (1) to (4), If the control unit further determines that the motorcycle is traveling on its own side relative to the center of the obstacle in the left-right direction, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0078] According to (5), if a motorcycle is traveling on the side of the vehicle relative to the center of the obstacle in the left-right direction, there is a high probability that the motorcycle will enter the predicted trajectory of the vehicle. In such cases, the driver of the vehicle can be warned in advance or appropriate deceleration assistance can be provided.

[0079] (6) A vehicle control device according to any one of (1) to (5), If the control unit further determines that the vehicle is traveling at a second speed or higher, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0080] According to (6), if the vehicle is traveling at a high speed, there is a possibility that the motorcycle and the vehicle will come too close together if the motorcycle enters the predicted trajectory of the vehicle. In such cases, the vehicle driver can be warned in advance or appropriate deceleration assistance can be provided.

[0081] (7) A vehicle control device as described in (6), If the control unit further determines that the deceleration required for the vehicle to stop in relation to the obstacle or the predicted area for the motorcycle to emerge (predicted area 150) is 2nd deceleration or higher, it shall perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0082] According to (7), if the vehicle cannot stop in front of an obstacle or in the area where an obstacle is predicted to appear unless it decelerates rapidly, there is a possibility that the vehicle and the motorcycle will come too close together. In such cases, the driver of the vehicle can be warned in advance or appropriate deceleration assistance can be provided.

[0083] (8) A vehicle control device as described in any of (1) to (7), If the control unit further determines that the vehicle is within a predetermined range relative to the obstacle or the predicted area where the motorcycle is expected to jump out, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0084] According to (8), if the vehicle is within a predetermined range of an obstacle or a predicted area of ​​outward movement, there is a possibility that the vehicle and the motorcycle will come too close together. In such cases, the driver of the vehicle can be warned in advance, or appropriate deceleration assistance can be provided.

[0085] (9) A vehicle control device as described in any of (1) to (8), If the control unit further determines that the lateral distance between the predicted trajectory of the vehicle and the obstacle is less than or equal to a predetermined threshold, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

[0086] According to (9), if the lateral distance between the predicted trajectory of the vehicle and the obstacle is below a predetermined threshold, there is a high probability that the motorcycle will enter the predicted trajectory of the vehicle when it avoids the obstacle. In such cases, the driver of vehicle 1 will be warned in advance, or appropriate deceleration assistance will be provided.

[0087] (10) Recognize the surroundings of the vehicle (vehicle 1), If the recognition results indicate that a motorcycle (motorcycle 120) and an obstacle (vehicle ahead 110) are present outside the predicted trajectory of the vehicle ahead of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, then at least one of the following will be performed: notify the driver of the vehicle and brake the vehicle. Vehicle control method.

[0088] According to (10), if there is a high probability that a motorcycle will enter the predicted trajectory of the vehicle, the driver of the vehicle can be alerted and appropriate deceleration assistance can be provided. [Explanation of Symbols]

[0089] 1. Your own vehicle 51 Recognition part 52 Control Unit 110. Vehicle ahead (obstacle) 120 Motorcycles 150 Flyout prediction area L1 Predicted trajectory of your own vehicle

Claims

1. A recognition unit capable of recognizing the area around the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. If the control unit further determines that the deceleration required for the motorcycle to stop in relation to the obstacle is equal to or greater than the first deceleration, it shall perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

2. A recognition unit capable of recognizing the surroundings of the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. The control unit, when it determines that the vehicle is traveling at a speed of 2 or higher, and that the deceleration required for the vehicle to stop in relation to the obstacle or the predicted area where the motorcycle will emerge is 2 or higher, shall perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

3. A recognition unit capable of recognizing the surroundings of the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. If the control unit further determines that the vehicle is within a predetermined range relative to the obstacle or the predicted area where the motorcycle will emerge, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

4. A recognition unit capable of recognizing the surroundings of the vehicle, The system includes a control unit that, when the recognition unit determines from its recognition results that a motorcycle and an obstacle are located outside the predicted trajectory of the vehicle in front of the vehicle, and that the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, performs at least one of the following: notifying the driver of the vehicle and braking the vehicle. If the control unit further determines that the lateral distance between the predicted trajectory of the vehicle and the obstacle is less than or equal to a predetermined threshold, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

5. A vehicle control device according to any one of claims 1 to 4, If the control unit further determines that the motorcycle is traveling at a first speed or higher, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

6. A vehicle control device according to any one of claims 1 to 4, If the control unit further determines that the motorcycle is within a predetermined range of the obstacle, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

7. A vehicle control device according to any one of claims 1 to 4, If the control unit further determines that the motorcycle is traveling on its own side relative to the center of the obstacle in the left-right direction, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

8. A vehicle control device according to claim 1, 3, or 4, If the control unit further determines that the vehicle is traveling at a second speed or higher, it will perform at least one of the following: notify the driver and brake the vehicle. Vehicle control device.

9. Recognize the surroundings of your vehicle, If the recognition results indicate that a motorcycle and an obstacle are present outside the predicted trajectory of the vehicle ahead of the vehicle, and the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and it is further determined that the deceleration required for the motorcycle to stop in relation to the obstacle is equal to or greater than a first deceleration, then at least one of the following will be performed: notify the driver of the vehicle and brake the vehicle. Vehicle control method.

10. Recognize the surroundings of the vehicle, If the recognition results indicate that a motorcycle and an obstacle are present outside the predicted trajectory of the vehicle in front of the vehicle, and the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and the vehicle is traveling at a speed of 2 or higher, and the deceleration required for the vehicle to stop in relation to the predicted area where the obstacle or motorcycle will emerge is 2 or higher, then at least one of the following will be performed: notify the driver of the vehicle and brake the vehicle. Vehicle control method.

11. Recognize the surroundings of the vehicle, If the recognition results indicate that a motorcycle and an obstacle are present in front of the vehicle outside its predicted trajectory, and the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and the system further determines that the vehicle is within a predetermined range of the predicted area where the obstacle or the motorcycle is expected to fly out, then at least one of the following will be performed: notify the driver of the vehicle and brake the vehicle. Vehicle control method.

12. Recognize the surroundings of the vehicle, If the recognition results indicate that a motorcycle and an obstacle are present outside the predicted trajectory of the vehicle in front of the vehicle, and the motorcycle is traveling between the vehicle and the obstacle towards the obstacle, and if it is further determined that the lateral distance between the predicted trajectory of the vehicle and the obstacle is below a predetermined threshold, then at least one of the following will be performed: notify the driver of the vehicle and brake the vehicle. Vehicle control method.

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