Vehicle control system

Abstract

To provide a vehicle controller capable of performing appropriate alerting notification when there is a possibility that an own vehicle may deviate from a lane and collide with an oncoming vehicle.SOLUTION: When determining based on a travel prediction route of an own vehicle 100 and a travel prediction route of an oncoming vehicle 200 that there is a possibility that the own vehicle may collide with the oncoming vehicle, a vehicle controller 10 performs alerting notification intended to alert an operator of the own vehicle or an operator of the oncoming vehicle. When a collision prediction time that is a time until the own vehicle collides with the oncoming vehicle falls below a first threshold time, if a lane deviation prediction time that is a time until the own vehicle deviates from a lane is equal to or longer than a second threshold time, the vehicle controller performs the alerting notification. When the collision prediction time falls below the first threshold time, if the lane deviation prediction time falls below the second threshold time, the vehicle controller performs the alerting notification in the even that the lane deviation prediction time falls below a third threshold time shorter than the second threshold time.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] There is known a vehicle control device that performs notification (warning notification) to alert an operator of a host vehicle of the possibility of a collision between the host vehicle and an oncoming vehicle when the possibility that the host vehicle deviates from a lane and the possibility that the host vehicle collides with the oncoming vehicle increase (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When the time until the host vehicle is predicted to deviate from the lane and collide with the oncoming vehicle becomes shorter than a certain time, and as a result, in a situation where it is determined that there is a possibility that the host vehicle deviates from the lane and collides with the oncoming vehicle, if the time until the host vehicle deviates from the lane is relatively long and the time from when the host vehicle deviates from the lane until it collides with the oncoming vehicle is relatively long, the operator of the host vehicle or the operator of the oncoming vehicle can relatively easily perform an appropriate driving operation to avoid a collision between the host vehicle and the oncoming vehicle. Therefore, in such a situation, it is considered that it is unnecessary to perform a warning notification to the operator of the host vehicle or the operator of the oncoming vehicle.

[0005] Therefore, as in the conventional vehicle control device, when the possibility that the host vehicle deviates from the lane and the possibility that the host vehicle collides with the oncoming vehicle increase, if a warning notification is always performed, there is a possibility that an unnecessary warning notification will be performed.

[0006] The object of the present invention is to provide a vehicle control device that can issue an appropriate warning when the vehicle is likely to deviate from its lane and collide with an oncoming vehicle.

[0007] The vehicle control device according to the present invention includes a control device that, when it is determined that there is a possibility of the vehicle colliding with the oncoming vehicle based on the predicted travel path of the vehicle itself and the predicted travel path of the oncoming vehicle, implements a warning notification to alert the operator of the vehicle itself or the operator of the oncoming vehicle about the possibility of a collision between the vehicle itself and the oncoming vehicle. The control device is configured to implement the warning notification when the predicted collision time, which is the time until the vehicle itself collides with the oncoming vehicle, falls below a first threshold time, and the predicted lane departure time, which is the time until the vehicle itself deviates from its lane, is equal to or greater than a second threshold time. Furthermore, the control device is configured to implement the warning notification when the predicted collision time falls below the first threshold time and the predicted lane departure time is also less than the second threshold time, The warning notification will not be issued until the predicted lane departure time becomes shorter and falls below the third threshold time, which is shorter than the second threshold time. The aforementioned lane departure prediction time is before Record number The system is configured to issue the aforementioned warning notification when the time period falls below 3 threshold time.

[0008] When the time it is predicted that your vehicle will deviate from its lane and collide with an oncoming vehicle becomes shorter, and as a result it is judged that there is a possibility that your vehicle will deviate from its lane and collide with an oncoming vehicle, if the time until your vehicle deviates from its lane is relatively long, and the time from when your vehicle deviates from its lane until it collides with an oncoming vehicle is also relatively long, then the driver of your vehicle or the driver of the oncoming vehicle can relatively easily perform appropriate driving maneuvers to avoid a collision between their vehicles. Therefore, in such situations, it is considered unnecessary to issue warnings or alerts to the driver of your vehicle or the driver of the oncoming vehicle.

[0009] On the other hand, in situations where the time between the vehicle deviating from its lane and colliding with an oncoming vehicle is short, it is considered preferable to issue a warning alert to the driver of the vehicle in question or the driver of the oncoming vehicle. Furthermore, even in situations where the time between the vehicle deviating from its lane is short, it is considered preferable to issue a warning alert to the driver of the vehicle in question or the driver of the oncoming vehicle.

[0010] According to the vehicle control device of the present invention, a warning notification is issued when the collision prediction time is less than a first threshold time, and the lane departure prediction time at that time is greater than or equal to a second threshold time. In other words, when the time until the vehicle and the oncoming vehicle collide becomes shorter to a certain period of time, a warning notification is issued if the time from when the vehicle deviates from its lane until it collides with the oncoming vehicle is short. This makes it possible to provide an appropriate warning notification.

[0011] Furthermore, according to the vehicle control device of the present invention, if the predicted collision time falls below the first threshold time and the predicted lane departure time is greater than or equal to the third threshold time, a warning notification is issued when the predicted lane departure time subsequently falls below the third threshold time. In other words, when the time until the vehicle collides with an oncoming vehicle shortens to a certain period of time, a warning notification is issued if the time until the vehicle deviates from its lane is short. This enables the implementation of appropriate warning notifications.

[0013] also, When the time it is predicted that your vehicle will deviate from its lane and collide with an oncoming vehicle becomes shorter to a certain extent, and as a result, it is judged that there is a possibility that your vehicle will deviate from its lane and collide with an oncoming vehicle, if the time until your vehicle deviates from its lane is relatively long, and the time from when your vehicle deviates from its lane until it collides with an oncoming vehicle is also relatively long, then the driver of your vehicle or the driver of the oncoming vehicle can relatively easily perform appropriate driving maneuvers to avoid a collision between their vehicles. Therefore, in such situations, it is considered unnecessary to issue warnings or alerts to the driver of your vehicle or the driver of the oncoming vehicle.

[0014] According to the vehicle control device of the present invention, if the collision prediction time is less than the first threshold time and the lane departure prediction time is less than the second threshold time and equal to or greater than the third threshold time, no notification is issued. That is, if the time until the vehicle collides with an oncoming vehicle becomes short enough to reach a certain time, and the time until the vehicle deviates from its lane is relatively long, and the time from when the vehicle deviates from its lane until it collides with an oncoming vehicle is also relatively long, then no warning notification will be issued until the time until the vehicle deviates from its lane becomes extremely short. Therefore, it is possible to suppress the issuance of unnecessary warning notifications.

[0015] still, In the vehicle control device according to the present invention, if the vehicle deviates from its lane after the warning notification has been issued, the control device may be configured to automatically steer the vehicle to bring it back into the lane.

[0016] According to the vehicle control device of the present invention, if the vehicle deviates from its lane, it can be automatically returned to its original lane.

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

[0018] [Figure 1] Figure 1 is a diagram showing a vehicle control device according to an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the routine executed by a vehicle control device according to an embodiment of the present invention. [Figure 3] Figure 3(A) shows a scenario in which the vehicle may collide with an oncoming vehicle immediately after deviating from its lane, while Figure 3(B) shows a scenario in which the vehicle is in the state immediately before deviating from its lane. [Modes for carrying out the invention]

[0019] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a vehicle control device 10 is shown. The vehicle control device 10 is mounted on the host vehicle 100. Hereinafter, the vehicle control device 10 will be described by taking as an example the case where the operator of the host vehicle 100 is a person who rides on the host vehicle 100 and drives the host vehicle 100 (that is, the driver of the host vehicle 100). Similarly, the vehicle control device 10 will be described by taking as an example the case where the operator of the oncoming vehicle 200 is a person who rides on the oncoming vehicle 200 and drives the oncoming vehicle 200 (that is, the driver of the oncoming vehicle 200).

[0020] However, the operator of the host vehicle 100 may be a person who remotely drives the host vehicle 100 without riding on the host vehicle 100 (that is, the remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle control device 10 is mounted on the host vehicle 100 and a remote operation facility installed outside the host vehicle 100 for remotely driving the host vehicle 100, respectively, and the functions of the vehicle control device 10 described below are shared and performed by the vehicle control device 10 mounted on the host vehicle 100 and the vehicle control device 10 mounted on the remote operation facility. Similarly, the operator of the oncoming vehicle 200 may also be a person who remotely drives the oncoming vehicle 200 without riding on the oncoming vehicle 200 (that is, the remote operator of the oncoming vehicle 200).

[0021] As shown in FIG. 1, the vehicle control device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a storage medium such as a non-volatile memory, and an interface. The CPU is adapted to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle control device 10 stores a program for realizing various controls executed by the vehicle control device 10 in the storage medium.

[0022] Still, in this example, the vehicle control device 10 includes only one ECU 90, but it may be configured to include a plurality of ECUs and divide the functions of the vehicle control device 10 described below among the respective ECUs.

[0023] Also, the vehicle control device 10 may be configured to be able to update (update) a program stored in a storage medium by wireless communication (for example, Internet communication) with an external device.

[0024] The host vehicle 100 is equipped with a traveling device 20. The traveling device 20 includes a driving device 21, a braking device 22, and a steering device 23.

[0025] The driving device 21 is a device that outputs a driving force (driving torque) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, or the like. The driving device 21 is electrically connected to the ECU 90. The vehicle control device 10 can control the driving force output from the driving device 21 by controlling the operation of the driving device 21.

[0026] The braking device 22 is a device that outputs a braking force (braking torque) applied to the host vehicle 100 to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The vehicle control device 10 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0027] The steering device 23 is a device that outputs a steering force (steering torque) applied to the host vehicle 100 to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The vehicle control device 10 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0028] Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 34, a brake pedal operation amount sensor 35, a steering wheel 36, a steering shaft 37, a steering angle sensor 38, a vehicle speed detection device 39, a surrounding information detection device 40, a vehicle-to-vehicle communication device 50, and a notification device 60.

[0029] The accelerator pedal operation amount sensor 32 is a sensor that detects the amount of operation of the accelerator pedal 31 and is electrically connected to the ECU 90. The vehicle control device 10 acquires the amount of operation of the accelerator pedal 31 as the accelerator pedal operation amount AP using the accelerator pedal operation amount sensor 32. The vehicle control device 10 acquires the required driving force (required driving torque) based on the accelerator pedal operation amount AP and the driving speed of the vehicle 100, and controls the operation of the drive unit 21 so that a driving force equivalent to the required driving force is applied from the drive unit 21 to the vehicle 100.

[0030] The brake pedal operation amount sensor 35 is a sensor that detects the amount of operation of the brake pedal 34 and is electrically connected to the ECU 90. The vehicle control device 10 acquires the amount of operation of the brake pedal 34 as brake pedal operation amount BP using the brake pedal operation amount sensor 35. Based on the brake pedal operation amount BP, the vehicle control device 10 acquires the required braking force (required braking torque) and controls the operation of the braking device 22 so that a braking force equivalent to that required braking force is applied from the braking device 22 to the vehicle 100.

[0031] The steering angle sensor 38 is a sensor that detects the rotation angle of the steering shaft 37 relative to the neutral position, and is electrically connected to the ECU 90. The vehicle control device 10 obtains the rotation angle of the steering shaft 37 as the steering angle θ from the steering angle sensor 38.

[0032] The vehicle control device 10 acquires the required steering force (required steering torque) based on the steering angle θ and the travel speed of the vehicle 100, and controls the operation of the steering device 23 so that a steering force equivalent to the required steering force is applied from the steering device 23 to the vehicle 100.

[0033] The vehicle speed detection device 39 is a device that detects the driving speed of the vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 39 is electrically connected to the ECU 90. The vehicle control device 10 acquires the driving speed of the vehicle 100 as the vehicle speed V from the vehicle speed detection device 39.

[0034] The surrounding information detection device 40 is a device that detects information about the surroundings of the vehicle 100, and in this example, it is equipped with an image sensor 41 and an electromagnetic wave sensor 42. The image sensor 41 is a sensor that captures images of the surroundings of the vehicle 100 and acquires image information, and in this example, it is a camera sensor 411. The electromagnetic wave sensor 42 is a sensor that acquires target information about targets in the surroundings of the vehicle 100, and in this example, it is a millimeter-wave radar 421.

[0035] The camera sensor 411 and the millimeter-wave radar 421 are electrically connected to the ECU 90. The vehicle control device 10 acquires image information about the surroundings of the vehicle 100 as surrounding detection information IS using the camera sensor 411, and acquires target information about targets around the vehicle 100 as surrounding detection information IS using the millimeter-wave radar 421.

[0036] The vehicle-to-vehicle communication device 50 is a device that communicates wirelessly with other vehicles in the vicinity of the vehicle 100. The vehicle-to-vehicle communication device 50 is electrically connected to the ECU 90. The vehicle control device 10 communicates wirelessly with other vehicles in the vicinity of the vehicle 100 using the vehicle-to-vehicle communication device 50.

[0037] The notification device 60 is a device that provides various notifications to the driver of the vehicle 100. In this example, the notification device 60 includes an audible device 61 and a display device 62.

[0038] The sound device 61 is a device that outputs alarm sounds or voices, such as a buzzer or a speaker. The sound device 61 is electrically connected to the ECU 90. The vehicle control device 10 can output various alarm sounds or voices from the sound device 61.

[0039] The display device 62 is a device that displays images, such as a display. The display device 62 is electrically connected to the ECU 90. The vehicle control device 10 can display various images using the display device 62.

[0040] <Operation of the vehicle control system> Next, the operation of the vehicle control device 10 will be explained. In situations where it is determined that there is no possibility of the vehicle 100 colliding with the oncoming vehicle 200, the vehicle control device 10 is configured to issue a warning notification if the time until the vehicle 100 deviates from its lane becomes less than a predetermined time.

[0041] The warning notification here is intended to alert the driver of vehicle 100 that vehicle 100 may deviate from its lane. The vehicle control device 10 provides this warning notification to the driver of vehicle 100 by outputting an alarm sound or warning voice from the sound device 61, or by displaying a warning image on the display device 62.

[0042] Furthermore, if the vehicle 100 deviates from its lane after issuing a warning, the vehicle control device 10 is configured to automatically steer the vehicle 100 to return it to its original lane. Therefore, automatic steering is a form of autonomous driving.

[0043] Furthermore, the vehicle control device 10 executes the routine shown in Figure 2 at a predetermined calculation cycle, and when it is determined that there is a possibility of the vehicle 100 colliding with an oncoming vehicle 200, it is configured to issue a warning notification and perform automatic steering when predetermined conditions are met.

[0044] Therefore, when a predetermined timing occurs, the vehicle control device 10 starts processing from step S200 of the routine shown in Figure 2, proceeds to step S205, and determines whether or not the vehicle 100 is in motion. The vehicle control device 10 determines that the vehicle 100 is in motion if the vehicle speed V is greater than zero.

[0045] If the vehicle control device 10 determines "Yes" in step S205, it proceeds to step S210 to determine whether the collision prediction time Tcol is less than the first threshold time T1. That is, if the collision prediction time Tcol is less than the first threshold time T1, the vehicle control device 10 determines whether there is a possibility of collision between its own vehicle 100 and the oncoming vehicle 200.

[0046] The collision prediction time Tcol is the time it is predicted that will take for the vehicle 100 to collide with the oncoming vehicle 200. For example, in the examples shown in Figure 3(A) and Figure 3(B), the collision prediction time Tcol is the time it takes for the vehicle 100 to travel the distance Dcol to point Pcol where it is predicted that it will collide with the oncoming vehicle 200. The vehicle control device 10 calculates and obtains the collision prediction time Tcol based on the predicted travel path R1 of the vehicle, the predicted travel path R2 of the oncoming vehicle, the vehicle speed V, and the travel speed of the oncoming vehicle 200. The vehicle control device 10 also obtains the travel speed of the oncoming vehicle 200 based on the surrounding detection information IS.

[0047] Furthermore, as shown in Figure 3(A), the predicted self-vehicle travel path R1 is the path that the self-vehicle 100 is predicted to travel in the future, and the predicted oncoming vehicle travel path R2 is the path that the oncoming vehicle 200 is predicted to travel in the future. The vehicle control device 10 obtains the predicted self-vehicle travel path R1 from the steering angle θ of the self-vehicle 100, and obtains the predicted oncoming vehicle travel path R2 based on the surrounding detection information IS.

[0048] The first threshold time T1 is a time set appropriately as the time necessary to avoid a collision between the vehicle 100 and the oncoming vehicle 200.

[0049] If the vehicle control device 10 determines "Yes" in step S210, it proceeds to step S215 to determine whether the predicted lane departure time Tdep is greater than or equal to the second threshold time T2. That is, the vehicle control device 10 determines whether the time from when its own vehicle 100 deviates from the lane until it collides with the oncoming vehicle 200 is short or not.

[0050] The predicted lane departure time Tdep is the time it is predicted that will take for the vehicle 100 to deviate from its lane. For example, in the examples shown in Figure 3(A) and Figure 3(B), the predicted lane departure time Tdep is the time it takes for the vehicle 100 to travel the distance Ddep to the point Pdep where it is predicted that the vehicle 100 will deviate from its lane.

[0051] The vehicle control device 10 calculates and obtains the predicted lane departure time Tdep based on the predicted driving path R1 of the vehicle, the position of the center line CL on the road on which the vehicle 100 is traveling, and the vehicle speed V. The vehicle control device 10 obtains the position of the center line CL based on the surrounding detection information IS.

[0052] The second threshold time T2 is set as appropriate and is set to be shorter than the first threshold time T1.

[0053] If the vehicle control device 10 determines "Yes" in step S215, it proceeds to step S225 and issues a warning notification. Figure 3(A) shows the situation in which "Yes" is determined in step S215.

[0054] The warning notification here is intended to alert the driver of vehicle 100 and the driver of oncoming vehicle 200 about the possibility of a collision between vehicle 100 and oncoming vehicle 200. However, the warning notification may be intended to alert only one of the drivers, either the driver of vehicle 100 or the driver of oncoming vehicle 200.

[0055] The vehicle control device 10 provides a warning notification to the driver of its own vehicle 100 by outputting an alarm sound or a warning voice from the sound device 61, or by displaying a warning image on the display device 62.

[0056] Furthermore, the vehicle control device 10 transmits a signal to the oncoming vehicle 200 via the vehicle-to-vehicle communication device 50 requesting that a warning notification be issued. Upon receiving this signal, the vehicle control device of the oncoming vehicle 200 issues a warning notification to the driver of the oncoming vehicle 200 by outputting an alarm sound or a warning voice from the sound device of the oncoming vehicle 200, or by displaying a warning image on the display device of the oncoming vehicle 200.

[0057] On the other hand, if the vehicle control device 10 determines "No" in step S215, it proceeds to step S220 to determine whether the predicted lane departure time Tdep has fallen below the third threshold time T3. In other words, the vehicle control device 10 determines whether the vehicle 100 is in a state immediately before deviating from its lane.

[0058] The third threshold time T3 is set as appropriate and is set to be shorter than the second threshold time T2.

[0059] If the vehicle control device 10 determines "Yes" in step S220, it proceeds to step S225 and, as described above, issues a warning notification to the driver of its own vehicle 100 and the driver of the oncoming vehicle 200. Figure 3(B) shows the scene in which "Yes" is determined in step S220.

[0060] After issuing a warning notification in step S225, the vehicle control device 10 proceeds to step S230 to determine whether the automatic steering condition Cstr has been met. In this example, the automatic steering condition Cstr is the condition that the vehicle 100 has deviated from its lane.

[0061] If the vehicle control device 10 determines "Yes" in step S230, it proceeds to step S235 and performs automatic steering. As mentioned earlier, automatic steering is the process of automatically steering the vehicle 100 so that it returns to its original lane. Next, the vehicle control device 10 proceeds to step S295 and terminates the processing of this routine.

[0062] On the other hand, if the vehicle control device 10 determines "No" in step S230, it proceeds to step S245, and if automatic steering is being performed at this point, it stops the automatic steering. Next, the vehicle control device 10 proceeds to step S295, and the processing of this routine is temporarily terminated.

[0063] Furthermore, if the vehicle control device 10 determines "No" in step S205, step S210, or step S220, it proceeds to step S240, and if a warning notification is being issued at this point, it stops the warning notification. Next, it proceeds to step S245, and if automatic steering is being performed at this point, it stops the automatic steering. Then, the vehicle control device 10 proceeds to step S295, and the processing of this routine is temporarily terminated.

[0064] The above describes the operation of the vehicle control device 10.

[0065] When the time it is predicted that vehicle 100 will deviate from its lane and collide with oncoming vehicle 200 becomes shorter to a certain period, and as a result it is judged that there is a possibility that vehicle 100 will deviate from its lane and collide with oncoming vehicle 200, if the time until vehicle 100 deviates from its lane is relatively long, and the time from when vehicle 100 deviates from its lane until it collides with oncoming vehicle 200 is also relatively long, then the driver of vehicle 100 or the driver of oncoming vehicle 200 can relatively easily perform appropriate driving maneuvers to avoid a collision between vehicle 100 and oncoming vehicle 200. Therefore, in such situations, it is considered unnecessary to issue warnings or alerts to the driver of vehicle 100 or the driver of oncoming vehicle 200.

[0066] On the other hand, in situations where the time between vehicle 100 deviating from its lane and colliding with oncoming vehicle 200 is short, it is considered preferable to issue a warning notification to the driver of vehicle 100 or the driver of oncoming vehicle 200. Furthermore, even in situations where the time between vehicle 100 deviating from its lane is short, it is considered preferable to issue a warning notification to the driver of vehicle 100 or the driver of oncoming vehicle 200.

[0067] According to the vehicle control device 10, a warning notification is issued when the collision prediction time Tcol is less than the first threshold time T1, and the lane departure prediction time Tdep at that time is equal to or greater than the second threshold time T2. In other words, when the time until the vehicle 100 and the oncoming vehicle 200 collide becomes short enough, a warning notification is issued if the time from when the vehicle 100 deviates from its lane until it collides with the oncoming vehicle 200 is short. This allows for the implementation of appropriate warning notifications.

[0068] Furthermore, according to the vehicle control device 10, if the predicted collision time Tcol falls below the first threshold time T1 and the predicted lane departure time Tdep is greater than or equal to the third threshold time T3, then a warning notification is issued when the predicted lane departure time Tdep subsequently falls below the third threshold time T3. In other words, when the time until the vehicle 100 and the oncoming vehicle 200 collide becomes short enough, and the time until the vehicle 100 deviates from its lane is short, a warning notification is issued. This allows for the implementation of appropriate warning notifications.

[0069] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0070] 10...Vehicle control device, 40...Surrounding information detection device, 41...Image sensor, 411...Camera, 42...Electromagnetic wave sensor, 421...Millimeter wave radar, 50...Vehicle-to-vehicle communication device, 60...Notification device, 61...Acoustic device, 62...Display device, 90...ECU, 100...Own vehicle, 200...Oncoming vehicle

Claims

1. A vehicle control device that, when it is determined that there is a possibility of the vehicle colliding with the oncoming vehicle based on the predicted travel path of the vehicle itself and the predicted travel path of the oncoming vehicle, provides a warning notification to alert the operator of the vehicle itself or the operator of the oncoming vehicle about the possibility of a collision between the vehicle itself and the oncoming vehicle, The control device is When the predicted collision time, which is the time until the vehicle collides with the oncoming vehicle, falls below the first threshold time, and the predicted lane departure time, which is the time until the vehicle deviates from its lane, is equal to or greater than the second threshold time, the warning notification is issued. If the predicted collision time falls below the first threshold time and the predicted lane departure time falls below the second threshold time, the warning notification will not be issued until the predicted lane departure time shortens to less than the third threshold time, which is shorter than the second threshold time. The warning notification will be issued when the predicted lane departure time falls below the third threshold time. It is structured in such a way. Vehicle control device.

2. In the vehicle control device according to Claim 1, The control device is configured to automatically steer the vehicle to return it to the lane if the vehicle deviates from the lane after the warning notification has been issued. Vehicle control device.

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