Vehicle control device, vehicle control method, and computer program for vehicle control

Abstract

To provide a vehicle control device capable of reducing the possibility that an approaching object and an own vehicle come into contact even when detection of the object approaching from behind the own vehicle is difficult.SOLUTION: The vehicle control device includes: a detectable distance determination unit 33 mounted on a vehicle 10 that finds the rear detection distance at which other objects can be detected behind the vehicle 10 based on a sensor signal from a sensor (3-2) that can detect other objects around the vehicle 10; and a vehicle control unit 34 that is configured so as to, when the period in which the rear detection distance is less than a first distance threshold continues for first predetermined time or more, change an autonomous driving control level applied to the vehicle 10 so that the degree of driver involvement in driving is increased.SELECTED DRAWING: Figure 3

Claims

1. A vehicle control device for automatically controlling the driving of a vehicle, A detectable distance determination unit determines a rear detection distance at which other objects can be detected behind the vehicle, based on sensor signals from sensors mounted on the vehicle that are capable of detecting other objects around the vehicle. A traffic congestion determination unit that determines whether or not the area around the vehicle is congested, When the area around the vehicle is congested, if the period during which the rear detection distance is less than a first distance threshold continues for a first predetermined time or longer, the vehicle control unit changes the automated driving control level applied to the vehicle from a control level that does not require driver involvement to a control level that requires driver involvement. A vehicle control device having

2. The vehicle control device according to claim 1, wherein if the period during which the rear detection distance is less than a second distance threshold that is longer than the first distance threshold continues for a second predetermined time or longer, the amount of adjustment of the position of the vehicle in the direction transverse of the lane within the lane in which the vehicle is traveling is smaller than when the rear detection distance is greater than or equal to the second distance threshold.

3. The vehicle control device according to claim 1 or 2, wherein the vehicle control unit sets the first distance threshold when there is a shoulder on the road the vehicle is traveling on to be smaller than the first distance threshold when there is no shoulder on the road the vehicle is traveling on.

4. The system further includes a detection unit that detects objects present around the vehicle based on the aforementioned sensor signals. The vehicle control device according to claim 1 or 2, wherein the vehicle control unit determines, based on the detection result of the object by the detection unit, whether the shoulder of the road on which the vehicle is traveling during the most recent predetermined period is passable to other vehicles, and sets the first distance threshold when it is passable to other vehicles to be smaller than the first distance threshold when it is not passable to other vehicles.

5. The vehicle control device according to claim 1 or 2, wherein the vehicle control unit sets the first distance threshold to be smaller the narrower the width of the lane included in the road on which the vehicle is traveling.

6. A vehicle control method for automatically controlling a vehicle, Based on sensor signals from sensors mounted on the vehicle that are capable of detecting other objects around the vehicle, the rear detection distance at which other objects can be detected behind the vehicle is determined. Determine whether or not the area around the vehicle is congested. When the area around the vehicle is congested, if the period during which the rear detection distance is less than the first distance threshold continues for a first predetermined time or longer, the automated driving control level applied to the vehicle is changed from a control level that does not require driver intervention to a control level that requires driver intervention. A vehicle control method that includes the following.

7. Based on sensor signals from sensors mounted on the vehicle that can detect other objects around the vehicle, the system determines the rear detection distance at which other objects can be detected behind the vehicle. Determine whether or not the area around the vehicle is congested. When the area around the vehicle is congested, if the period during which the rear detection distance is less than the first distance threshold continues for a first predetermined time or longer, the automated driving control level applied to the vehicle is changed from a control level that does not require driver intervention to a control level that requires driver intervention. A vehicle control computer program that causes the processor mounted on the vehicle to perform the following action.

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