Vehicle control device

Abstract

The purpose of the present invention is to provide a vehicle control device capable of executing road edge deviation prevention control while suppressing driver interference, even when traveling on a road having a complex road edge shape. To this end, a vehicle control device 100 comprises: a road edge detecting unit 110 that detects a road edge 301 of a road 300 on which a host vehicle 200 is traveling; a vehicle speed detecting unit 121 that detects a vehicle speed v of the host vehicle 200; a virtual road edge generating unit 130 that corrects a detected position Pi of the road edge 301 such that a variation in the detected position Pi of the road edge 301 with respect to the traveling direction of the host vehicle 200 becomes smaller as the vehicle speed v increases, and generates a virtual road edge 302 on the basis of the detected position P'i of the road edge 301 after correction; and a road edge deviation suppression control unit 140 that executes steering control of the host vehicle 200 so as to suppress deviation of the host vehicle 200 from the virtual road edge 302.

Description

Vehicle control device

[0001] The present invention relates to a vehicle control device, and more particularly to a vehicle control device that automatically steers a vehicle so that the vehicle does not deviate from the road.

[0002] As proposed in Patent Document 1, a vehicle driving device is known that performs roadside departure prevention control by generating a yaw moment in the vehicle when the vehicle is about to deviate from the road, thereby preventing the departure.

[0003] For example, a camera is used as an external recognition sensor to detect the edge of the road on which the vehicle is traveling, and if there is a risk that the vehicle will deviate from the edge of the road depending on the yaw angle and lateral position relative to the edge of the road, a steering torque is applied to the steering of the vehicle to generate a yaw moment to prevent the vehicle from deviating.

[0004] Furthermore, as in Patent Document 2, there is a vehicle control device that, when an obstacle such as another vehicle is present on the white line of the driving lane, sets a virtual lane for the obstacle and controls the vehicle according to the set virtual lane.

[0005] JP 2018-83578 A JP 2010-018207 A

[0006] Patent Document 1 proposes a method of preventing deviation by changing the control amount for road edges where there is a risk of contact. The technology in Patent Document 1 determines whether the road edge to be controlled is flat or a three-dimensional object, and if it is a three-dimensional object, the control amount is changed to prevent deviation from the road edge to avoid contact, but if it is flat, it is acceptable to deviate slightly from the road edge to be controlled, and the control amount is changed to prevent excessive steering torque that would interfere with the driver's driving operation.

[0007] However, the shape of actual road edges is often indefinite, and if a control amount is determined for a road edge whose height and shape are discontinuous, such as the edge of a road bordering a bush, the control amount of the steering torque may change frequently, which may be annoying to the driver.

[0008] As described above, road edge departure prevention control has the problem that it cannot correctly determine the road edge because the road edge shape is indefinite, resulting in driver interference. Road edge departure prevention control technologies currently on the market are limited to cases where the road edge shape is linear, but since there is a possibility of contact with a curb or the vehicle going off the road if the vehicle deviates, it is desirable to actively activate road edge departure prevention control.

[0009] On the other hand, Patent Document 2 proposes that a virtual lane can be set for an obstacle, thereby enabling control in line with the driver's intentions. In the virtual lane setting technology of Patent Document 2, when an obstacle such as another vehicle is present on the white line of the driving lane, a virtual lane is set for the obstacle, and the virtual lane is set by connecting the obstacle and the actual lane boundary at a length determined by the traveling speed of the vehicle.

[0010] However, since virtual lanes are generated starting from the edge of the road near the vehicle, when driving on roads with complex road edge shapes, such as roads bordered by grass, the angle of the virtual lane relative to the vehicle may change frequently, which may interfere with the driver's driving operations.

[0011] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a vehicle control device that can perform road edge departure prevention control while suppressing driver interference, even when driving on roads with complex road edge shapes.

[0012] In order to achieve the above-mentioned object, the present invention comprises a road edge detection unit that detects the road edge of a road on which the host vehicle is traveling, a vehicle speed detection unit that detects the vehicle speed of the host vehicle, a virtual road edge generation unit that corrects the detected position of the road edge so that the greater the vehicle speed, the smaller the fluctuation in the detected position of the road edge relative to the traveling direction of the host vehicle, and generates a virtual road edge based on the corrected detected position of the road edge, and a road edge departure prevention control unit that performs steering control of the host vehicle to prevent departure of the host vehicle from the virtual road edge.

[0013] According to the present invention, it is possible to execute roadside departure prevention control while suppressing driver interference, even when traveling on a road having a complex roadside shape.

[0014] FIG. 1 is a block diagram showing the configuration of a vehicle control device in a first embodiment of the present invention. FIG. 2 is a plan view showing road edge departure prevention control in a first embodiment of the present invention. FIG. 3 is a flowchart showing road edge departure prevention control in a first embodiment of the present invention. FIG. 4 is a plan view showing an example of road edge detection in a first embodiment of the present invention. FIG. 5 is a plan view showing an example of correction of a road edge detection position in a first embodiment of the present invention. FIG. 6 is a graph showing the relationship between the y coordinate of the road edge detection position and the y coordinate of the corrected road edge detection position in a first embodiment of the present invention. FIG. 7 is a plan view showing an example of a virtual road edge in a first embodiment of the present invention. FIG. 8 is a diagram showing the effect of a first embodiment of the present invention. FIG. 9 is a plan view showing an example of a virtual road edge in a second embodiment of the present invention. FIG. 10 is a diagram showing the effect of a second embodiment of the present invention. FIG. 11 is a diagram showing the effect of a third embodiment of the present invention.

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals are used to designate the same components, and redundant description will be omitted.

[0016] 1 is a block diagram showing the configuration of a vehicle control device according to a first embodiment of the present invention. The vehicle control device 100 includes a roadside detection unit 110, a host vehicle information acquisition unit 120, a controller 130, and a vehicle control unit 140.

[0017] The road edge detection unit 110 is configured with a stereo camera or the like, and detects the road edge ahead of the vehicle and transmits the detected road edge to the controller 130 .

[0018] The host vehicle information acquisition unit 120 is composed of a speed sensor 121, a steering angle sensor 122, a yaw rate sensor 123, an acceleration sensor 124, etc., and acquires information related to the host vehicle (hereinafter referred to as host vehicle information). The speed sensor 121 detects the vehicle speed of the host vehicle and transmits it to the controller 130. The speed sensor 121 constitutes a vehicle speed detection unit of the vehicle control device 100. The steering angle sensor 122 detects the angle of the steering wheel of the host vehicle, i.e., the steering angle, and transmits it to the controller 130. The yaw rate sensor 123 detects the yaw rate of the host vehicle and transmits it to the controller 130. The acceleration sensor 124 detects the acceleration of the host vehicle and transmits it to the controller 130. The acceleration sensor 124 constitutes an acceleration detection unit of the vehicle control device 100.

[0019] The controller 130 generates a virtual road edge based on the road edge detection result from the road edge detection unit 110 and the host vehicle information acquired by the host vehicle information acquisition unit 120, and outputs an HMI command to notify the driver when deviation prevention from the virtual road edge is necessary, and outputs a steering command to prevent deviation from the virtual road edge. The controller 130 constitutes the virtual road edge generation unit of the vehicle control device 100.

[0020] The vehicle control unit 140 is composed of a human-machine interface (hereinafter, referred to as HMI) unit 141, a steering system 142, etc. The HMI unit 141 performs warning control, display, steering vibration, and other driver notifications based on HMI commands calculated by the controller 130. The steering system 142 performs steering control based on steering commands calculated by the controller 130. The vehicle control unit 140 has a road departure prevention function (RDP) and constitutes a road edge departure prevention control unit of the vehicle control device 100. The road departure prevention function is a function that issues a warning to the driver and automatically steers the vehicle so that the vehicle does not deviate from the road. In contrast, the lane departure prevention function (LDP) is a function that issues a warning to the driver and automatically steers the vehicle so that the vehicle does not deviate from the lane.

[0021] The controller 130 functions as a road edge departure prevention control unit that detects the road edge on which the vehicle is traveling based on information from the speed sensor 121, the steering angle sensor 122, the yaw rate sensor 123, and the road edge detection unit 110, and calculates the steering torque to be applied to the steering of the vehicle so as to generate a yaw moment in the vehicle to prevent the vehicle from deviating from the road edge and the timing to issue an alarm to the driver when there is a risk that the vehicle will deviate from the road edge based on the yaw angle and lateral position of the vehicle relative to the road edge. Note that while the present embodiment calculates the steering torque, it may instead calculate a target steering angle to generate a yaw moment in the vehicle to prevent the vehicle from deviating from the road edge.

[0022] FIG. 2 is a plan view showing the roadside departure prevention control of the vehicle control device 100. As shown in FIG.

[0023] The controller 130 calculates the steering torque Trdp based on the equation (1).

[0024]

[0025] Here, γrdp is the target yaw rate, and Kstr, Kd, ​​and Kθ are control gains. The target yaw rate γrdp is calculated from the lateral position deviation yd of the host vehicle 200 relative to the road edge 301 detected by the road edge detection unit 110 and the yaw angle θr of the host vehicle 200 relative to the road edge 301 detected by the road edge detection unit 110.

[0026] The steering torque Trdp is calculated from the target yaw rate γrdp and the yaw rate γ of the host vehicle 200 detected by the yaw rate sensor 123. Specifically, the steering torque Trdp is calculated by multiplying the difference obtained by subtracting the yaw rate γ from the target yaw rate γrdp by a parameter Kstr corresponding to the steering characteristics of the host vehicle 200.

[0027] The HMI unit 141 has a function of alerting the driver by means of a screen display, a buzzer, steering wheel vibration, etc., and is used to alert the driver by output from the controller 130 when there is a possibility that the vehicle 200 may deviate from the road edge 301.

[0028] The steering system 142 is specifically a steering system such as EPS (Electric Power Steering), which generates a yaw moment in the vehicle 200 by output from the controller 130 when there is a possibility that the vehicle 200 may deviate from the road edge 301, thereby generating a steering torque to return the vehicle 200 to the road 300.

[0029] FIG. 3 is a flowchart showing the roadside departure prevention control executed by the vehicle control device 100.

[0030] First, the controller 130 acquires the vehicle speed v of the host vehicle 200 and the like using the host vehicle information acquisition unit 120 (step S101).

[0031] Following step S101, the road edge detection unit 110 acquires the detected road edge position ahead of the vehicle (step S102).

[0032] Following step S102, the road edge detection position is corrected in accordance with the vehicle speed v of the host vehicle 200 (step S103).

[0033] Following step S103, a corrected road edge detection position to be used for generating a virtual road edge is selected from the corrected road edge detection positions (hereinafter referred to as corrected road edge detection positions), and a virtual road edge 302 is generated from the selected corrected road edge detection position (step S104).

[0034] Following step S104, road edge departure suppression control is performed based on the generated virtual road edge 302 (S106), and the flow ends.

[0035] In step S102, the road edge detection result ahead of the vehicle obtained by the road edge detection unit 110 is assumed to be obtained as a set of road edge detection positions Pi=(xi, yi).

[0036] 4 shows an example of road edge detection using a stereo camera. Assuming that the distance Li to the road edge 301 can be detected in 1.5 degree increments at angles θi within the field of view range of the stereo camera, the detected road edge position is defined on a two-dimensional xy plane, with the x coordinate representing the vehicle's traveling direction and the y coordinate representing the vehicle's lateral direction, as shown in Equation (2).

[0037]

[0038] In step S103, the road edge detection position Pi=(xi, yi) is corrected to generate a corrected road edge detection position P'i=(xi, y'i). An example of the correction of the road edge detection position is shown in FIG.

[0039] The y-coordinate y'i of the corrected road edge detection position P'i is defined as a function f of the y-coordinate yi of the road edge detection position Pi detected by the road edge detection unit 110 and the vehicle speed v detected by the speed sensor 21, as shown in equation (3).

[0040]

[0041] An example of the function f in equation (3) is shown in equation (4).

[0042]

[0043] Figure 6 is a graph showing the relationship between the y-coordinate yi of the road edge detection position Pi and the y-coordinate y'i of the corrected road edge detection position P'i, and is an example where, in equation (4), the vehicle width VW is 1.8 m and the allowable offset amount Woffset to the virtual lane boundary is 1.1 m.

[0044] Using equation (4), a virtual road edge 302 can be generated that has an offset W from the road edge 301 along the driving direction of the vehicle 200.Therefore, the higher the vehicle speed v, the more offset W can be secured, and a straight virtual road edge 302 can be generated that is along the driving direction of the vehicle 200.

[0045] In this embodiment, position correction is performed using mathematical formulas such as equations (3) and (4). Alternatively, a map of the y-coordinate yi of the road edge detection position Pi and the vehicle speed v may be created, and position correction may be performed using this map.

[0046] 3, in step S104, in this embodiment, a B-spline curve S(x) is generated with the corrected road edge detection positions P'i = (xi, y'i) as control points, and virtual road edges are generated by interpolating the corrected road edge detection positions P'i, which are discrete points. An example of the virtual road edges generated in step S104 is shown in FIG.

[0047] Equation (5) is the basic equation for the B-spline curve S(x).

[0048]

[0049] Here, Ni,p are the basis functions of the B-spline, n is the number of control points, and p is the order of the basis functions.

[0050] The virtual road edge 302 may be set as a curve other than the B-spline curve described above, and for example, the virtual road edge 302 may be generated by fitting an nth-order function to the corrected road edge detection position P'i = (xi, y'i).

[0051] In step S105, the controller 130 determines whether there is a possibility that the host vehicle 200 will deviate from the virtual road edge 302 based on the vehicle speed v detected by the speed sensor 121, the steering angle detected by the steering angle sensor 122, the yaw rate γ of the host vehicle 200 detected by the yaw rate sensor 123, and the virtual road edge 302, and if there is a possibility that the host vehicle 200 will deviate from the virtual road edge 302, calculates a control amount and HMI notification to generate a yaw moment in the host vehicle 200 and return the host vehicle 200 to the center of the road.

[0052] FIG. 8 is a diagram showing the effect of the present invention in the first embodiment.

[0053] 8 shows an example of a virtual road edge 302 generated when the vehicle is traveling at a low speed. When the vehicle speed v is low, the degree of position correction in step S103 is small, so that the virtual road edge 302 is generated so as to align with the actual road edge 301.

[0054] 8 shows an example of a virtual road edge 302 generated when the vehicle is traveling at high speed. When the vehicle speed v is high, the degree of position correction in step S103 increases, so the road edge detection position Pi, which is farther to the side of the vehicle 200, is significantly corrected toward the vehicle to generate the virtual road edge 302.

[0055] (Summary) The vehicle control device 100 in the first embodiment includes a road edge detection unit 110 that detects the road edge 301 of the road 300 on which the host vehicle 200 is traveling, a vehicle speed detection unit 121 that detects the vehicle speed v of the host vehicle 200, a virtual road edge generation unit 130 that corrects the detected position Pi of the road edge 301 so that the fluctuation of the detected position Pi of the road edge 301 relative to the traveling direction of the host vehicle 200 becomes smaller as the vehicle speed v increases, and generates a virtual road edge 302 based on the corrected detected position P'i of the road edge 301, and a road edge departure prevention control unit 140 that performs steering control of the host vehicle 200 to prevent the host vehicle 200 from deviating outside the virtual road edge 302.

[0056] According to the first embodiment configured as described above, the higher the vehicle speed v of the host vehicle 200, the more the road edge departure prevention control is executed for the virtual road edge 302, which has a shape that is in line with the vehicle's traveling direction, and therefore excessive steering due to the road edge departure prevention control can be suppressed when the vehicle is traveling at high speeds. On the other hand, when the vehicle is traveling at low speeds, the shape of the virtual road edge 302 becomes closer to the shape of the actual road edge 301, and the host vehicle 200 can be moved closer to the road edge 301. This makes it possible to execute the road edge departure prevention control while suppressing driver interference, even when the vehicle is traveling on a road with a complex road edge shape.

[0057] Furthermore, the virtual road edge generation unit 130 in the first embodiment corrects the detected position Pi of the road edge 301 so that the detected position Pi of the road edge 301 approaches the host vehicle 200 as the vehicle speed v of the host vehicle 200 increases. As a result, the virtual road edge 302 is generated closer to the host vehicle as the vehicle speed v of the host vehicle 200 increases, thereby reducing the possibility that the host vehicle 200 will deviate from the road edge 301.

[0058] The second embodiment of the present invention will be described below, focusing on the differences from the first embodiment. In the first embodiment, a method for generating a virtual road edge 302 in accordance with a vehicle speed v was described. In the second embodiment, a method for generating a virtual road edge 302 in consideration of the difference in elevation between the road surface of a road 300 and a road edge 301 will be described.

[0059] Steps S101, S104, and S105 are the same as those in the first embodiment, and therefore a description thereof will be omitted.

[0060] In step S102, when the road edge detection unit 110 detects the road edge 301 ahead of the vehicle, the position and height are obtained as the road edge detection position Pi=(xi, yi, hi), where the height hi is the difference in elevation from the road surface of the road 300. The difference in elevation h of the road edge 301 is an example of environmental information about the road edge 301.

[0061] In step S103, the road edge detection position Pi=(xi, yi, hi) is corrected to generate a corrected road edge detection position P'i=(xi, y'i, hi), where the y-coordinate y'i of the corrected road edge detection position P'i is expressed as a function fh of the y-coordinate yi of the road edge detection position Pi, the vehicle speed v, and the elevation difference h of the road edge, as shown in equation (6).

[0062]

[0063] An example of the function fh is shown in equation (7).

[0064]

[0065] Here, K(h) is a gain corresponding to the difference in elevation h of the road edge, and is defined by, for example, equation (8).

[0066]

[0067] Here, a is an arbitrary positive number.

[0068] By defining the function fh as in equations (7) and (8), when either the vehicle speed v or the elevation difference h of the road edge 301 is large, the road edge detection position Pi can be offset toward the vehicle.

[0069] The function fh may also be defined as a cost function of the vehicle speed v and the elevation difference h of the road edge 301, as in equation (9).

[0070]

[0071] Here, Cv and Ch are weights of the cost function, and are set so that the sum of the weights is 1.

[0072] In this embodiment, position correction is performed using a formula such as equation (6), (7) or (9). Alternatively, position correction may be performed by creating a map of the y-coordinate yi of the road edge detection position Pi and the elevation difference h of the road edge 301.

[0073] FIG. 9 is a plan view showing an example of a virtual road edge 302 in the second embodiment.

[0074] FIG. 10 is a diagram showing the effect of the present invention in the second embodiment.

[0075] In the example of FIG. 10, the vehicle speed v is 0 in order to show the effect of the elevation difference h.

[0076] The upper diagram in Figure 10 is an example of detecting a parked vehicle 201, where the road edge detection position Pi is offset toward the vehicle by position correction in step S103 at the position of the parked vehicle 201, and a virtual road edge 302 is generated.

[0077] The lower diagram in FIG. 9 shows an example in which a curb 303 is detected. At the position of the curb 303, the road edge detection position Pi is offset toward the vehicle by the position correction in step S103, and a virtual road edge 302 is generated.

[0078] (Summary) The virtual road edge generating unit 130 in the second embodiment corrects the detected position Pi of the road edge 301 based on the environmental information of the road edge 301 .

[0079] According to the second embodiment configured as described above, it is possible to obtain the same effects as the first embodiment and also to generate a virtual road edge 302 that takes into account environmental information about the road edge 301.

[0080] Furthermore, the virtual road edge generation unit 130 in the second embodiment corrects the detected position Pi of the road edge 301 so that the greater the difference in elevation h between the road surface of the road 300 and the road edge 301, among the environmental information of the road edge 301, the closer the detected position Pi of the road edge 301 is to the host vehicle 200. As a result, the greater the difference in elevation h between the road surface of the road 300 and the road edge 301, the closer the virtual road edge 302 is generated to the host vehicle, thereby making it possible to reduce the possibility of contact with a curb 303 or the like or of the vehicle running off the road.

[0081] The third embodiment of the present invention will be described below, focusing on the differences from the first and second embodiments. In the first and second embodiments, a method for generating a virtual road edge 302 in accordance with the vehicle speed v of the host vehicle 200 and the elevation difference h of the road edge 301 was described. In this embodiment, a method for generating a virtual road edge 302 in accordance with the vehicle speed v and acceleration a of the host vehicle 200 will be described.

[0082] In FIG. 3, steps S101, S102, S104, and S105 are the same as those in the first embodiment, and therefore a description thereof will be omitted.

[0083] In step S103, the road edge detection position Pi=(xi, yi) is corrected to generate a corrected road edge detection position P'i=(xi, y'i), where the y-coordinate y'i of the corrected road edge detection position P'i is defined as a function fa of the y-coordinate yi of the road edge detection position Pi, the vehicle speed v, and the acceleration a, as shown in equation (10).

[0084]

[0085] The function fa is expressed as a cost function of the vehicle speed v and acceleration a, as shown in equation (11).

[0086]

[0087] Here, Cv and Ca are weights of the cost function, and are set so that the sum of the weights Cv and Ca is 1. According to equation (11), when either the vehicle speed v or the acceleration a is large, the road edge detection position Pi can be offset toward the host vehicle.

[0088] Furthermore, even if the vehicle speed v is the same, if the vehicle 200 is decelerating (acceleration a becomes negative), the correction due to acceleration a and the correction due to vehicle speed v cancel each other out, so the corrected road edge detection position P'i = (xi, y'i) can be brought closer to the actual road edge 301.

[0089] Furthermore, the second and third embodiments may be combined to define a function for performing position correction as in equation (12).

[0090]

[0091] Here, Cv, Ch, and Ca are weights of the cost function, and are set so that the sum of the weights is 1.

[0092] Fig. 11 is a diagram showing the effect of the present invention in the third embodiment. In the example of Fig. 10, acceleration and deceleration are performed when the vehicle is traveling at a speed v of 10 m / s.

[0093] The upper diagram in FIG. 11 is an example of a virtual road edge 302 generated during deceleration, and the virtual road edge 302 is generated so as to approach the actual road edge 301 by position correction in step S103).

[0094] The lower diagram in FIG. 11 is an example of a virtual road edge 302 generated during acceleration, where the road edge detection position Pi is offset toward the vehicle by the position correction in step S103, and the virtual road edge 302 is generated.

[0095] (Summary) In the third embodiment, the virtual road edge generation unit 130 corrects the detected position Pi of the road edge 301 so that the fluctuation of the detected position Pi of the road edge 301 relative to the traveling direction of the vehicle 200 becomes smaller as the acceleration a of the vehicle 200 becomes larger.

[0096] The third embodiment configured as described above also provides the same effects as the first embodiment. Furthermore, excessive steering is suppressed when accelerating the vehicle 200, and the vehicle 200 can be moved closer to the road edge 301 when decelerating, making it possible to realize driving operations that are consistent with the driver's intentions.

[0097] Furthermore, the virtual road edge generation unit 130 in the third embodiment corrects the detected position Pi of the road edge 301 so that the detected position Pi of the road edge 301 approaches the host vehicle 200 as the acceleration a of the host vehicle 200 increases. As a result, the virtual road edge 302 is generated closer to the host vehicle as the acceleration a of the host vehicle 200 increases, thereby reducing the possibility that the host vehicle 200 will deviate from the road edge 301.

[0098] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments are presented to clearly explain the present invention, and are not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0099] 100...vehicle control device, 110...road edge detection unit, 120...own vehicle information acquisition unit, 121...speed sensor (vehicle speed detection unit), 122...steering angle sensor, 123...yaw rate sensor, 124...acceleration sensor (acceleration detection unit), 130...controller (virtual road edge generation unit), 140...vehicle control unit (road edge departure prevention control unit), 141...HMI unit, 142...steering system, 200...own vehicle, 201...parked vehicle, 300...road, 301...road edge, 302...virtual road edge, 303...curb.

Claims

1. A vehicle control device comprising: a road edge detection unit that detects a road edge of a road on which the host vehicle travels; a vehicle speed detection unit that detects the vehicle speed of the host vehicle; a virtual road edge generation unit that corrects the detection position of the road edge so that the fluctuation of the detection position of the road edge with respect to the traveling direction of the host vehicle becomes smaller as the vehicle speed becomes larger, and generates a virtual road edge based on the corrected detection position of the road edge; and a road edge departure suppression control unit that executes steering control of the host vehicle so as to suppress departure of the host vehicle from the virtual road edge.

2. The vehicle control device according to claim 1, wherein the virtual road edge generation unit corrects the detection position of the road edge so that the detection position of the road edge approaches the host vehicle as the vehicle speed becomes larger.

3. The vehicle control device according to claim 1, wherein the virtual road edge generation unit corrects the detection position of the road edge based on the environmental information of the road edge.

4. The vehicle control device according to claim 3, wherein the virtual road edge generation unit corrects the detection position of the road edge so that the detection position of the road edge approaches the host vehicle as the height difference between the road surface of the road and the road edge in the environmental information becomes larger.

5. The vehicle control device according to claim 1, further comprising an acceleration detection unit that detects the acceleration of the host vehicle, wherein the virtual road edge generation unit corrects the detection position of the road edge so that the fluctuation of the detection position of the road edge with respect to the traveling direction becomes smaller as the acceleration becomes larger.

6. The vehicle control device according to claim 1, further comprising an acceleration detection unit that detects the acceleration of the host vehicle, wherein the virtual road edge generation unit corrects the detection position of the road edge so that the detection position of the road edge approaches the host vehicle as the acceleration becomes larger.

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