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CN-117657131-B - Vehicle control device, vehicle control method, and computer program product

CN117657131BCN 117657131 BCN117657131 BCN 117657131BCN-117657131-B

Abstract

A vehicle control device, a vehicle control method, and a computer program product execute collision avoidance control for avoiding a collision when there is a high possibility of the collision between a host vehicle and a preceding vehicle by controlling an actuator for the collision avoidance control, wherein a movement scheduled direction of the preceding vehicle is acquired, execution of the collision avoidance control is prohibited when the movement scheduled direction of the preceding vehicle is the same direction as the avoidance scheduled direction of the host vehicle based on the collision avoidance control, and a control start condition for starting the collision avoidance control is set in such a manner that the control start condition is established at a later timing than when the movement scheduled direction of the preceding vehicle is not acquired.

Inventors

  • Nakanaka Yumi
  • Tonoto sho

Assignees

  • 丰田自动车株式会社

Dates

Publication Date
20260505
Application Date
20220119
Priority Date
20210121

Claims (5)

  1. 1. A vehicle control device is provided with: a controller that executes collision avoidance control for avoiding a collision when the possibility of collision between the host vehicle and the preceding vehicle is high by controlling an actuator for collision avoidance control, The controller is configured to: A predetermined direction of movement of the preceding vehicle is acquired, In the case where the predetermined direction of movement of the preceding vehicle is the same direction as the predetermined direction of avoidance of the host vehicle based on the collision avoidance control, execution of the collision avoidance control is prohibited, When the predetermined direction of movement of the preceding vehicle is a direction different from the predetermined direction of avoidance of the host vehicle by the collision avoidance control, a control start condition for starting the collision avoidance control is set in such a manner that the control start condition is established at a later timing than when the predetermined direction of movement of the preceding vehicle is not acquired.
  2. 2. The vehicle control apparatus according to claim 1, wherein, The controller is configured to: a movement predetermined direction of the preceding vehicle is acquired based on a direction that the direction indicator is indicating when the direction indicator of the preceding vehicle is blinking.
  3. 3. The vehicle control apparatus according to claim 2, wherein, In either one of the case where the left direction indicator of the direction indicators of the front vehicle and the right direction indicator of the direction indicators of the front vehicle are both in an unblown state and the case where the left direction indicator and the right direction indicator are both in a blinking state, the movement predetermined direction of the front vehicle is not acquired.
  4. 4. A vehicle control method for executing collision avoidance control for avoiding a collision when the possibility of the collision between the host vehicle and a preceding vehicle is high by controlling an actuator for the collision avoidance control, The vehicle control method includes: a step of acquiring a movement preset direction of the front vehicle; A step of prohibiting execution of the collision avoidance control in the case where the predetermined direction of movement of the preceding vehicle is the same direction as the predetermined direction of avoidance of the host vehicle based on the collision avoidance control, and And setting a control start condition for starting the collision avoidance control in such a manner that the control start condition is established at a later timing than in the case where the movement scheduled direction of the preceding vehicle is not acquired, when the movement scheduled direction of the preceding vehicle is a direction different from the avoidance scheduled direction of the host vehicle based on the collision avoidance control.
  5. 5. A computer program product includes a computer program that is executed by a computer that is installed in a host vehicle to execute collision avoidance control for avoiding a collision when the possibility of the host vehicle colliding with a preceding vehicle is high by controlling an actuator for the collision avoidance control, The computer program causes the computer to perform the steps of: a step of acquiring a movement preset direction of the front vehicle; A step of prohibiting execution of the collision avoidance control in the case where the predetermined direction of movement of the preceding vehicle is the same direction as the predetermined direction of avoidance of the host vehicle based on the collision avoidance control, and And setting a control start condition for starting the collision avoidance control in such a manner that the control start condition is established at a later timing than in the case where the movement scheduled direction of the preceding vehicle is not acquired, when the movement scheduled direction of the preceding vehicle is a direction different from the avoidance scheduled direction of the host vehicle based on the collision avoidance control.

Description

Vehicle control device, vehicle control method, and computer program product The application is a divisional application of the following application: The invention provides a collision avoidance assistance device. The application number of the parent application is 202210060740.9. Technical Field The present invention relates to a vehicle control device, a vehicle control method, and a computer program product for performing control for avoiding collision of a vehicle (host vehicle) with another vehicle (preceding vehicle) located in front of the host vehicle. Background One of conventional collision avoidance assistance devices automatically turns a host vehicle so that the host vehicle moves along an avoidance path that can avoid a collision between the host vehicle and an obstacle present in front of the host vehicle when the host vehicle has the avoidance path that can avoid the collision between the host vehicle and the obstacle and that does not collide with another object (see patent literature 1.). Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2017-43262 Further, an obstacle existing in front of the host vehicle may be a preceding vehicle, and the direction indicator of the preceding vehicle may be operating (flashing) to indicate either one of the left direction and the right direction (hereinafter, may be referred to as "indication direction"). In this case, there is a possibility that the instruction direction is different from the direction in which the host vehicle intends to avoid the preceding vehicle by the steering avoidance control (either one of the left direction and the right direction, hereinafter also referred to as "avoidance scheduled direction"). In this case, after the host vehicle starts traveling along the avoidance path (that is, after the steering avoidance control is started), the possibility that the preceding vehicle moves in a direction away from the host vehicle is high. If the steering avoidance control is started in advance and then the preceding vehicle moves in the instruction direction, the amount of lateral movement of the vehicle by the steering avoidance control may become excessive, or the steering avoidance control may not be necessary. As a result, the driver may feel tired of the steering avoidance control. On the other hand, in a situation where the direction of instruction of the preceding vehicle is the same as the intended direction of avoidance of the host vehicle, the preceding vehicle may approach the avoidance path gradually. In this case, the preceding vehicle may excessively approach the host vehicle that intends to avoid a collision with the preceding vehicle by the steering avoidance control, or the preceding vehicle may collide with the host vehicle that intends to avoid a collision with the preceding vehicle by the steering avoidance control. Disclosure of Invention The present disclosure has been made in order to cope with the above-described problems. That is, it is an object of the present disclosure to provide a vehicle control device that, when the vehicle control device executes collision avoidance control (steering avoidance control), does not excessively approach the host vehicle and the preceding vehicle, and that can reduce the possibility of causing the driver to feel tired of the collision avoidance control. Hereinafter, the vehicle control device of the present disclosure is sometimes referred to as "the present disclosure assist device". The disclosed assist device (10) is provided with a surrounding sensor (21) that includes a camera sensor (21 b) that captures an area in front of a host vehicle (SV) to acquire image data representing the area, and acquires information on a front vehicle (OV 1) based on at least the image data, wherein the front vehicle (OV 1) is another vehicle that is present in the area in front of the host vehicle, a rudder angle actuator (52) that is configured to be able to change the rudder angle of the host vehicle, and a control unit (20) that acquires a target track for avoiding collision between the host vehicle and the front vehicle by calculation using the image data when it is determined that a collision possibility condition is satisfied based on the information from the surrounding sensor (step 710, step 715, step 720), and starts steering control (step 855) that controls the rudder angle actuator so that the host vehicle travels along the target track when it is determined that a predetermined collision avoidance control start condition is satisfied (step 850), wherein the possibility of collision possibility condition is satisfied by the host vehicle. The control unit is configured to acquire avoidance reservation direction information (step 860) indicating which of the left and right directions the target track has rerouted to the host vehicle with respect to the avoidance reservation direction, determine, based on the image data, whether or n