CN-121989924-A - Vehicle control device and control method

CN121989924ACN 121989924 ACN121989924 ACN 121989924ACN-121989924-A

Abstract

The invention aims to inhibit secondary collision damage when a vehicle is in a stop state and is in rear-end collision with a following vehicle. The control device for a vehicle executes automatic braking control that acquires a relative relationship between a target object and the vehicle that are present within a predetermined range of the traveling direction of the vehicle, and automatically stops the vehicle when it is determined that the collision risk of the vehicle and the target object is equal to or greater than a predetermined level based on the acquired relative relationship, wherein when it is determined that the rear-end collision risk of a following vehicle approaching from the rear of the vehicle is equal to or greater than the predetermined level in a state in which the vehicle is stopped by execution of the automatic braking control, automatic steering control is executed that steers the wheels of the vehicle so as to change the traveling direction of the vehicle when the vehicle is rear-ended by the following vehicle based on the 1 st information, the 2 nd information, and the 3 rd information.

Inventors

YAMADA SHIGEHARU
ONO KOTA
Hiiwa Yuta
NAKAMURA SATOSHI
Iguchi Naotaka

Assignees

丰田自动车株式会社

Dates

Publication Date: 20260508
Application Date: 20251105
Priority Date: 20241107

Claims (4)

1. A control device for a vehicle that executes automatic brake control that acquires a relative relationship between a target object existing within a predetermined range of a traveling direction of a vehicle and the vehicle, and that automatically stops the vehicle when it is determined that a collision risk of the vehicle and the target object is a predetermined level or more based on the acquired relative relationship, When it is determined that the risk of a rear-end collision of a following vehicle approaching from behind the own vehicle with respect to the own vehicle is equal to or greater than a predetermined level in a state where the own vehicle is stopped by execution of the automatic brake control, automatic steering control is executed to steer wheels of the own vehicle so as to change the traveling direction of the own vehicle when the own vehicle is caught by the following vehicle, based on 1 st information on whether an obstacle exists in front of the own vehicle, 2 nd information on whether an obstacle exists obliquely in front of the own vehicle, and 3 rd information including the curvature of a road where the own vehicle is stopped.
2. The control device for a vehicle according to claim 1, wherein, When it is determined that there is no obstacle in front of the own vehicle based on the 1 st information, if the own vehicle is stopped at a curve or an entrance of a curve, the automatic steering control is executed by steering the wheels so that the traveling direction of the own vehicle follows the curvature of the curve based on the 3 rd information.
3. The control device for a vehicle according to claim 2, wherein, When it is determined that there is an obstacle ahead of the own vehicle based on the 1 st information, if it is determined that there is no obstacle ahead of the own vehicle obliquely based on the 2 nd information, the automatic steering control is executed by steering the wheels so that the traveling direction of the own vehicle is obliquely ahead.
4. A control method of a vehicle that executes automatic brake control that acquires a relative relationship between a target object existing within a predetermined range of a traveling direction of a host vehicle and the host vehicle, and automatically stops the host vehicle when it is determined that a collision risk of the host vehicle and the target object is a predetermined level or more based on the acquired relative relationship, the control method of the vehicle being characterized in that, When it is determined that the risk of a rear-end collision of a following vehicle approaching from behind the own vehicle with respect to the own vehicle is equal to or greater than a predetermined level in a state where the own vehicle is stopped by execution of the automatic brake control, automatic steering control is executed to steer wheels of the own vehicle so as to change the traveling direction of the own vehicle when the own vehicle is caught by the following vehicle, based on 1 st information on whether an obstacle exists in front of the own vehicle, 2 nd information on whether an obstacle exists obliquely in front of the own vehicle, and 3 rd information including the curvature of a road where the own vehicle is stopped.

Description

Vehicle control device and control method Technical Field The present invention relates to a control device and a control method for a vehicle. Background For example, patent document 1 discloses a technique for determining whether an obstacle is present in the obliquely forward direction when a following vehicle is determined to be a rear-end collision in a state where the vehicle is stopped by automatic braking, and automatically steering the wheels of the vehicle in the obliquely forward direction when it is determined that no obstacle is present. Patent document 1 Japanese patent laid-open No. 2008-247168 Disclosure of Invention The technique described in patent document 1 does not consider the shape of a road (straight road, curve, etc.) where the own vehicle stops by automatic braking. Therefore, in the technique described in patent document 1, for example, when the own vehicle is automatically braked and stopped at the entrance of a curve or at a curve, if the own vehicle is automatically steered in a diagonally forward direction in which it is determined that there is no obstacle, the own vehicle may deviate from the road or deviate from the lane and collide with the preceding vehicle in the same direction when the following vehicle is involved in a rear-end collision. The present invention has been made to solve the above-described problems, and an object of the present invention is to effectively suppress secondary collision damage when a vehicle is stopped and a vehicle is knocked back by a following vehicle. The technology of the present invention is a control device and control method for a vehicle that executes an automatic brake control that acquires a relative relationship between a target object existing in a predetermined range of a traveling direction of a vehicle and the vehicle, and automatically stops the vehicle when it is determined that a collision risk of the vehicle and the target object is equal to or higher than a predetermined level based on the acquired relative relationship, wherein the vehicle is determined to be in a state where the vehicle is stopped by execution of the automatic brake control, and executes an automatic steering control that steers the vehicle in such a manner that a traveling direction of the vehicle is changed when a rear-end collision risk of a following vehicle approaching from a rear side of the vehicle to the vehicle is equal to or higher than a predetermined level, based on 1 st information on whether an obstacle is present in front of the vehicle, 2 nd information on whether an obstacle is present in front of the vehicle, and 3 rd information including a curvature of a road where the vehicle is stopped. Drawings Fig. 1 is a schematic diagram showing a hardware configuration of a vehicle according to the present embodiment. Fig. 2 is a schematic diagram showing a software configuration of the control device according to the present embodiment. Fig. 3 is a flowchart illustrating a flow of the abnormality determination processing according to the present embodiment. Fig. 4 is a flowchart illustrating a flow of the rear-end collision determination process of the following vehicle according to the present embodiment. Fig. 5 is a flowchart illustrating a flow of the forward obstacle determination processing according to the present embodiment. Fig. 6 is a flowchart illustrating a flow of the surrounding obstacle determination processing according to the present embodiment. Fig. 7 is a schematic diagram illustrating an example of the automatic steering control according to the present embodiment. Fig. 8 is a flowchart illustrating the flow of various determinations and automatic steering control according to the present embodiment. Detailed Description The control device and control method of the vehicle according to the present embodiment will be described below with reference to the drawings. [ Hardware Structure ] Fig. 1 is a schematic diagram showing a hardware configuration of a vehicle SV according to the present embodiment. Hereinafter, the vehicle SV may be referred to as a host vehicle when it is necessary to distinguish it from other vehicles or the like. The vehicle SV has an electronic control unit (Electronic Control Unit: ECU) 10. The ECU10 includes a central processing unit (Central Processing Unit: CPU) 11, a Read Only Memory (ROM) 12, a random access Memory (Random Access Memory: RAM) 13, an interface device 14, and the like. The CPU11 is a processor that executes various programs stored in the ROM 12. The ROM12 is a nonvolatile memory, and stores data and the like necessary for the CPU11 to execute various programs. The RAM13 is a volatile memory, and provides a work area that expands when various programs are executed by the CPU 11. The interface device 14 is a communication apparatus for communicating with an external device. The ECU10 is a center device that performs driving assistance such as collision damage reduction Control (Pre-C