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EP-4741246-A2 - VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

EP4741246A2EP 4741246 A2EP4741246 A2EP 4741246A2EP-4741246-A2

Abstract

A vehicle control device that controls a speed of a vehicle (100) during traveling includes: a deceleration unit (332) that executes deceleration control for decelerating the vehicle when a predetermined deceleration condition is satisfied; a speed control unit (335) that executes speed control of the vehicle according to an operation of an accelerator pedal by releasing the deceleration control when a predetermined operation of the accelerator pedal is detected during execution of the deceleration control; and a determination unit (334) that determines a possibility that the vehicle and an object collide with each other when the object is detected in front of the vehicle. When a collision possibility between the vehicle and the object is determined to be high, the speed control unit suppresses acceleration in the speed control as compared to a case where the collision possibility is determined to be low.

Inventors

  • OYA, KAI

Assignees

  • TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date
20260513
Application Date
20250116

Claims (15)

  1. A vehicle control device for controlling a speed of a vehicle (100) during traveling, the vehicle control device comprising: a deceleration unit (332) configured to execute deceleration control for decelerating the vehicle (100) when a predetermined deceleration condition is satisfied; a speed control unit (335) configured to execute speed control of the vehicle (100) according to an operation of an accelerator pedal by releasing the deceleration control when a predetermined operation of the accelerator pedal is detected during execution of the deceleration control; and a determination unit (334) configured to determine a possibility that the vehicle (100) and an object collide with each other when the object is detected in front of the vehicle (100), wherein, the speed control unit (335) is configured to, when a collision possibility between the vehicle (100) and the object is determined to be high, suppress acceleration in the speed control as compared to a case where the collision possibility is determined to be low.
  2. The vehicle control device according to claim 1, wherein the determination unit (334) is configured to determine a collision possibility between the vehicle (100) and the object, based on a spacing that may be provided between the vehicle (100) and the object at a time at which the vehicle (100) passes at a side of the object within a possible travel range on a road.
  3. The vehicle control device according to claim 2, wherein the possible travel range is within a range in a width direction of a lane in which the vehicle (100) travels.
  4. The vehicle control device according to claim 2, wherein the possible travel range is within a range in a width direction of a road on which the vehicle (100) travels.
  5. The vehicle control device according to any one of claims 2 to 4, wherein the speed control unit (335) is configured to suppress acceleration in the speed control more as a spacing that may be provided between the vehicle (100) and the object is smaller at a time at which the vehicle (100) passes at a side of the object within a possible travel range on a road.
  6. The vehicle control device according to any one of claims 2 to 5, wherein the determination unit (334) is configured to determine a collision possibility between the vehicle (100) and the object, based on a kind or a situation of the object in addition to a spacing that may be provided between the vehicle (100) and the object at a time at which the vehicle (100) passes at a side of the object within a possible travel range on a road.
  7. The vehicle control device according to any one of claims 1 to 6, wherein the determination unit (334) is configured to determine a collision possibility between the vehicle (100) and the object, based on whether a driver of the vehicle (100) has recognized the object.
  8. The vehicle control device according to any one of claims 2 to 6, wherein the determination unit (334) is configured to determine a collision possibility between the vehicle (100) and the object, based on whether a driver of the vehicle (100) has recognized the object, and, when the driver of the vehicle (100) has not recognized the object, the determination unit (334) is configured to determine that the collision possibility between the vehicle (100) and the object is high, regardless of a spacing that may be provided between the vehicle (100) and the object at a time at which the vehicle (100) passes at a side of the object within a possible travel range on a road.
  9. The vehicle control device according to any one of claims 1 to 8, wherein the speed control unit (335) is configured to not suppress acceleration in the speed control when a collision possibility between the vehicle (100) and the object is determined to be low.
  10. The vehicle control device according to claim 9, further comprising a notification unit (336) configured to provide notification to a driver that the acceleration is suppressed when acceleration is suppressed.
  11. The vehicle control device according to any one of claims 1 to 10, wherein, in a case where a collision possibility between the vehicle (100) and the object is determined to be high, when a press amount of the accelerator pedal is equal to or more than a fixed amount, the speed control unit (335) is configured to execute the speed control of the vehicle (100) so that acceleration of the vehicle (100) becomes fixed acceleration, regardless of the press amount.
  12. The vehicle control device according to any one of claims 1 to 11, wherein a predetermined operation of the accelerator pedal for releasing the deceleration control is an operation in which the accelerator pedal is pressed down by equal to or more than a predetermined amount after execution of the deceleration control starts, or an operation in which the accelerator pedal is pressed down at a press speed equal to or more than a predetermined speed.
  13. The vehicle control device according to any one of claims 1 to 12, wherein, when normal control that is not after the deceleration control is released is executed, the speed control unit (335) is configured to control the speed of the vehicle (100) so as to become the same acceleration with respect to a press amount of the accelerator pedal, regardless of a collision possibility between the vehicle (100) and the object.
  14. A vehicle control method for controlling a speed of a vehicle (100) during traveling, the vehicle control method comprising: executing deceleration control for decelerating the vehicle (100) when a predetermined deceleration condition is satisfied; executing speed control of the vehicle (100) according to an operation of an accelerator pedal by releasing the deceleration control when a predetermined operation of the accelerator pedal is detected during execution of the deceleration control; and determining a possibility that the vehicle (100) and an object collide with each other when the object is detected in front of the vehicle (100), wherein, when a collision possibility between the vehicle (100) and the object is determined to be high, the speed control of the vehicle (100) is executed so that acceleration of the vehicle (100) is suppressed as compared to a case where the collision possibility is determined to be low.
  15. A vehicle control program that controls a speed of a vehicle (100) during traveling, the vehicle control program causing a computer to execute: executing deceleration control for decelerating the vehicle (100) when a predetermined deceleration condition is satisfied; executing speed control of the vehicle (100) according to an operation of an accelerator pedal by releasing the deceleration control when a predetermined operation of the accelerator pedal is detected during execution of the deceleration control; and determining a possibility that the vehicle (100) and an object collide with each other when the object is detected in front of the vehicle (100), wherein, when a collision possibility between the vehicle (100) and the object is determined to be high, the speed control of the vehicle (100) is executed so that acceleration of the vehicle (100) is suppressed as compared to a case where the collision possibility is determined to be low.

Description

FIELD The present disclosure relates to a vehicle control device, a vehicle control method, and a vehicle control program. BACKGROUND A travel assistance device is known that executes collision avoidance control by providing braking force to a vehicle in order to avoid a collision between the vehicle and an object, when the object is present ahead in a traveling direction of the vehicle and there is a possibility that the vehicle and the object may collide with each other (such as JP 2018-012360 A). In the travel assistance device described in JP 2018-012360 A, even in a case where a driver has recognized an object and then travels at a safe speed for the driver when the object is present ahead in a traveling direction of a vehicle, the collision avoidance control such as providing braking force, or the like may be executed. Therefore, in such a case, it is conceivable that the driver stops the collision avoidance control by performing a predetermined operation with an accelerator pedal when the driver decides that the collision avoidance control is unnecessary. However, when the driver performs the operation with the accelerator pedal in order to stop the collision avoidance control, there is a possibility that the driver may press down the accelerator pedal more than necessary by mistake. When the driver presses down the accelerator pedal more than necessary in such a manner, there is a possibility that the vehicle may be accelerated at acceleration exceeding user's intention and collide with the object present ahead in the traveling direction of the vehicle. SUMMARY In view of the problems described above, an object of the present disclosure is to reduce a possibility that a vehicle collides with an object located ahead in a traveling direction of the vehicle when a driver presses down an accelerator pedal more than necessary. The gist of the present disclosure is as follows. (1) A vehicle control device that controls a speed of a vehicle during traveling, the vehicle control device comprising: a deceleration unit that executes deceleration control for decelerating the vehicle when a predetermined deceleration condition is satisfied;a speed control unit that executes speed control of the vehicle according to an operation of an accelerator pedal by releasing the deceleration control when a predetermined operation of the accelerator pedal is detected during execution of the deceleration control; anda determination unit that determines a possibility that the vehicle and an object collide with each other when the object is detected in front of the vehicle, wherein,when a collision possibility between the vehicle and the object is determined to be high, the speed control unit executes the speed control of the vehicle so that acceleration of the vehicle with respect to a press amount of the accelerator pedal is lower as compared to a case where the collision possibility is determined to be low.(2) The vehicle control device according to above aspect (1), wherein the determination unit determines a collision possibility between the vehicle and the object, based on a spacing that may be provided between the vehicle and the object at a time at which the vehicle passes through a side of the object through a possible travel range on a road.(3) The vehicle control device according to above aspect (2), wherein the possible travel range is within a range in a width direction of a lane in which the vehicle travels.(4) The vehicle control device according to above aspect (2), wherein the possible travel range is within a range in a width direction of a road on which the vehicle travels.(5) The vehicle control device according to any one of above aspects (2) to (4), wherein the speed control unit executes the speed control of the vehicle so that acceleration of the vehicle with respect to a press amount of the accelerator pedal is lower as a spacing that may be provided between the vehicle and the object is smaller at a time at which the vehicle passes through a side of the object through a possible travel range on a road.(6) The vehicle control device according to any one of above aspects (2) to (5), wherein the determination unit determines a collision possibility between the vehicle and the object, based on a kind or a situation of the object in addition to a spacing that may be provided between the vehicle and the object at a time at which the vehicle passes through a side of the object through a possible travel range on a road.(7) The vehicle control device according to any one of above aspects (1) to (6), wherein the determination unit determines a collision possibility between the vehicle and the object, based on whether a driver of the vehicle has recognized the object.(8) The vehicle control device according to any one of above aspects (2) to (6), wherein the determination unit determines a collision possibility between the vehicle and the object, based on whether a driver of the vehicle has recognized the objec