JP2016207023A - Vehicle control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control apparatus that appropriately prevents a collision between an oncoming vehicle crossing a lane of an own vehicle and a moving vehicle behind the own vehicle.SOLUTION: An controller 8 as a vehicle control apparatus includes: an oncoming vehicle determination unit 8a for determining whether an oncoming vehicle is crossing an inter-vehicle distance between an own vehicle and its preceding vehicle; a behind-moving vehicle determination unit 8b for determining whether a moving vehicle that may overtake the own vehicle is present behind the own vehicle; and a control unit 8c for performing control for reducing an inter-vehicle distance between the own vehicle and its preceding vehicle, when the oncoming vehicle is determined, by the oncoming vehicle determination unit 8a, to start to cross the inter-vehicle distance between the own vehicle and its preceding vehicle and the moving vehicle is determined, by the behind-moving vehicle determination unit 8b, to be present behind the own vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device, and more particularly, to a vehicle control device that controls a host vehicle so as to prevent a collision between an oncoming vehicle that is about to cross the front of the host vehicle and a moving body behind the host vehicle.

  This type of technology is disclosed in Patent Document 1, for example. Patent Document 1 aims to prevent a collision accident between an opposing right turn vehicle and a subsequent straight traveling vehicle by notifying the driver of the opposing right turn vehicle that there is a subsequent straight traveling vehicle in the blind spot of the own vehicle. A vehicle alert device is disclosed.

JP 2011-164760 A

  However, since the technique described in Patent Document 1 only notifies the oncoming vehicle that there is a subsequent straight-ahead vehicle, for example, when the driver of the oncoming vehicle does not notice this notification, In some cases, it was not possible to properly prevent a collision with the vehicle that followed straight. Therefore, the technique described in Patent Document 1 is not sufficient to reliably prevent the collision between the oncoming vehicle and the following straight ahead vehicle.

  The present invention has been made to solve the above-described problems of the prior art, and can appropriately prevent a collision between an oncoming vehicle that is about to cross the front of the host vehicle and a moving body behind the host vehicle. It is an object of the present invention to provide a vehicle control device that can perform the above operation.

In order to achieve the above object, the present invention is a vehicle control apparatus, and an oncoming vehicle determination unit that determines whether an oncoming vehicle is about to cross the space between the host vehicle and its preceding vehicle, The backward moving object determining means for determining whether or not there is a moving object that may overtake the own vehicle behind the own vehicle, and the oncoming vehicle determining means crosses the distance between the own vehicle and the preceding vehicle by the oncoming vehicle determining means. Control means for performing control to shorten the inter-vehicle distance between the own vehicle and the preceding vehicle when it is determined that it is going to be determined and the moving object is determined to be behind the own vehicle by the backward moving object determination means; It is characterized by having.
In the present invention configured as described above, it is determined that the oncoming vehicle is about to cross the space between the host vehicle and the preceding vehicle, and that there is a moving body that may pass the host vehicle behind the host vehicle. In this case, the distance between the host vehicle and the preceding vehicle is controlled to be short, so that the oncoming vehicle can be prevented from crossing between the host vehicle and the preceding vehicle. Therefore, according to the present invention, it is possible to appropriately prevent an oncoming vehicle crossing the front of the host vehicle and a moving body that has passed the host vehicle from colliding with each other.

In the present invention, preferably, the control means changes the inter-vehicle distance between the host vehicle and the preceding vehicle that is set when the host vehicle follows the preceding vehicle in the following traveling control to a small value. Reduce the distance between the vehicle and the preceding vehicle.
In the present invention configured as described above, the inter-vehicle distance between the host vehicle and the preceding vehicle that is set when the host vehicle follows the preceding vehicle in the tracking control is changed to a small value, The distance between the vehicle and the vehicle is shortened, that is, the distance between the host vehicle and the preceding vehicle is shortened using the existing follow-up control. Therefore, if the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle is incorporated into the existing follow-up traveling control without newly adding a control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle. Since it is good, the control configuration can be simplified.

In the present invention, preferably, the control means increases the degree of shortening the distance between the host vehicle and the preceding vehicle as the size of the oncoming vehicle is smaller.
In the present invention configured as described above, when the size of the oncoming vehicle is small, it is possible to appropriately prevent such a small oncoming vehicle from crossing between the own vehicle and the preceding vehicle by reducing the distance between the vehicles. Can be prevented.

In the present invention, preferably, the control means executes control to shorten the distance between the host vehicle and the preceding vehicle only when the vehicle speed is less than a predetermined speed, and when the vehicle speed is equal to or higher than the predetermined speed. The execution of the control that shortens the distance between the host vehicle and the preceding vehicle is prohibited.
In the present invention configured as described above, when the vehicle speed is equal to or higher than the predetermined speed, the execution of the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle is prohibited, so that the vehicle speed is equal to or higher than the predetermined speed. Problems that may occur due to execution of the control can be prevented. For example, it is possible to prevent the host vehicle from colliding with a preceding vehicle, or a strong braking force from acting on the host vehicle to avoid such a collision.

In the present invention, it is preferable that the control means prohibits execution of control for shortening the inter-vehicle distance between the own vehicle and the preceding vehicle when the own vehicle is about to pass through a place where entry of the vehicle is restricted. To do.
In the present invention configured as described above, when the host vehicle is about to pass through a place where entry of the vehicle is restricted, execution of control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle is prohibited. It is possible to appropriately prevent the host vehicle from stopping in a place where such vehicle entry is restricted.

In the present invention, preferably, the control means determines that the oncoming vehicle is about to cross the space between the host vehicle and the preceding vehicle by the oncoming vehicle determination means, and the moving body is determined by the rear moving body determination means. When it is determined that the vehicle exists behind the vehicle, in addition to the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle, control for guiding the traveling position of the host vehicle to the road shoulder side is further performed.
In the present invention configured as above, the oncoming vehicle is prevented from turning right and crossing between the own vehicle and the preceding vehicle by the control for shortening the inter-vehicle distance between the own vehicle and the preceding vehicle, and the own vehicle The above-mentioned moving body is prevented from passing through the side of the own vehicle by the control for guiding the traveling position of the vehicle to the shoulder side, so that the oncoming vehicle and the moving body behind the own vehicle It is possible to more reliably prevent the collision.

  According to the vehicle control apparatus of the present invention, it is possible to appropriately prevent a collision between an oncoming vehicle that is about to cross the front of the host vehicle and a moving body behind the host vehicle.

It is a block diagram which shows the electric constitution of the control apparatus of the vehicle by embodiment of this invention. It is explanatory drawing about the control content which a controller performs in embodiment of this invention. It is a flowchart which shows the control processing of the vehicle by embodiment of this invention. It is explanatory drawing about the control content which a controller performs in the modification of embodiment of this invention.

  Hereinafter, a vehicle control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

<Device configuration>
First, with reference to FIG. 1, the structure of the control apparatus of the vehicle by embodiment of this invention is demonstrated. FIG. 1 is a block diagram showing an electrical configuration of a vehicle control apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, a controller 8 as a vehicle control device includes an engine 5 as a power source that generates vehicle propulsion, a front camera 21, a front radar 23, and a rear corresponding to various sensors. The camera 25, the rear radar 27, and the vehicle speed sensor 29 are electrically connected.

  The front camera 21 is a camera that images the front of the vehicle, and the rear camera 25 is a camera that images the rear of the vehicle. The front camera 21 and the rear camera 25 supply image signals S21 and S25 corresponding to the captured image data to the controller 8, respectively. The forward radar 23 is configured by a millimeter wave radar, a laser radar, or the like that detects a forward object (a stationary object, a moving object, etc.) of the vehicle, and the presence of the forward object, the distance from the host vehicle to the forward object, The relative speed of the host vehicle can be detected. Similarly, the rear radar 27 is configured by a millimeter wave radar, a laser radar, or the like that detects a rear object (such as a stationary object and a moving object) of the vehicle, and the presence of the rear object, the distance from the own vehicle to the rear object, The relative speed of the host vehicle with respect to the rear object can be detected. The front radar 23 and the rear radar 27 supply detection signals S23 and S27 corresponding to the detected object to the controller 8, respectively. The vehicle speed sensor 29 is a sensor that detects the vehicle speed of the vehicle, and supplies a detection signal S29 corresponding to the detected vehicle speed to the controller 8.

  Moreover, as shown in FIG. 1, the controller 8 functionally includes an oncoming vehicle determination unit 8a, a rear moving body determination unit 8b, and a control unit 8c.

  The oncoming vehicle determination unit 8a of the controller 8 is mainly based on the image signal S21 supplied from the front camera 21 (may include the detection signal S23 from the front radar 23), and the oncoming vehicle determines that the oncoming vehicle and its preceding vehicle are It is determined whether or not the vehicle is about to be crossed. The rear moving body determination unit 8b of the controller 8 determines that the moving body that may overtake the own vehicle based on the image signal S25 supplied from the rear camera 25 and / or the detection signal S27 supplied from the rear radar 27. It is determined whether or not it exists behind.

  The controller 8c of the controller 8 can determine that the oncoming vehicle is about to cross the space between the own vehicle and its preceding vehicle by the oncoming vehicle determination unit 8a, and can pass the own vehicle by the rear moving body determination unit 8b. When it is determined that there is a mobile object behind the host vehicle, control is performed to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle. In the present embodiment, the control unit 8c controls the output (engine torque) of the engine 5 by supplying the control signal S50 to the engine 5 in order to shorten the inter-vehicle distance between the host vehicle and its preceding vehicle. In one example, the control unit 8c performs control to increase the intake air amount, fuel injection amount, and the like of the engine 5 so as to increase the output of the engine 5 so as to reduce the inter-vehicle distance between the host vehicle and the preceding vehicle. To do. In addition, the specific content of the control which the control part 8c performs in this embodiment is mentioned later for details.

  Thus, the controller 8 corresponds to the “vehicle control device” in the present invention. The controller 8 stores various programs (including basic control programs such as an OS and application programs that are activated on the OS to realize specific functions), programs, and various data that are interpreted and executed on the CPU. It is configured by a computer having an internal memory such as a ROM or RAM for storing. For example, the controller 8 is configured by an ECU (Electronic Control Unit).

<Control details>
Next, the control performed by the controller 8 in the embodiment of the present invention will be specifically described.

  FIG. 2 is an explanatory diagram of the control content performed by the controller 8 in the embodiment of the present invention. FIGS. 2A and 2B are schematic views of a single-lane road as viewed from above. Reference numeral V1 indicates the host vehicle, and reference numeral V2 indicates an oncoming vehicle that travels in the opposite lane of the lane of the host vehicle V1. , V3 indicates a preceding vehicle that runs immediately in front of the host vehicle V1, and V4 indicates a rear vehicle (specifically, a motorcycle, more specifically a motorcycle) that exists behind the host vehicle V1. . Here, it is assumed that the lane of the host vehicle V1 is congested and the host vehicle V1 is traveling at a low speed (for example, 30 km / h or less).

  First, as shown in FIG. 2A, it is assumed that the oncoming vehicle V2 is about to cross the lane of the host vehicle V1 in front of the host vehicle V1. Specifically, it is assumed that the oncoming vehicle V2 is turning right between the host vehicle V1 and the preceding vehicle V3. In this case, the oncoming vehicle determination unit 8a of the controller 8 is based on the image signal S21 supplied from the front camera 21, and the oncoming vehicle V2 exists immediately in front of the host vehicle V1, and the oncoming vehicle V2 is for a right turn. It is determined that the direction indicator lamp is blinking (see arrow A1 in FIG. 2A), and the oncoming vehicle V2 is turning right between the host vehicle V1 and the preceding vehicle V3 and crossing. Judge.

  Further, as shown in FIG. 2A, it is assumed that the two-wheeled vehicle V4 is moving toward the host vehicle V1 behind the host vehicle V1. In this case, the two-wheeled vehicle V4 exists behind the host vehicle V1 based on the image signal S25 supplied from the rear camera 25 and the detection signal S27 supplied from the rear radar 27. And the two-wheeled vehicle V4 as a moving body that may overtake the own vehicle V1 is determined to be behind the own vehicle V1 by determining that the two-wheeled vehicle V4 is traveling at a speed higher than the speed of the own vehicle V1. Judge that it exists.

  In the situation shown in FIG. 2A, when the oncoming vehicle V2 turns right and crosses between the host vehicle V1 and the preceding vehicle V3, and the two-wheeled vehicle V4 passes by the side of the host vehicle V1 and passes it. The oncoming vehicle V2 and the two-wheeled vehicle V4 may collide. In the present embodiment, in order to prevent such a collision between the oncoming vehicle V2 and the two-wheeled vehicle V4, the controller 8c of the controller 8 has a distance between the host vehicle V1 and the preceding vehicle V3 as shown in FIG. Control to shorten the distance is performed (see arrow A2) to prevent the oncoming vehicle V2 from turning right and crossing between the host vehicle V1 and the preceding vehicle V3. Hereinafter, such control for shortening the inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 is appropriately referred to as “inter-vehicle distance reduction control”.

  More specifically, the controller 8c of the controller 8 adjusts the inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 and controls the speed of the host vehicle V1 so that the host vehicle V1 follows the preceding vehicle V3 traveling forward. When the setting of the follow-up running control to be performed (so-called adaptive cruise control (ACC)) is turned on, the following inter-vehicle distance reduction control is realized using this follow-up running control. Specifically, the control unit 8c determines that the oncoming vehicle V2 is about to turn right between the host vehicle V1 and the preceding vehicle V3 and crosses the host vehicle V1. If the vehicle is determined to exist behind the vehicle, the following distance between the host vehicle V1 and the preceding vehicle V3 set when the host vehicle V1 travels following the preceding vehicle V3 in the following traveling control is changed to a small value. The actual inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 is shortened. That is, the control unit 8c performs control so that the actual inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 becomes the inter-vehicle distance of the changed follow-up travel control.

  In general follow-up running control, target vehicle speed and inter-vehicle distance are set, and control is performed so that the host vehicle V1 follows the preceding vehicle V3 based on these target values. Once the tracking state of the vehicle V1 is realized, only the inter-vehicle distance is set thereafter. As the inter-vehicle distance set in this way, a distance (basically a distance corresponding to the vehicle speed) that allows the host vehicle V1 to stop without colliding with the preceding vehicle V3 by the brake is applied. For example, when the host vehicle V1 is traveling at about 30 km / h, the inter-vehicle distance used in the follow-up traveling control is set to 5 m. When the above-mentioned inter-vehicle distance reduction control is applied to this example, the inter-vehicle distance used for the follow-up traveling control is changed from 5 m to 2 m to 3 m.

  Further, in the present embodiment, the controller 8c of the controller 8 increases the degree of shortening the inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 in the inter-vehicle distance reduction control as the size of the oncoming vehicle V2 is smaller. That is, when the size of the oncoming vehicle V2 is small (for example, when the oncoming vehicle V2 is a small vehicle or the like), the control unit 8c has a large size of the oncoming vehicle V2 (for example, the oncoming vehicle V2 is a large vehicle or the like). ), The inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3 is made shorter. This is because when the oncoming vehicle V2 is small, the oncoming vehicle V2 can cross between the own vehicle V1 and the preceding vehicle V3 unless the inter-vehicle distance between the own vehicle V1 and the preceding vehicle V3 is further shortened. Because it ends up. In other words, when the oncoming vehicle V2 is large, the oncoming vehicle V2 crosses between the own vehicle V1 and the preceding vehicle V3 without reducing the distance between the own vehicle V1 and the preceding vehicle V3 so much. Because it can interfere.

  In the present embodiment, the controller 8c of the controller 8 executes the inter-vehicle distance reduction control only when the vehicle speed is less than a predetermined speed (for example, 30 km / h), and when the vehicle speed is equal to or higher than the predetermined speed. Prohibits execution of the inter-vehicle distance reduction control. This is because, when the vehicle speed is relatively high, there is a risk that the own vehicle V1 may collide with the preceding vehicle V3 if the vehicle-to-vehicle distance between the own vehicle V1 and the preceding vehicle V3 is shortened. This is because a strong braking force (rapid braking) may be applied to the host vehicle V1 in order to avoid this.

  Further, in the present embodiment, the control unit 8c of the controller 8 is a place where entry of a vehicle is restricted (hereinafter referred to as “approach restriction place” as appropriate, for example, an intersection, a railroad crossing, or a parking prohibited place defined by laws and regulations). When the host vehicle V1 is about to pass, the execution of the inter-vehicle distance reduction control is prohibited. This is because if the host vehicle V1 is about to pass through the restricted entry location and the inter-vehicle distance reduction control is executed, the subject vehicle V1 may stop at the restricted entry location. Note that the entry restriction place described above is a place where it is desirable to pass quickly because entry of the vehicle itself is not prohibited and the vehicle is restricted from stopping at the place.

  Next, a control flow according to the embodiment of the present invention will be described with reference to FIG. FIG. 3 is a flowchart showing a vehicle control process according to the embodiment of the present invention. This flowchart is repeatedly executed by the controller 8.

  First, in step S1, the controller 8 determines whether or not the vehicle speed corresponding to the detection signal S29 supplied from the vehicle speed sensor 29 is less than a predetermined speed (for example, 30 km / h). As a result, when it is determined that the vehicle speed is less than the predetermined speed (step S1: Yes), the process proceeds to step S2, and the controller 8 turns right between the oncoming vehicle and the preceding vehicle and turns sideways. Judge whether or not to cut. Specifically, the oncoming vehicle determination unit 8a of the controller 8 analyzes an image corresponding to the image signal S21 supplied from the front camera 21 (an image ahead of the host vehicle), so that the distance between the host vehicle and the preceding vehicle is reduced. If it is determined whether there is an oncoming vehicle near the position on the oncoming lane corresponding to, and if it is determined that there is an oncoming vehicle, whether the right turn direction indicator light of the oncoming vehicle is flashing By determining, it is determined whether or not the oncoming vehicle is turning right between the own vehicle and the preceding vehicle and crossing.

  As a result of the determination in step S2, if it is determined that the oncoming vehicle is turning right between the host vehicle and its preceding vehicle (step S2: Yes), the process proceeds to step S3, and the controller 8 Then, it is determined whether or not a two-wheeled vehicle that may overtake the host vehicle exists behind the host vehicle. Specifically, the rear moving body determination unit 8b of the controller 8 analyzes the image corresponding to the image signal S25 supplied from the rear camera 25 (an image behind the vehicle), so that the two-wheeled vehicle exists behind the host vehicle. If it is determined whether there is a motorcycle behind the host vehicle, the two-wheeled vehicle travels at a speed higher than the speed of the host vehicle based on the detection signal S27 supplied from the rear radar 27. By determining whether or not there is a two-wheeled vehicle that may overtake the host vehicle, it is determined whether or not there is a rear of the host vehicle.

  As a result of the determination in step S3, if it is determined that there is a motorcycle that may overtake the host vehicle behind the host vehicle (step S3: Yes), the process proceeds to step S4, and the controller 8 Determine if you are not going through the place. For example, the controller 8 determines whether or not the own vehicle is about to pass through the restricted entry location based on the current position of the own vehicle received by the GPS receiver and the map data stored in the navigation device. . Specifically, in this example, the controller 8 refers to the map data stored in the navigation device, and the map data corresponding to the entry restricted place around the current position of the host vehicle received by the GPS receiver. Determine if exists.

As a result of the determination in step S4, when it is determined that the host vehicle is not about to pass the entry restriction place (step S4: Yes), the process proceeds to step S5, and the controller 8 determines the distance between the host vehicle and its preceding vehicle. The inter-vehicle distance reduction control for shortening the distance is executed. Specifically, when the control unit 8c of the controller 8 sets the following traveling control to ON, the own vehicle and the preceding vehicle set when the own vehicle follows the preceding vehicle in the following traveling control. The actual inter-vehicle distance between the host vehicle and the preceding vehicle is shortened by changing the inter-vehicle distance to the small value. In this case, the control unit 8c adjusts the intake air amount, the fuel injection amount, and the like of the engine 5 so that the actual inter-vehicle distance between the host vehicle and the preceding vehicle becomes the inter-vehicle distance of the changed follow-up travel control. The output (engine torque) of the engine 5 is controlled.
In addition, the controller 8c of the controller 8 changes the degree of shortening the inter-vehicle distance between the host vehicle and the preceding vehicle in the above-described inter-vehicle distance reduction control according to the size of the oncoming vehicle. Specifically, the control unit 8c increases the degree of shortening the inter-vehicle distance between the host vehicle and the preceding vehicle as the size of the oncoming vehicle decreases (makes the inter-vehicle distance closer). In other words, the larger the size of the oncoming vehicle, the smaller the degree of shortening the inter-vehicle distance between the host vehicle and the preceding vehicle (so that the inter-vehicle distance is not reduced so much). In this case, the control unit 8c determines the size of the oncoming vehicle by analyzing the image captured by the front camera 21. Note that instead of obtaining the size of the oncoming vehicle from the image captured by the front camera 21, the type of the oncoming vehicle is specified, and the size of the oncoming vehicle is estimated based on the specified type of the oncoming vehicle. Good.

  On the other hand, when it is not determined that the vehicle speed is less than the predetermined speed (step S1: No), when it is not determined that the oncoming vehicle is going to cross the vehicle between the host vehicle and its preceding vehicle and to cross the vehicle (Step S2: No), when it is not determined that there is a motorcycle that may overtake the host vehicle behind the host vehicle (Step S3: No), and it is determined that the host vehicle is not about to pass the entry restriction place. If not (step S4: No), the process ends. In this case, the controller 8 does not execute the above-mentioned inter-vehicle distance reduction control.

<Effect>
Next, functions and effects of the vehicle control apparatus according to the embodiment of the present invention will be described.

  According to the present embodiment, when the oncoming vehicle is going to turn right between the own vehicle and the preceding vehicle and crosses the vehicle, and there is a motorcycle behind the own vehicle that may pass the own vehicle, the own vehicle Control to shorten the inter-vehicle distance between the vehicle and its preceding vehicle (inter-vehicle distance shortening control), so it is possible to prevent the oncoming vehicle from turning right and crossing between the host vehicle and its preceding vehicle. It is possible to appropriately prevent the oncoming vehicle and the two-wheeled vehicle passing the host vehicle from colliding with each other.

  In particular, according to the present embodiment, the following distance between the host vehicle and the preceding vehicle that is set when the host vehicle follows the preceding vehicle in the tracking control is changed to a small value. Therefore, in order to reduce the distance between the host vehicle and the preceding vehicle using the existing follow-up running control, the distance reduction control is performed without adding a new distance reduction control. Since it only needs to be incorporated into the existing follow-up running control, the control configuration can be simplified.

  In addition, according to the present embodiment, the smaller the size of the oncoming vehicle, the greater the degree of shortening the inter-vehicle distance between the host vehicle and its preceding vehicle. Therefore, when the oncoming vehicle is small, the inter-vehicle distance is increased. Thus, it is possible to appropriately prevent the oncoming vehicle having a small size from crossing between the own vehicle and the preceding vehicle.

  Further, according to the present embodiment, when the vehicle speed is equal to or higher than the predetermined speed, execution of the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle is prohibited. Problems that may occur due to execution of control can be prevented. For example, it is possible to prevent the host vehicle from colliding with a preceding vehicle, or a strong braking force (rapid braking) from acting on the host vehicle to avoid such a collision.

  In addition, according to the present embodiment, when the host vehicle is about to pass the restricted entry place, the execution of the control for shortening the inter-vehicle distance between the subject vehicle and the preceding vehicle is prohibited. Can be prevented from stopping. If the control for shortening the inter-vehicle distance is not executed at the entry restricted place in this way, the distance between the own vehicle and the preceding vehicle tends to open, but in this case, the oncoming vehicle can easily check the two-wheeled vehicle behind the own vehicle. It can be said that the collision between the oncoming vehicle and the two-wheeled vehicle behind the host vehicle is less likely to occur.

<Modification>
Below, the modification of above-mentioned embodiment is described. The modifications described below can be applied to the above-described embodiment in an appropriate combination.

(Modification 1)
With reference to FIG. 4, the control content performed by the controller 8 in a modification of the embodiment of the present invention will be described. 4 (A) and 4 (B) are schematic views of a one-lane road from the top, and the meaning of the reference numerals in the figure is the same as in FIGS. 2 (A) and 2 (B). 4A is the same as FIG. 2A. Also here, it is assumed that the lane of the host vehicle V1 is congested and the host vehicle V1 is traveling at a low speed (for example, 30 km / h or less).

  In the modified example, the controller 8c of the controller 8 performs control (inter-vehicle distance reduction control) to shorten the inter-vehicle distance between the host vehicle V1 and the preceding vehicle V3, as indicated by an arrow A3 in FIG. Then, control for moving the host vehicle V1 toward the road shoulder, in other words, control for shifting the host vehicle V1 toward the shoulder (hereinafter referred to as “width shift control” as appropriate) is performed. For example, when the setting of the lane keeping control (lane keeping control) for keeping the traveling position of the host vehicle V1 in the lane is on, the control unit 8c uses the lane keeping control to adjust the width. Realize control. Specifically, the control unit 8c determines that the oncoming vehicle V2 is about to turn right between the host vehicle V1 and the preceding vehicle V3 and crosses the host vehicle V1, and the two-wheeled vehicle V4 that may pass the host vehicle V1 is the host vehicle V1. When the vehicle is determined to be behind the vehicle, the target position in the lane used to maintain the host vehicle V1 in the lane in the lane keeping control (for example, the substantially center position in the width direction of the lane) is set to a position closer to the road shoulder. It changes and moves the own vehicle V1 to the road shoulder side (left direction) within a lane. Further, the control unit 8c blinks the left turn direction indicator lamp so as to notify the rear motorcycle V4 that the own vehicle V1 is width-shifting when performing such width-shifting control (FIG. 4B). (See arrow A4 in the middle).

  According to such a modified example, the oncoming vehicle V2 is prevented from turning right and crossing between the host vehicle V1 and the preceding vehicle V3 by the inter-vehicle distance reduction control, and the two-wheeled vehicle V4 is controlled by the width adjustment control. Therefore, it is possible to more reliably prevent the oncoming vehicle V2 and the two-wheeled vehicle V4 from colliding with each other.

(Modification 2)
In the above-described embodiment, the present invention is applied to a case where an oncoming vehicle is going to turn right and cross a lane of the own vehicle, assuming an area where the vehicle travels on the left side. In an area where the oncoming vehicle performs, the present invention may be applied when the oncoming vehicle is going to turn left and cross the lane of the own vehicle.

(Modification 3)
In the above-described embodiment, the two-wheeled vehicle (see FIGS. 2 and 3) is shown as an example of the “moving body” in the present invention, but the present invention is also applicable to a moving body other than the two-wheeled vehicle. Specifically, the present invention can be applied to various moving bodies that can pass the host vehicle from behind. For example, the present invention relates to a motorcycle other than a motorcycle with a motor (that is, a motorcycle (bicycle) as a light vehicle), a tricycle, a runner, a pedestrian, and the like on the roadside on the shoulder side of the vehicle and the vehicle. The present invention can be applied to a moving body that can pass through between the side portions. Assuming that the vehicle is traveling on a single lane road, these vehicles can pass by passing between the road edge on the shoulder side of the vehicle and the side of the vehicle. It is limited to the target.

  On the other hand, when the vehicle is traveling on a two-lane road on one side, various moving bodies moving in the lane adjacent to the lane of the vehicle may also pass the vehicle. In this case, a wider object is included in the “moving object” in the present invention. For example, in addition to the various moving bodies exemplified above, a four-wheeled vehicle is also included in the “moving body” in the present invention.

(Modification 4)
In the embodiment described above, the execution of the inter-vehicle distance reduction control is limited when the vehicle speed is equal to or higher than the predetermined speed and when the host vehicle is about to pass the entry restriction place (see FIG. 3). The execution of the inter-vehicle distance reduction control may be limited not only in the case of the above but also when the speed of the moving body behind the host vehicle is less than the predetermined speed. For example, when the speed of the moving body behind the host vehicle corresponds to the slow running state, the inter-vehicle distance reduction control may not be executed. In this case, there is a low possibility that the moving body behind the own vehicle will pass the own vehicle, and there is a low possibility that the oncoming vehicle crossing the front of the own vehicle and the moving body behind the own vehicle will collide. The speed of the moving object behind the host vehicle may be obtained from the detection signal S27 of the rear radar 27.

(Modification 5)
In the above-described embodiment, the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle (inter-vehicle distance shortening control) is performed using the follow-up traveling control. However, the present invention is not limited to this. That is, a control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle may be applied separately without using the follow-up running control. For example, if the inter-vehicle distance between the host vehicle and the preceding vehicle set by the driver's driving is longer than the inter-vehicle distance that should be set to prevent the oncoming vehicle from crossing the front of the host vehicle, the output of the engine 5 is instantaneously The desired distance between the vehicles may be realized by raising the distance.

DESCRIPTION OF SYMBOLS 5 Engine 8 Controller 8a Oncoming vehicle determination part 8b Backward moving body determination part 8c Control part 21 Front camera 23 Front radar 25 Rear camera 27 Rear radar 29 Vehicle speed sensor V1 Own vehicle V2 Oncoming vehicle V3 Leading vehicle V4 Two-wheeled vehicle (rear vehicle)

Claims (6)

A control device for a vehicle,
Oncoming vehicle determination means for determining whether the oncoming vehicle is about to cross the space between the host vehicle and the preceding vehicle;
A backward moving object determining means for determining whether or not a moving object that may overtake the own vehicle exists behind the own vehicle;
The oncoming vehicle determining means determines that the oncoming vehicle is about to cross the space between the host vehicle and its preceding vehicle, and the rear moving body determining means determines that the moving body is behind the own vehicle. Control means for performing control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle,
A vehicle control apparatus comprising:   The control means changes the inter-vehicle distance between the host vehicle and the preceding vehicle, which is set when the host vehicle travels following the preceding vehicle in the tracking control, to a small value, so that the inter-vehicle distance between the host vehicle and the preceding vehicle is reduced. The vehicle control device according to claim 1, wherein   The vehicle control device according to claim 1, wherein the control means increases the degree of shortening the inter-vehicle distance between the host vehicle and its preceding vehicle as the size of the oncoming vehicle is smaller.   The control means executes control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle only when the vehicle speed is less than the predetermined speed. When the vehicle speed is equal to or higher than the predetermined speed, the control unit and the vehicle The vehicle control device according to any one of claims 1 to 3, wherein execution of control for reducing a distance between the preceding vehicle and the preceding vehicle is prohibited.   The said control means prohibits execution of the control which shortens the distance between the own vehicle and its preceding vehicle, when the own vehicle is going through the place where entrance of a vehicle is restrict | limited. The vehicle control device according to claim 4.   The control means determines that the oncoming vehicle is about to cross the space between the host vehicle and its preceding vehicle by the oncoming vehicle determination means, and moves the moving body to the rear of the host vehicle by the rear moving body determination means. The control for further guiding the traveling position of the host vehicle to the road shoulder side in addition to the control for shortening the inter-vehicle distance between the host vehicle and the preceding vehicle when it is determined that the vehicle exists. The vehicle control device according to one item.

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