In-vehicle electronic control device
A processing device in an in-vehicle electronic control device recognizes a travelable area on a road surface around a host vehicle that the host vehicle enters, based on a result of an integration process, sets an avoidance target for avoiding a collision with an object predicted to collide when a collision between the host vehicle and the object is predicted, generates an avoidance route in the travelable area, the avoidance route leading to the avoidance target, sets an entering object detection area around the host vehicle to detect entry of the object, and detects the object having entered the entering object detection area based on object information of the object, detected by a plurality of external sensors, before the integration process, and determines whether to execute an avoidance operation along the avoidance route based on a result of the detection.
1 . An in-vehicle electronic control device comprising a processing device that acquires object information of an object detected by each of a plurality of external sensors mounted on a host vehicle and executes an integration process to integrate a plurality of pieces of the object information acquired, wherein the processing device is configured to:
recognize a travelable area on a road surface around the host vehicle that the host vehicle enters, based on a result of the integration process,
predict whether the host vehicle and the object will collide, based on the object information,
set an avoidance target for avoiding a collision with the object predicted to collide when a collision between the host vehicle and the object is predicted,
generate an avoidance route in the travelable area, the avoidance route leading to the avoidance target,
set an entering object detection area around the host vehicle to detect entry of the object,
set a plurality of detection area candidates along a traveling direction of the host vehicle,
select one or more of the detection area candidates as the entering object detection area from among the plurality of detection area candidates, based on a relationship between a traveling direction of a lane in which the avoidance target is set and a traveling direction of the host vehicle, and
detect the object having entered the entering object detection area based on the object information of the object before the integration process, the object having been detected by the plurality of external sensors, and determine whether to execute an avoidance operation along the avoidance route based on a result of the detection, wherein:
the plurality of detection area candidates includes an avoidance route detection area including the avoidance route, a front detection area set in front of the avoidance route detection area, and a rear detection area set behind the avoidance route detection area,
when the traveling direction of the lane in which the avoidance target is set is the same as the traveling direction of the host vehicle, the processing device selects the avoidance route detection area and the rear detection area from among the plurality of detection area candidates as the entering object detection area, and does not select the front detection area as the entering object detection area,
the processing device determines a length of the rear detection area in a direction along the traveling direction of the host vehicle based on traveling speed information of the lane in which the avoidance target is set,
when a collision is predicted between the host vehicle and the object present in front of the host vehicle, the processing device sets the avoidance target outside a host vehicle traveling lane that is a lane in which the host vehicle travels, and
before performing a process of determining whether to execute the avoidance operation along the avoidance route, the processing device outputs a control signal to a steering device to move the host vehicle to a side in the host vehicle traveling lane, the side being close to the avoidance target.
2 . An in-vehicle electronic control device comprising a processing device that acquires object information of an object detected by each of a plurality of external sensors mounted on a host vehicle and executes an integration process to integrate a plurality of pieces of the object information acquired, wherein the processing device is configured to:
recognize a travelable area on a road surface around the host vehicle that the host vehicle enters, based on a result of the integration process,
predict whether the host vehicle and the object will collide, based on the object information,
set an avoidance target for avoiding a collision with the object predicted to collide when a collision between the host vehicle and the object are predicted,
generate an avoidance route in the travelable area, the avoidance route leading to the avoidance target,
set an entering object detection area around the host vehicle to detect entry of the object,
set a plurality of detection area candidates along a traveling direction of the host vehicle,
select one or more of the detection area candidates as the entering object detection area from among the plurality of detection area candidates, based on a relationship between a traveling direction of a lane in which the avoidance target is set and a traveling direction of the host vehicle, and
detect the object having entered the entering object detection area based on the object information of the object before the integration process, the object having been detected by the plurality of external sensors, and determine whether to execute an avoidance operation along the avoidance route based on a result of the detection, wherein:
the plurality of detection area candidates includes an avoidance route detection area including the avoidance route, a front detection area set in front of the avoidance route detection area, and a rear detection area set behind the avoidance route detection area,
when the traveling direction of the lane in which the avoidance target is set is opposite to the traveling direction of the host vehicle, the processing device selects the avoidance route detection area and the front detection area from among the plurality of detection area candidates as the entering object detection area, and does not select the rear detection area as the entering object detection area,
the processing device determines a length of the front detection area in a direction along the traveling direction of the host vehicle based on traveling speed information of the lane in which the avoidance target is set,
when a collision is predicted between the host vehicle and the object present in front of the host vehicle, the processing device sets the avoidance target outside a host vehicle traveling lane that is a lane in which the host vehicle travels, and
before performing a process of determining whether to execute the avoidance operation along the avoidance route, the processing device outputs a control signal to a steering device to move the host vehicle to a side in the host vehicle traveling lane, the side being close to the avoidance target.