Vehicle control device, vehicle control method, and storage medium

1 . A vehicle control device, comprising:

a first transmitter configured to transmit an electromagnetic wave forward of a host vehicle;

a second transmitter configured to transmit a sound wave to around the host vehicle; and

one or more processors configured to:

detect an object based on a reflected electromagnetic wave reflected by the object;

detect the object based on a reflected sound wave reflected by the object; and

detect the object as a detected object based on image data acquired by capturing a view in front of the host vehicle, wherein:

the one or more processors are further configured to, when the object located in front of the host vehicle meets a predetermined perception condition, detect the object, and when a relationship between the host vehicle and the detected object meets a predetermined collision condition, perform either or both of following operations:

giving a warning to notify an occupant of the host vehicle of a risk of collision with the detected object; and

performing vehicle control for controlling a traveling state of the host vehicle in order to reduce the risk of collision;

the one or more processors are further configured to, when a specific condition is satisfied, make the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied;

the specific condition includes a condition that a restricted section where traffic is restricted is present in front of the host vehicle in an adjacent lane located adjacent to an own lane in which the host vehicle travels;

the specific condition is satisfied when all of the following conditions are satisfied:

a condition that a distance between the host vehicle and a start point of the restricted section is equal to or less than a first threshold distance;

a condition that an adjacent vehicle located behind the host vehicle in the adjacent lane in which the restricted section is present approaches the host vehicle; and

a condition that there is no preceding vehicle in front of the host vehicle in the own lane or a distance between a preceding vehicle and the host vehicle is equal to or larger than a second threshold distance;

when the specific condition is not satisfied, the vehicle control device determines that the object meets the predetermined perception condition when both of following conditions are satisfied:

a condition that, based on the reflected electromagnetic wave, the one or more processors detect the object and, based on the reflected sound wave, the one or more processors detect the same object as the object detected based on the reflected electromagnetic wave; and

a condition that a detection time during which the one or more processors detect the object based on the reflected electromagnetic wave is equal to or longer than a first threshold time and a reflection intensity of the reflect electromagnetic wave from the object is equal to or higher than a first threshold intensity;

when the specific condition is satisfied, the one or more processors determine that the object meets the predetermined perception condition when any one of following conditions is satisfied:

a condition that the one or more processors detect the object based on the reflected electromagnetic wave and the detection time is equal to or longer than a second threshold time that is shorter than the first threshold time;

a condition that the one or more processors detect the object based on the reflected sound wave and the reflection intensity is equal to or higher than a second threshold intensity that is lower than the first threshold intensity; and

a condition that the one or more processors detect the object;

the one or more processors determine whether the predetermined perception condition is satisfied for an object located in a detection area including a right detection area on a right side of the host vehicle and a left detection area on a left side of the host vehicle; and

when the specific condition is satisfied, the vehicle control device makes the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied in a region where the restricted section is present out of the right detection area and the left detection area.

2 . A vehicle control method, the method comprising the steps of:

detecting an object based on a reflected electromagnetic wave reflected by the object;

detecting the object based on a reflected sound wave reflected by the object;

detecting the object as a detected object based on image data acquired by capturing a view in front of a host vehicle;

detecting the object when the object located in front of the host vehicle meets a predetermined perception condition;

performing either or both of the following operations when a relationship between the host vehicle and the detected object meets a predetermined collision condition:

giving a warning to notify an occupant of the host vehicle of a risk of collision with the detected object; and

performing vehicle control for controlling a traveling state of the host vehicle in order to reduce the risk of collision;

when a specific condition is satisfied, making the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied, the specific condition including a condition that a restricted section where traffic is restricted is present in front of the host vehicle in an adjacent lane located adjacent to an own lane in which the host vehicle travels, the specific condition being satisfied when all of the following conditions are satisfied:

a condition that a distance between the host vehicle and a start point of the restricted section is equal to or less than a first threshold distance;

a condition that an adjacent vehicle located behind the host vehicle in the adjacent lane in which the restricted section is present approaches the host vehicle; and

a condition that there is no preceding vehicle in front of the host vehicle in the own lane or a distance between a preceding vehicle and the host vehicle is equal to or larger than a second threshold distance;

when the specific condition is not satisfied, determining that the object meets the predetermined perception condition when both of following conditions are satisfied:

a condition that, the object was detected based on both the reflected electromagnetic wave and the reflected sound wave; and

a condition that a detection time during which the object was detected based on the reflected electromagnetic wave is equal to or longer than a first threshold time and a reflection intensity of the reflect electromagnetic wave from the object is equal to or higher than a first threshold intensity;

when the specific condition is satisfied, determining that the object meets the predetermined perception condition when any one of following conditions is satisfied:

a condition that the object was detected based on the reflected electromagnetic wave and the detection time is equal to or longer than a second threshold time that is shorter than the first threshold time;

a condition that the object was detected based on the reflected sound wave and the reflection intensity is equal to or higher than a second threshold intensity that is lower than the first threshold intensity; and

a condition that one or more processors detect the object;

determining whether the predetermined perception condition is satisfied for a second object located in a detection area including a right detection area on a right side of the host vehicle and a left detection area on a left side of the host vehicle; and

when the specific condition is satisfied, making the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied in a region where the restricted section is present out of the right detection area and the left detection area.

3 . A non-transitory storage medium storing a program that, when executed by a computer, causes the computer to perform the steps of:

detecting an object based on a reflected electromagnetic wave reflected by the object;

detecting the object based on a reflected sound wave reflected by the object;

detecting the object as a detected object based on image data acquired by capturing a view in front of a host vehicle;

detecting the object when the object located in front of the host vehicle meets a predetermined perception condition;

performing either or both of the following operations when a relationship between the host vehicle and the detected object meets a predetermined collision condition:

giving a warning to notify an occupant of the host vehicle of a risk of collision with the detected object, and

performing vehicle control for controlling a traveling state of the host vehicle in order to reduce the risk of collision;

when a specific condition is satisfied, making the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied, the specific condition including a condition that a restricted section where traffic is restricted is present in front of the host vehicle in an adjacent lane located adjacent to an own lane in which the host vehicle travels, the specific condition being satisfied when all of the following conditions are satisfied:

a condition that a distance between the host vehicle and a start point of the restricted section is equal to or less than a first threshold distance;

a condition that an adjacent vehicle located behind the host vehicle in the adjacent lane in which the restricted section is present approaches the host vehicle; and

a condition that there is no preceding vehicle in front of the host vehicle in the own lane or a distance between a preceding vehicle and the host vehicle is equal to or larger than a second threshold distance;

when the specific condition is not satisfied, determining that the object meets the predetermined perception condition when both of following conditions are satisfied:

a condition that, the object was detected based on both the reflected electromagnetic wave and the reflected sound wave; and

a condition that a detection time during which the object was detected based on the reflected electromagnetic wave is equal to or longer than a first threshold time and a reflection intensity of the reflect electromagnetic wave from the object is equal to or higher than a first threshold intensity;

when the specific condition is satisfied, determining that the object meets the predetermined perception condition when any one of following conditions is satisfied:

a condition that the object was detected based on the reflected electromagnetic wave and the detection time is equal to or longer than a second threshold time that is shorter than the first threshold time;

a condition that the object was detected based on the reflected sound wave and the reflection intensity is equal to or higher than a second threshold intensity that is lower than the first threshold intensity; and

a condition that one or more processors detect the object;

determining whether the predetermined perception condition is satisfied for a second object located in a detection area including a right detection area on a right side of the host vehicle and a left detection area on a left side of the host vehicle; and

when the specific condition is satisfied, making the predetermined perception condition easier to be satisfied than when the specific condition is not satisfied in a region where the restricted section is present out of the right detection area and the left detection area.