Vehicle control device
When it is determined that there is a possibility that an object collides with the vehicle from behind while the vehicle is stopped, collision-corresponding braking control is performed to apply a braking force necessary for suppressing the forward movement of the vehicle due to the collision of the object to the vehicle. During the collision response braking control, it is determined whether or not a backward acceleration caused in the vehicle by the collision of the object has occurred, and in the collision response braking control, when the depression operation of the accelerator pedal is performed while the backward acceleration is occurring, the collision response braking control is continued and the depression operation of the accelerator pedal is not performed.
1 . A vehicle control device comprising:
an accelerator pedal that is for adjusting a driving force of a vehicle;
an acceleration sensor that is able to detect an acceleration of the vehicle in a front-rear direction;
a detection sensor that is able to detect an approach of an object from a rear side to the vehicle;
a braking device that applies a braking force to the vehicle; and
a processor, wherein the processor
causes the braking device to perform collision handling braking control of applying a braking force necessary to reduce forward movement of the vehicle due to collision of an object to the vehicle when it is determined that there is a probability of collision of the object against the vehicle from the rear side during stop of the vehicle based on a detection result of the detection sensor,
determines whether or not a backward acceleration triggered in the vehicle by the collision of the object has occurred during the collision handling braking control, and
maintains the collision handling braking control and cancels out an operation of stepping the accelerator pedal when the operation of stepping the accelerator pedal is performed with the backward acceleration having occurred during the collision handling braking control, or
releases the collision handling braking control and adjusts the driving force of the vehicle in accordance with the operation of stepping the accelerator pedal when the operation of stepping the accelerator pedal is performed with the backward accelerator having not occurred during the collision handling braking control.
2 . The vehicle control device according to claim 1 , wherein when the processor determines that there is a probability of collision of an object against the vehicle from the rear side during stop of the vehicle based on the detection result of the detection sensor, the processor causes the braking device to perform the collision handling braking control for a specific period of time set in advance unless the collision handling braking control is released.
3 . The vehicle control device according to claim 1 , wherein the processor determines whether or not a backward acceleration that is equal to or greater than a predetermined strength and is triggered in the vehicle by collision of the object has occurred during the collision handling braking control, and maintains the collision handling braking control and cancels out the operation of stepping the accelerator pedal when the operation of stepping the accelerator pedal is performed with the backward accelerator that is equal to or greater than the predetermined strength having occurred during the collision handling braking control, or releases the collision handling braking control and adjusts the driving force of the vehicle in accordance with the operation of stepping the accelerator pedal when the operation of stepping the accelerator pedal is performed with the backward acceleration having not occurring during the collision handing braking control.
4 . The vehicle control device according to claim 1 , wherein the backward acceleration is a backward acceleration triggered in the vehicle for a first time after a forward acceleration triggered in the vehicle by collision of the object occurs.