Vehicle control system
ECU 10 is configured to: detect an object (a parked vehicle 3 , a pedestrian 6 , a traffic signal 7 ) external to the vehicle 1 ; determine a speed distribution area 40 extending at least in a lateral area of the object in the travelling direction and defining a distribution of an allowable upper limit of the relative speed of the vehicle 1 with respect to the object in a travelling direction; calculate the relative speed with respect to the object in the travelling direction; and execute an avoidance control (S 14 ) for restricting the relative speed so that the relative speed does not exceed the allowable upper limit. The speed distribution area 40 is determined such that the allowable upper limit is made lower as a lateral distance from the object becomes smaller.
1. A vehicle control system mounted on a vehicle, the system being configured to;
detect an object external to the vehicle,
determine a speed distribution area extending at least in a lateral area of the object in a travelling direction of the vehicle and defining a distribution of an allowable upper limit of a relative speed of the vehicle with respect to the object in the travelling direction of the vehicle, and
execute an avoidance control for restricting the relative speed of the vehicle with respect to the object so that the relative speed does not exceed the allowable upper limit in the speed distribution area.
2. The vehicle control system as recited in claim 1 , wherein the speed distribution area is determined such that the allowable upper limit is made lower as a lateral distance from the object becomes smaller.
3. The vehicle control system as recited in claim 1 , wherein, in the avoidance control, the speed and/or the steering direction of the vehicle is changed to have the relative speed of the vehicle in the speed distribution area restricted from exceeding the allowable upper limit.
4. The vehicle control system as recited in claim 1 , wherein, in the avoidance control, a route of the vehicle is calculated based on the speed distribution area.
5. The vehicle control system as recited in claim 1 , wherein the speed distribution area is defined also for a region extending from the lateral area to a rearward area of the object such that the allowable upper limit is made lower as a lateral distance and a longitudinal distance from the object become smaller.
6. The vehicle control system as recited in claim 1 , wherein the speed distribution area is defined also for a region extending from the lateral area to a forward area of the object such that the allowable upper limit is made lower as a lateral distance and a longitudinal distance from the object become smaller.
7. The vehicle control system as recited in claim 1 , wherein the speed distribution area is determined such that the allowable upper limit is zero in a region apart from the object by a predetermined safe distance.
8. The vehicle control system as recited in claim 7 , wherein the safe distance is changed depending on types of the detected object and/or an absolute speed of the vehicle.
9. The vehicle control system as recited in claim 1 , wherein a rate of change of the allowable upper limit with respect to a distance from the object is changed depending on types of the detected object.
10. The vehicle control system as recited in claim 9 , wherein the rate of change in a case where the object is a pedestrian is smaller than that in a case where the object is a vehicle.
11. The vehicle control system as recited in claim 1 , wherein the object includes at least one of a vehicle, a pedestrian, a bicycle, a travelling path partition, an obstacle, a traffic signal, and a traffic sign.