Vehicle control device
The present invention relates to a vehicle control device for automatically controlling at least a part of the drive control of the host vehicle. If an external condition detecting unit detects a first other vehicle subject to following control and a second other vehicle which exhibits the traveling movements of cutting in between the first other vehicle and the host vehicle, a deceleration limiter sets limits that differ depending on whether or not the relative speed of the host vehicle vis-a-vis the second other vehicle exceeds a speed threshold having a positive value.
1. A vehicle control device that performs travel control of a host vehicle at least partially automatically, the vehicle control device comprising:
an external environment state detection unit configured to detect a state of an external environment of the host vehicle;
a travel control unit configured to perform following control with respect to another vehicle that is detected ahead of the host vehicle by the external environment state detection unit; and
a deceleration limit unit configured to determine an upper limit value of deceleration of the host vehicle while the travel control unit performs the following control,
wherein if the external environment state detection unit has detected a first other vehicle that is an object of the following control and a second other vehicle that exhibits travel behavior of cutting in between the first other vehicle and the host vehicle, the deceleration limit unit determines an upper limit value of the deceleration differently depending on whether relative speed of the host vehicle with respect to the second other vehicle exceeds a speed threshold that is a positive value,
wherein the upper limit value is constant at least in a part of a range equal to or lower than the speed threshold, and
wherein the upper limit value in a range exceeding the speed threshold is greater than a maximum of the upper limit value in the range equal to or lower than the speed threshold.
2. The vehicle control device according to claim 1 , wherein:
if the relative speed does not exceed the speed threshold, the deceleration limit unit determines the upper limit value of the deceleration by using at least time-to-contact of the host vehicle with respect to the second other vehicle; and
if the relative speed exceeds the speed threshold, the deceleration limit unit determines the upper limit value of the deceleration by using at least an inter-vehicle distance between the second other vehicle and the host vehicle.
3. The vehicle control device according to claim 1 , wherein if the relative speed does not exceed the speed threshold and the time-to-contact exceeds a time threshold, the deceleration limit unit determines, as the upper limit value, a designed value of the deceleration where the relative speed becomes a predetermined negative value at a time point when estimated time has elapsed.
4. The vehicle control device according to claim 1 , wherein if the relative speed is a zero value or a negative value, the deceleration limit unit determines the zero value as the upper limit value of the deceleration.
5. The vehicle control device according to claim 1 , wherein in a certain range where the relative speed does not exceed the speed threshold that is the positive value, the upper limit value is constant, and in a range lower than the certain range, the upper limit is lowered as the relative speed decreases.
6. The vehicle control device according to claim 5 , wherein in the certain range, time-to-contact of the host vehicle with respect to the second other vehicle is larger than a predetermined time threshold.