Vehicle control device, and vehicle
A vehicle control device which controls acceleration/deceleration of a vehicle includes: a switch controller; a recognizer; an actual vehicle-to-vehicle distance calculator; and a target vehicle-to-vehicle distance calculator. Switching criteria for the switch controller's switching the control condition from the first control condition to the second control condition include a criterion that the absolute value of a difference between an actual vehicle-to-vehicle distance calculated by the actual vehicle-to-vehicle distance calculator and a target vehicle-to-vehicle distance calculated by the target vehicle-to-vehicle distance calculator is less than or equal to a predetermined threshold.
1. A vehicle control device which controls acceleration and deceleration of a host vehicle, comprising:
a switch controller which switches a control condition set by the vehicle control device between a first control condition and a second control condition which requires a driver to perform fewer operations than the first control condition, or which automates more operations than the first control condition;
a recognizer which recognizes a peripheral vehicle running around the host vehicle;
a first distance calculator which calculates a first distance based on an actual vehicle-to-vehicle distance between the host vehicle and a preceding vehicle recognized by the recognizer; and
a second distance calculator which calculates a second distance based on a target vehicle-to-vehicle distance between the host vehicle and the preceding vehicle, wherein
switching criteria for the switch controller's switching the control condition from the first control condition to the second control condition include a criterion that a difference between the first distance calculated by the first distance calculator and the second distance calculated by the second distance calculator is equal to or less than a predetermined threshold, and
the switching criteria further include a criterion that a running state where the difference between the first distance calculated by the first distance calculator and the second distance calculated by the second distance calculator is equal to or less than the predetermined threshold is kept for a predetermined time period.
2. The vehicle control device according to claim 1 , wherein
the second distance becomes wider as a vehicle speed of the host vehicle becomes higher.
3. The vehicle control device according to claim 1 , further comprising a vehicle sensor configured to detect acceleration of the host vehicle,
wherein the switching criteria further include a criteria that the acceleration of the host vehicle falls within a predetermined range.
4. The vehicle control device according to claim 1 , wherein
the switching criteria further include a criterion that a total sum of absolute values of amounts of changes in the vehicle speed of the host vehicle in the running state where the difference between the first distance and the second distance is equal to or less than the predetermined threshold is equal to or less than a predetermined threshold.
5. The vehicle control device according to claim 1 , further comprising a vehicle sensor configured to detect acceleration of the host vehicle,
Wherein the switching criteria further include a criterion that the acceleration of the host vehicle in the running state continues being a positive acceleration or a negative acceleration.
6. The vehicle control device according to claim 1 , wherein
when the running state where the difference between the first distance and the second distance is equal to or less than the predetermined threshold is detected, a count for a time period for which the running state continues is started, and
in a case where the continuation time period does not reach a predetermined time period, the count is reset.
7. The vehicle control device according to claim 1 , wherein
the switching criteria includes at least one of
the vehicle speed of the host vehicle being equal to or less than a first speed threshold, and
a vehicle speed of the preceding vehicle being equal to or less than a second speed threshold.
8. The vehicle control device according to claim 7 , wherein
when the preceding vehicle remains the same when a switch from the first control condition to the second control condition is followed by a switch from the second control condition to the first control condition, switch controller performs at least one of
shortening a switch suppression time length for which the same control condition is required to be kept and
increasing the first speed threshold.
9. The vehicle control device according to claim 1 , wherein
when the host vehicle is in the first control condition, the second distance calculator calculates the second distance based on a selected first setting or second setting selected based on a user input, and determination on the switching criteria by the switch controller is made based on the second distance calculated based on the selected one of the first setting and the second setting, wherein a length of the second distance corresponding to the vehicle speed of the host vehicle from the second setting is longer than the first setting.
10. The vehicle control device according to claim 9 , wherein
when the second distance is calculated by the second distance calculator based on the first setting, and the control condition is shifted to the second control condition, the second distance calculator automatically calculates the second distance based on the second setting.
11. The vehicle control device according to claim 1 , wherein
the first distance is the actual vehicle-to-vehicle distance, and
the second distance is the target vehicle-to-vehicle distance.
12. A vehicle comprising the vehicle control device according to claim 1 .