VEHICLE CONTROL DEVICE
Provided is a vehicle control device that can reduce the discomfort to the driver and the influence on an object to be loaded and prevent collision damage. A vehicle control device 100 controls the deceleration of a vehicle 1 based on the distance and the relative speed between the vehicle 1 and an obstacle in front of the vehicle. The vehicle control device 100 includes a control unit 101 that sequentially performs initial braking and main braking on the vehicle 1 . The control unit 101 controls a timing of the initial braking based on the estimated weight of the vehicle including the weight of an object to be loaded without changing a timing of the main braking.
1 . A vehicle control device that performs deceleration control of a vehicle based on a distance and a relative speed between the vehicle and an obstacle in front of the vehicle, the device comprising a control unit configured to sequentially perform initial braking and main braking on the vehicle,
wherein the control unit controls a timing of the initial braking based on an estimated weight of the vehicle including a weight of an object to be loaded without changing a timing of the main braking.
2 . The vehicle control device according to claim 1 , wherein the control unit estimates a degree of wakefulness of a driver based on a driving operation of the driver, and controls the initial braking timing in accordance with the estimated degree of wakefulness.
3 . The vehicle control device according to claim 1 , further comprising a storage unit configured to store braking operation information of the driver,
wherein when the number of braking operations of the driver stored in the storage unit is not less than a predetermined number, the control unit estimates a braking operation timing of the driver based on the braking operation information of the driver stored in the storage unit, and sets a timing that is later than the estimated braking operation timing as the initial braking timing.
4 . The vehicle control device according to claim 1 , further comprising a storage unit configured to store braking operation information of the driver,
wherein when the number of braking operations of the driver stored in the storage unit is less than a predetermined number, the control unit sets a predetermined braking operation timing as the initial braking timing.
5 . The vehicle control device according to claim 1 , further comprising a calculation unit configured to calculate an estimated weight of the vehicle including a weight of the object to be loaded
wherein the control unit controls the initial braking timing based on the estimated weight of the vehicle calculated by the calculation unit.
6 . The vehicle control device according to claim 1 , wherein when a change in weight of the object to be loaded falls within a predetermined range, the control unit sets a maximum value of an absolute value of acceleration/deceleration generated during a driver operation as the initial braking maximum deceleration.
7 . The vehicle control device according to claim 3 , further comprising a driver identifying unit configured to identify a driver who drives the vehicle,
wherein the storage unit has an area for storing driver's braking operation information for each driver.
8 . The vehicle control device according to claim 7 , wherein the storage unit holds the braking operation information even after power of the vehicle is stopped and does not store the braking operation information when the power of the vehicle is stopped.