Vehicle and vehicle control method

1. A vehicle comprising:

a vehicle body configured to be movable by a plurality of wheels;

a wave transmission/reception device provided on the vehicle body, the wave transmission/reception device being configured to transmit a sound wave or an electromagnetic wave and receive a reflected wave being reflection of the sound wave or the electromagnetic wave from an object;

a first image capture device configured to capture an image of a front view of the vehicle;

a ranging device configured to calculate, by using the reflected wave, a distance between the vehicle and the object;

a braking control device configured to apply brakes to the vehicle body in response to a braking request; and

a vehicle control device configured to

determine, based on the image captured by the first image capture device, whether the object is a preceding vehicle and whether a brake light of the preceding vehicle is on or off,

when it is determined that the object is a preceding vehicle and a brake light of the preceding vehicle is on, transmit a braking request that instructs the braking control device to stop the vehicle at a position at which an inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a first distance, and,

when it is determined that the object is a preceding vehicle and a brake light of the preceding vehicle is off, transmit a braking request that instructs the braking control device to stop the vehicle at a position at which an inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a second distance being smaller than the first distance,

wherein the vehicle control device is configured to

transmit a braking request that instructs the braking control device not to start to move the vehicle when the inter-vehicle distance between the preceding vehicle and the stopped vehicle is equal to or smaller than the first distance while it is determined that the brake light of the preceding vehicle is on, and

transmit a braking request that instructs the braking control device not to start to move the vehicle when the inter-vehicle distance between the preceding vehicle and the stopped vehicle is equal to or smaller than the second distance being smaller than the first distance while it is determined that the brake light of the preceding vehicle is off.

2. The vehicle according to claim 1 , wherein the vehicle control device is configured to

determine, based on the image captured by the first image capture device, a light color of a traffic light positioned ahead of the vehicle, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when it is determined that the light color of the traffic light is green while it is determined that the brake light of the preceding vehicle is off.

3. The vehicle according to claim 1 , wherein the vehicle control device is configured to

determine whether the preceding vehicle has moved forward, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when it is determined that the preceding vehicle has moved forward while it is determined that the brake light of the preceding vehicle is off.

4. The vehicle according to claim 1 , wherein the vehicle control device is configured to

determine whether a following vehicle of the vehicle has moved forward, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when it is determined that the following vehicle has moved forward while it is determined that the brake light of the preceding vehicle is off.

5. The vehicle according to claim 1 , further comprising a microphone configured to detect a surrounding sound of the vehicle,

wherein the vehicle control device is configured to transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when a volume of an engine sound of the preceding vehicle or a following vehicle detected by the microphone has increased while it is determined that the brake light of the preceding vehicle is off.

6. The vehicle according to claim 1 , wherein the vehicle control device is configured to

determine, based on the image captured by the first image capture device, whether a vehicle body of the preceding vehicle has moved up and down, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when it is determined that the vehicle body of the preceding vehicle has moved up and down while it is determined that the brake light of the preceding vehicle is off.

7. The vehicle according to claim 1 , further comprising a second image capture device configured to capture an image of a rear view of the vehicle,

wherein the vehicle control device is configured to

determine, based on an image captured by the second image capture device, whether a vehicle body of a following vehicle of the vehicle has moved up and down, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a third distance being smaller than the second distance when it is determined that the vehicle body of the following vehicle has moved up and down while it is determined that the brake light of the preceding vehicle is off.

8. The vehicle according to claim 1 , wherein the vehicle control device is configured to

determine, based on the image captured by the first image capture device, a light color of a traffic light positioned ahead of the vehicle, and

transmit a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than the first distance when it is determined that the light color of the traffic light is red, irrespective of whether the brake light of the preceding vehicle captured by the first image capture unit is on or off.

9. The vehicle according to claim 1 , wherein the vehicle control device is configured to transmit a braking request that instructs the braking control device to stop the vehicle at a position at which a distance between the object and the vehicle is equal to or larger than the first distance when it is determined that the object is not the preceding vehicle.

10. The vehicle according to claim 1 , wherein the vehicle control device is configured to detect the object based on the reflected wave.

11. A vehicle comprising:

a vehicle body configured to be movable by a plurality of wheels;

a wave transmission/reception device provided on the vehicle body, the wave transmission/reception device being configured to transmit a sound wave or an electromagnetic wave and receive a reflected wave being reflection of the sound wave or the electromagnetic wave from an object;

a first image capture device configured to capture an image of a front view of the vehicle;

an acceleration control device configured to control acceleration of the vehicle to be equal to or smaller than a maximum acceleration; and

a vehicle control device configured to

determine, based on the image captured by the first image capture device, whether the object is a preceding vehicle and whether a brake light of the preceding vehicle is on or off,

when it is determined that the object is a preceding vehicle and a brake light of the preceding vehicle is on, set a first acceleration as the maximum acceleration of the vehicle, and

when it is determined that the object is a preceding vehicle and a brake light of the preceding vehicle is off, set, as the maximum acceleration of the vehicle, a second acceleration being larger than the first acceleration.

12. A method of controlling a vehicle, the method being implemented by a computer provided in a vehicle including: a vehicle body configured to be movable by a plurality of wheels; a wave transmission/reception device provided on the vehicle body and configured to transmit a sound wave or an electromagnetic wave and receive a reflected wave being reflection of the sound wave or the electromagnetic wave from an object; a first image capture device configured to capture an image of a front view of the vehicle; a ranging device configured to calculate, by using the reflected wave, a distance between the vehicle and the object; and a braking control device configured to apply brakes to the vehicle body in response to a braking request, the method comprising:

determining, based on the image captured by the first image capture device, whether the object is a preceding vehicle and whether a brake light of the preceding vehicle is on or off;

in response to determining that the object is a preceding vehicle and a brake light of the preceding vehicle is on, transmitting a braking request that instructs the braking control device to stop the vehicle at a position at which an inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a first distance;

in response to determining that the object is a preceding vehicle and a brake light of the preceding vehicle is off, transmitting a braking request that instructs the braking control device to stop the vehicle at a position at which an inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a second distance being smaller than the first distance;

transmitting a braking request that instructs the braking control device not to start to move the vehicle when the inter-vehicle distance between the preceding vehicle and the stopped vehicle is equal to or smaller than the first distance while it is determined that the brake light of the preceding vehicle is on; and

transmitting a braking request that instructs the braking control device not to start to move the vehicle when the inter-vehicle distance between the preceding vehicle and the stopped vehicle is equal to or smaller than the second distance being smaller than the first distance while it is determined that the brake light of the preceding vehicle is off.

13. A method of controlling a vehicle, the method being implemented by a computer provided in a vehicle including: a vehicle body configured to be movable by a plurality of wheels; a wave transmission/reception device provided on the vehicle body, the wave transmission/reception device being configured to transmit a sound wave or an electromagnetic wave and receive a reflected wave being reflection of the sound wave or the electromagnetic wave from an object; a first image capture device configured to capture an image of a front view of the vehicle; and an acceleration control device configured to control acceleration of the vehicle to be equal to or smaller than a maximum acceleration, the method comprising:

determining, based on the image captured by the first image capture device, whether the object is a preceding vehicle and whether a brake light of the preceding vehicle is on or off;

in response to determining that the object is a preceding vehicle and a brake light of the preceding vehicle is on, setting a first acceleration as the maximum acceleration of the vehicle; and,

in response to determining that the object is a preceding vehicle and a brake light of the preceding vehicle is off, setting, as the maximum acceleration of the vehicle, a second acceleration being larger than the first acceleration.