Vehicle control device including object detection unit for collision avoidance, vehicle control method, and program
To suppress unnecessary operation of PCS control, provided is a vehicle control device comprising a detection unit for detecting an object located in diagonally forward of an own vehicle as a diagonally forward object; and an ECU including at least one processor. The ECU programmed to execute a collision avoidance control for avoiding a collision between own vehicle and one moving object detected as the diagonally forward object by the detection unit or reducing damage to the collision when the one moving object detected as the diagonally forward object satisfies a predetermined collision condition. The ECU programmed to suppress the collision avoidance control based on the one moving object when the other moving object or a stationary object is detected within a predetermined area in the vicinity of the one moving object by the detecting unit.
1 . A vehicle control device, comprising:
an object detection unit including a forward camera and a pair of front-and-lateral millimeter wave radars configured to detect an object located in front and diagonally forward of an own vehicle as a diagonally forward object; and
an electronic control unit including at least one processor configured to:
calculate a reliability degree of the diagonally forward object based on at least one of:
(i) whether the diagonally forward object is located in an overlapping region where a detection region of the pair of front-and-lateral millimeter wave radars and a capture region of the forward camera overlap, or
(ii) whether an abnormal condition is satisfied;
calculate a time-to-collision with respect to the diagonally forward object;
execute a collision avoidance control to decelerate the vehicle only when the reliability degree is equal to or greater than a first predetermined threshold and the time-to-collision is equal to less than a second predetermined threshold for avoiding a collision between own vehicle and the diagonally forward object by the object detection unit or reducing damage to the collision when the diagonally forward object satisfies a predetermined collision condition; and
suppress the collision avoidance control based on the diagonally forward object when a moving object or a stationary object is detected within a predetermined area in a vicinity of the diagonally forward object by the object detecting unit.
2 . The vehicle control device according to claim 1 , wherein the abnormal condition includes at least one of:
(a) a radar-reflected cross-sectional area is less than or equal to a third threshold,
(b) a magnitude of a difference between a total length of the diagonally forward object detected in a current detection and a total length of the diagonally forward objected detected in a previous detection is equal to or greater than a fourth threshold, or
(c) a magnitude of a different between an angle formed by a relative moving direction of the diagonally forward object detected in the current detection and a longitudinal axis of the own vehicle and an angle formed by a relative moving direction of the diagonally forward object detected in the previous detection and the longitudinal axis of the own vehicle is equal or greater than a fifth threshold.
3 . A vehicle control method which is applied to a vehicle, the vehicle control method comprising:
detecting an object located in front and diagonally forward of the vehicle by an object detection unit including a forward camera and a pair of front-and-lateral millimeter wave radars;
calculating, by a processor, a reliability degree of the detected object based on at least one of:
(i) whether the detected object is located in an overlapping region where a detection region of the pair of front-and-lateral millimeter wave radars and a capture region of the forward camera overlap, or
(ii) whether an abnormal condition is satisfied;
calculating, by the processor, a time-to-collision with respect to the detected object;
executing a collision avoidance control to decelerate the vehicle only when the reliability degree is equal to or greater than a first predetermined threshold and the time-to-collision is equal to or less than a second predetermined threshold
for avoiding a collision between the vehicle and the detected object or reducing damage to the collision when the detected object satisfies a predetermined collision condition; and
suppressing the collision avoidance control based on the one moving object when a moving object or a stationary object is detected within a predetermined area in a vicinity of the detected object.
4 . A non-transitory computer-readable medium storing a program which causes a processor to perform steps comprising:
detecting an object located in front and diagonally forward of the vehicle using an object detection unit including a forward camera and a pair of front-and-lateral millimeter wave radars;
calculating a reliability degree of the detected object based on at least one of:
(i) whether the detected object is located in an overlapping region where a detection region of the pair of front-and-lateral millimeter wave radars and a capture region of the forward camera overlap, or
(ii) whether an abnormal condition is satisfied;
calculating a time-to-collision with respect to the detected object;
executing a collision avoidance control to decelerate the vehicle only when the reliability degree is equal to or greater than a first predetermined threshold and the time-to-collision is equal to or less than a second predetermined threshold
for avoiding a collision between own vehicle and the detected object or reducing damage to the collision when the detected object satisfies a predetermined collision condition; and
suppressing the collision avoidance control based on the one moving object when a moving object or a stationary object is detected within a predetermined area in a vicinity of the detected object.