Control device, control method and program
To effectively suppress collision with an oncoming vehicle while reducing a processing load of a processor, provided is a control device for a vehicle comprising an object detection unit configured to detect a object; and a processor. The the processor is configured to execute an estimation process for estimating whether an adjacent lane is an opposite lane, and a avoidance process which executes a steering control for avoiding a collision, when the object detected by the object detection unit satisfies a collision condition, wherein the estimation process, if it is estimated that the adjacent lane is the opposite lane, maintain an estimation result until a cancellation condition is satisfied, and wherein the avoidance process, when the collision condition is satisfied, if the adjacent lane is estimated to be the opposite lane, executes the steering control without causing the own vehicle to enter the adjacent lane.
1 . A control device for a vehicle, comprising:
an object detection unit configured to detect an object existing in at least a front area of an own vehicle as a front object; and
a processor,
wherein the processor is configured to execute
an estimation process for estimating whether an adjacent lane adjoining an own lane on which the own vehicle is traveling is an opposite lane in which traveling direction of vehicle is opposite to the own lane, and
an avoidance process which executes at least a steering control for avoiding a collision between the own vehicle and the object, when the object detected as the front object by the object detection unit satisfies a predetermined collision condition,
wherein the estimation process, if it is estimated that the adjacent lane is the opposite lane, maintain an estimation result that the adjacent lane is the opposite lane until a predetermined cancellation condition is satisfied, and
wherein the avoidance process, when the predetermined collision condition is satisfied, if the adjacent lane is estimated or estimated to be the opposite lane, executes the steering control without causing the own vehicle to enter the adjacent lane, and
wherein the predetermined cancellation condition includes at least a first condition in which a lane information of at least one of the own lane and the adjacent lane cannot be obtained, a second condition in which a steering angle of the own vehicle exceeds a predetermined threshold steering angle, a third condition in which a curve radius of the own lane in which the own vehicle is traveling exceeds a predetermined threshold radius, and a fourth condition in which the own vehicle changes the route from the own lane.
2 . The control device for the vehicle according to claim 1 ,
wherein the predetermined threshold steering angle of the second condition is set to a steering angle smaller as the vehicle speed of own vehicle increases.
3 . A control method which is applied to a vehicle having an object detection unit configured to detect an object existing in at least a front area of an own vehicle as a front object, the control method comprising:
an estimation process for estimating whether an adjacent lane adjoining an own lane on which the own vehicle is traveling is an opposite lane in which traveling direction of vehicle is opposite to the own lane, and
an avoidance process which executes at least a steering control for avoiding a collision between the own vehicle and the object, when the object detected as the front object by the object detection unit satisfies a predetermined collision condition,
wherein the estimation process, if it is estimated that the adjacent lane is the opposite lane, maintain an estimation result that the adjacent lane is the opposite lane until a predetermined cancellation condition is satisfied, and
wherein the avoidance process, when the predetermined collision condition is satisfied, if the adjacent lane is estimated or estimated to be the opposite lane, executes the steering control without causing the own vehicle to enter the adjacent lane, and
wherein the predetermined cancellation condition includes at least a first condition in which a lane information of at least one of the own lane and the adjacent lane cannot be obtained, a second condition in which a steering angle of the own vehicle exceeds a predetermined threshold steering angle, a third condition in which a curve radius of the own lane in which the own vehicle is traveling exceeds a predetermined threshold radius, and a fourth condition in which the own vehicle changes the route from the own lane.
4 . The control device for the vehicle according to claim 3 ,
wherein the predetermined threshold steering angle of the second condition is set to a steering angle smaller as the vehicle speed of own vehicle increases.
5 . A program for causing a processor of a control device of a vehicle having an object detection unit configured to detect an object existing in at least a front area of an own vehicle as a front object, to execute:
an estimation process for estimating whether an adjacent lane adjoining an own lane on which the own vehicle is traveling is an opposite lane in which traveling direction of vehicle is opposite to the own lane, and
an avoidance process which executes at least a steering control for avoiding a collision between the own vehicle and the object, when the object detected as the front object by the object detection unit satisfies a predetermined collision condition,
wherein the estimation process, if it is estimated that the adjacent lane is the opposite lane, maintain an estimation result that the adjacent lane is the opposite lane until a predetermined cancellation condition is satisfied, and
wherein the avoidance process, when the predetermined collision condition is satisfied, if the adjacent lane is estimated or estimated to be the opposite lane, executes the steering control without causing the own vehicle to enter the adjacent lane, and
wherein the predetermined cancellation condition includes at least a first condition in which a lane information of at least one of the own lane and the adjacent lane cannot be obtained, a second condition in which a steering angle of the own vehicle exceeds a predetermined threshold steering angle, a third condition in which a curve radius of the own lane in which the own vehicle is traveling exceeds a predetermined threshold radius, and a fourth condition in which the own vehicle changes the route from the own lane.
6 . The control device for the vehicle according to claim 5 ,
wherein the predetermined threshold steering angle of the second condition is set to a steering angle smaller as the vehicle speed of own vehicle increases.