Vehicle control apparatus controlling an own vehicle based on detection of a cut-in vehicle
The vehicle control apparatus includes a cut-in detection unit for detecting a cut-in vehicle from an adjacent lane in front of a front vehicle traveling in front of an own vehicle, a deceleration prediction unit for predicting whether deceleration occurs in the front vehicle, and a travel control unit for performing acceleration suppression control or deceleration control of the own vehicle when it is predicted that deceleration occurs.
1. A vehicle control apparatus that controls traveling of an own vehicle based on a cut-in vehicle that cuts in from an adjacent lane to an own lane on which the own vehicle travels, the vehicle control apparatus comprising:
an external sensor configured to generate a detection result based on detecting objects around the own vehicle;
a processor configured to:
recognize a front vehicle in front of the own vehicle based on the detection result;
based on the recognition of the front vehicle, detect the cut-in vehicle from the adjacent lane in front of the front vehicle traveling in front of the own vehicle in the own lane;
predict whether deceleration occurs in the front vehicle based on a speed difference and an inter-vehicle distance between the front vehicle and the cut-in vehicle; and
generate a control signal to perform acceleration suppression control or deceleration control of the own vehicle when the processor predicts that deceleration will occur,
wherein the processor is further configured to:
predict that deceleration occurs in the front vehicle when the speed difference obtained by subtracting a speed of the cut-in vehicle from a speed of the front vehicle is equal to or greater than a predetermined cut-in speed threshold and the inter-vehicle distance between the cut-in vehicle and the front vehicle is equal to or less than a predetermined cut-in distance threshold,
wherein the front vehicle is composed of a plurality of vehicles running side by side along an extension direction of the own lane, and
wherein the processor is further configured to decrease the cut-in speed threshold or increase the cut-in distance threshold as a number of vehicles constituting the front vehicle increases; and
control an actuator to control a speed of the own vehicle based on the control signal.
2. The vehicle control apparatus according to claim 1 , wherein the processor is further configured to predict that deceleration occurs in the front vehicle when an inter-vehicle distance between the front vehicle and the own vehicle is equal to or less than a predetermined front distance threshold.
3. The vehicle control apparatus according to claim 1 , wherein the processor is further configured to:
recognizes a vehicle class of the cut-in vehicle,
decreases the cut-in speed threshold or increases the cut-in distance threshold based on the vehicle class of the cut-in vehicle,
wherein the vehicle class of the cut-in vehicle is indicative of a size of the cut-in vehicle.