Vehicle control apparatus, vehicle, and vehicle control method
A perceived relative distance that shows a relative distance between a host vehicle and a perception object perceived by a driver of the host vehicle is calculated on the basis of an actual relative distance therebetween. A perceived relative velocity that shows a relative velocity between the host vehicle and the perception object perceived by the driver is calculated on the basis of an actual relative velocity therebetween. A perceived relative ratio that is a ratio between the perceived relative distance and the perceived relative velocity is calculated. If the perceived relative ratio exceeds a threshold value, a vehicle control is performed.
1. A vehicle control apparatus comprising:
a controller configured to control a vehicle by using as an input value an actual relative physical quantity that shows a relative relation between the vehicle and a perception object that exists outside the vehicle and that is perceivable by a driver of the vehicle, wherein
the vehicle is controlled based on a control value that reflects a perceived relative physical quantity that is a physical quantity corresponding to the actual relative physical quantity and that is a relative physical quantity between the vehicle and the perception object which is perceived by the driver;
the actual relative physical quantity is an actual relative distance between the perception object and the vehicle;
the perceived relative physical quantity is a perceived relative distance that is a relative distance between the vehicle and the perception object which is perceived by the driver; and
the perceived relative distance is smaller than the actual relative distance by an amount that is greater if the actual relative distance is longer.
2. The vehicle control apparatus according to claim 1 , wherein the control value is related to at least one of a control timing and a control quantity in a control of the vehicle.
3. The vehicle control apparatus according to claim 1 , wherein the controller is further configured to control the vehicle by using as input values the actual relative distance and an actual relative velocity between the vehicle and the perception object that exists outside the vehicle and that is perceivable by the driver of the vehicle, wherein
the vehicle is controlled based on a control value that reflects a perceived relative ratio that is a ratio between the perceived relative distance and one of the actual relative velocity and a perceived relative velocity that is a physical quantity corresponding to the actual relative velocity and that shows a relative velocity between the vehicle and the perception object which is perceived by the driver.
4. The vehicle control apparatus according to claim 3 , wherein the control value is related to at least one of a control timing and a control quantity in a control of the vehicle.
5. The vehicle control apparatus according to claim 4 , wherein if the control value is related to the control timing, the control of the vehicle is started when the perceived relative ratio exceeds a threshold value.
6. The vehicle control apparatus according to claim 5 , wherein the threshold value is set based at least one of the driver and a travel environment of the vehicle.
7. The vehicle control apparatus according to claim 6 , wherein if the threshold value is set based on the driver, the threshold value is set based on the actual relative distance and the actual relative velocity occurring at a time of operation of an operation object that is provided in the vehicle so as to be operated by the driver.
8. The vehicle control apparatus according to claim 1 , wherein the perceived relative distance is acquired by using an expression (1) below:
Ds=Dr n (1)
where Ds is the perceived relative distance, Dr is the actual relative distance, and n is in a range of 0<n<1.
9. The vehicle control apparatus according to claim 8 , wherein in the expression (1), n is in a range of 0.7≦n≦0.8.
10. The vehicle control apparatus according to claim 1 , wherein the perceived relative distance is acquired by using an expression (2) below:
Ds= α log( Dr/DO ) (2)
where Ds is the perceived relative distance, Dr is the actual relative distance, DO is a maximum relative distance that is a limit value at which approach of the perception object to the vehicle is not acceptable to the driver of the vehicle, and α is a constant.
11. A vehicle comprising a vehicle control apparatus according to claim 1 , wherein the controller is further configured to perform a collision avoidance/mitigation control of at least avoiding a collision of the vehicle with other vehicle that is located in front of the vehicle and that is perceivable by a driver of the vehicle, and mitigating impact when the collision occurs, based on an actual relative distance between the vehicle and the other vehicle, wherein
a likelihood of starting the collision avoidance/mitigation control is higher when the actual relative distance is relatively long than when the actual relative distance is relatively short.
12. A vehicle control method of controlling a vehicle by using an input value an actual relative physical quantity that shows a relative relation between the vehicle and an perception object that exists outside the vehicle and that is perceivable by a driver of the vehicle, comprising:
controlling the vehicle based on a control value that reflects a perceived relative physical quantity that is a physical quantity corresponding to the actual relative physical quantity and that is a relative physical quantity between the vehicle and the perception object which is perceived by the driver, wherein
the actual relative physical quantity is an actual relative distance between the perception object and the vehicle;
the perceived relative physical quantity is a perceived relative distance that is a relative distance between the vehicle and the perception object which is perceived by the driver; and
the perceived relative distance is smaller than the actual relative distance by an amount that is greater if the actual relative distance is longer.
13. The vehicle control method according to claim 12 , further controlling the vehicle by using as input values the actual relative distance and an actual relative velocity between the vehicle and the perception object that exists outside the vehicle and that is perceivable by the driver of the vehicle, comprising:
controlling the vehicle based on a control value that reflects a perceived relative ratio that is a ratio between the perceived relative distance and one of the actual relative velocity and a perceived relative velocity that is a physical quantity corresponding to the actual relative velocity and that shows a relative velocity between the vehicle and the perception object which is perceived by the driver.