Vehicle control method and vehicle control system

1. A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a likelihood of a collision between the vehicle and an obstacle, wherein said automatic braking or said alarm output is cancelled when one of a first cancellation condition and a second cancellation condition is fulfilled during said automatic braking or said alarm output, the method comprising:

determining the likelihood of the collision between the vehicle and the obstacle;

starting said automatic braking in response to a determination that the likelihood of the collision is above a collision threshold value;

cancelling said automatic braking or the alarm output according to a first cancellation condition, wherein the first cancellation condition is fulfilled when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output; and

cancelling said automatic braking or the alarm output according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation is detected under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output while the likelihood of the collision between the vehicle and the obstacle is above the collision threshold value.

2. The vehicle control method according to claim 1 , wherein

the second cancellation condition is fulfilled based on a combination of an accelerator operation that increases the accelerator operation amount and the steering operation.

3. The vehicle control method according to claim 1 , wherein

the second cancellation condition is fulfilled under a situation where (i) an overlap range between the vehicle and the obstacle in a lateral direction is located closer to one of right and left sides of the vehicle, and (ii) the steering operation includes turning the vehicle in a direction that reduces the overlap range.

4. The vehicle control method according to claim 1 , wherein

the second cancellation condition is fulfilled based on a combination of a condition of the driver's face determined based on an image recognition result of a face image of the driver and the steering operation.

5. The vehicle control method according to claim 4 , wherein

the second cancellation condition is fulfilled when the steering operation is performed after the driver changes to face front from a condition where the driver fails to face front, or after the driver's condition changes from a condition of slumber into a condition of wakefulness.

6. The vehicle control method according to claim 1 , wherein the steering operation includes an operation that results in a change in a steering angle by a predetermined degree or larger.

7. The vehicle control method according to claim 1 , wherein the steering operation is determined based upon a steering torque or a steering speed.

8. The vehicle control method according to claim 1 , wherein the automatic braking includes generation of braking force by controlling a brake system of the vehicle.

9. The vehicle control method according to claim 1 , wherein the automatic braking includes increasing a wheel cylinder pressure of each wheel under a situation where a brake pedal is not operated.

10. The vehicle control method according to claim 1 , wherein the automatic braking includes suppression of a driving force by reducing an output of an engine or a motor.

11. A vehicle control system comprising:

a sensor configured to detect a condition of an obstacle around a vehicle;

an accelerator pedal position sensor configured to detect an operation amount of an accelerator pedal; and

an electronic control unit (ECU) configured to:

determine a likelihood of a collision between the vehicle and the obstacle based on said condition,

output a signal that requests automatic braking for automatically braking the vehicle or generation of an alarm in response to a determination that the likelihood of the collision is above a collision threshold value,

stop output of the signal according to a first cancellation condition, wherein the first cancellation condition is fulfilled when the operation amount of the accelerator pedal is equal to or larger than a first threshold value, and

stop the output of the signal according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation is detected under a situation where the accelerator operation amount of the vehicle is smaller than the first threshold value while the likelihood of the collision is above the collision threshold value.