Vehicle control device and vehicle control method

1. A vehicle control device which obtains, from a radar device that transmits radar waves ahead of an own vehicle in a forward travel direction thereof and receives reflected waves reflected by an object, sensing information of the object based on the reflected waves, the vehicle control device comprising:

an object information acquisition unit which obtains, on the basis of the sensing information, a relative distance of the object to the own vehicle in a travel direction of the own vehicle and a lateral position that is a relative location of the object to the own vehicle in a lateral direction orthogonal to the travel direction of the own vehicle;

a type determination unit which determines whether or not the object is a vehicle;

a limit value setting unit which sets a limit value indicating a determination region width in the lateral direction orthogonal to the forward travel direction of the own vehicle, for a determination region for determining whether or not the object is present in a traveling path of the own vehicle; and

a presence determination unit which determines, on the basis of the lateral position and the limit value, whether or not the object is present in the traveling path of the own vehicle, wherein

the limit value setting unit performs an extension process of extending the determination region width by correcting the limit value to a larger value when the object is the vehicle and the relative distance is less than a predetermined distance than when the object is not a vehicle.

2. A vehicle control device which obtains, from a radar device that transmits radar waves ahead of an own vehicle in a forward direction of a travel direction thereof and receives reflected waves that are waves reflected by an object sensing information of the object based on the reflected waves, the vehicle control device comprising:

an object information acquisition unit which obtains, on the basis of the sensing information, a relative distance of the object to the own vehicle in a travel direction of the own vehicle, a lateral position that is a relative location of the object to the own vehicle in a lateral direction orthogonal to the travel direction of the own vehicle, and a relative speed of the object to the own vehicle;

a type determination unit which determines whether or not the object is a vehicle;

a time-to-collision calculation unit which calculates, on the basis of the relative speed and the relative distance, time to collision that is time estimated for a distance between the own vehicle and the object to reach zero;

a limit value setting unit which sets a limit value indicating a determination region width in the lateral direction orthogonal to the forward direction of the travel direction of the own vehicle, for a determination region for determining whether or not the object is present in a traveling path of the own vehicle; and

a presence determination unit which determines, on the basis of the lateral position and the limit value, whether or not the object is present in the traveling path of the own vehicle, wherein

the limit value setting unit performs an extension process of extending the determination region width by correcting the limit value to a larger value when the object is the vehicle and the time to collision is less than a predetermined length of time than when the object is not a vehicle.

3. The vehicle control device according to claim 1 , wherein, when a location based on the sensing information is present close to a location based on an image obtained from an imaging device included in the own vehicle, the type determination unit determines, on the basis of the image, whether or not the object is the vehicle.

4. The vehicle control device according to claim 3 , wherein

the object information acquisition unit further obtains an image location that is the location of the object in the image, and

the limit value setting unit performs the extension process by correcting the limit value on a right side to a larger value when the image location is present to the right of a central axis of the own vehicle, and performs the extension process by correcting the limit value on a left side to a larger value when the image location is present to the left of the central axis of the own vehicle.

5. The vehicle control device according to claim 3 , wherein

the object information acquisition unit further obtains, on the basis of the image, an overlap ratio indicating a ratio of overlap in width between the own vehicle and the object, and

the limit value setting unit performs the extension process when the overlap ratio is greater than a predetermined value.

6. The vehicle control device according to claim 4 , wherein the limit value setting unit performs the extension process when the image location is present in a range defined by a width of the own vehicle.

7. The vehicle control device according to claim 1 , wherein the type determination unit determines, on the basis of intensity of the reflected waves received by the radar device, whether or not the object is the vehicle.

8. The vehicle control device according to claim 1 , wherein the object information acquisition unit obtains the sensing information for a predetermined period of time, estimates a motion trajectory of the object on the basis of a plurality of pieces of the sensing information obtained, calculates, on the basis of a result of the estimation, a location in the lateral direction in which the relative distance of the object to the own vehicle reaches zero, as an estimated collision location, and sets, as the lateral position, the estimated collision location calculated.

9. The vehicle control device according to claim 8 , wherein the limit value setting unit performs the extension process when a current location of the object is present on at least one of right and left sides in the lateral direction orthogonal to the travel direction of the own vehicle and the estimated collision location is present on the other side.

10. The vehicle control device according to claim 1 , wherein

the type determination unit further determines whether or not the object is a preceding vehicle that runs in the same direction as the own vehicle, and

the limit value setting unit performs the extension process when the object is the preceding vehicle.

11. The vehicle control device according to claim 1 , further comprising

a straight-through determination unit which determines whether or not the own vehicle is traveling straight, wherein

when the own vehicle is determined as traveling straight, the limit value setting unit performs the extension process.

12. A vehicle control method which is performed by a vehicle control device that obtains, from a radar device that transmits a radar waves ahead of an own vehicle in a forward direction of a travel direction thereof and receives reflected waves that are waves reflected by an object, sensing information of the object based on the reflected waves, the vehicle control method comprising the steps of:

obtaining, on the basis of the sensing information, a relative distance of the object to the own vehicle in a travel direction of the own vehicle and a lateral position that is a relative location of the object to the own vehicle in a lateral direction orthogonal to the travel direction of the own vehicle;

determining whether or not the object is a vehicle;

setting a limit value indicating a determination region width in the lateral direction orthogonal to the forward travel direction of the own vehicle, fora determination region for determining whether or not the object is present in a traveling path of the own vehicle;

determining, on the basis of the lateral position and the limit value, whether or not the object is present in the traveling path of the own vehicle, and

controlling the vehicle based on the determining steps, wherein

the setting includes performing an extension process of extending the determination region width by correcting the limit value to a larger value when the object is the vehicle and the relative distance is less than a predetermined distance than when the object is not a vehicle.

13. A vehicle control method which is performed by a vehicle control device that obtains, from a radar device that transmits a radar wave in a forward travel direction of an own vehicle and receives reflected waves that are waves reflected by an object, sensing information of the object based on the reflected waves, the vehicle control method comprising the steps of:

obtaining, on the basis of the sensing information, a relative distance of the object to the own vehicle in a travel direction of the own vehicle, a lateral position that is a relative location of the object to the own vehicle in a lateral direction orthogonal to the travel direction of the own vehicle, and a relative speed of the object to the own vehicle;

determining whether or not the object is a vehicle;

calculating, on the basis of the relative speed and the relative distance, time to collision that is time estimated fora distance between the own vehicle and the object to reach zero;

setting a limit value indicating a determination region width in the lateral direction orthogonal to the forward travel direction of the own vehicle, fora determination region for determining whether or not the object is present in a traveling path of the own vehicle;

determining, on the basis of the lateral position and the limit value, whether or not the object is present in the traveling path of the own vehicle, and

controlling the vehicle based on the determining steps, wherein

the setting includes performing an extension process of extending the determination region width by correcting the limit value to a larger value when the object is the vehicle and the time to collision is less than a predetermined length of time than when the object is not a vehicle.

14. The vehicle control device according to claim 4 , further comprising

an object recognition unit which determines, on the basis of a first location obtained from the radar device and a second location obtained from the imaging device, whether or not the object detected by the radar device and the object detected by the imaging device are the same object, wherein

the object information acquisition unit further obtains the image location that is the location of the object in the image, and

when the object is determined as being the same object by the object recognition unit, the limit value setting unit performs the extension process by correcting the limit value on a right side to a larger value when the image location is present to the right of a central axis of the own vehicle, and performs the extension process by correcting the limit value on a left side to a larger value when the image location is present to the left of the central axis of the own vehicle.

15. The vehicle control device according to claim 2 , wherein, when a location based on the sensing information is present close to a location based on an image obtained from an imaging device included in the own vehicle, the type determination unit determines, on the basis of the image, whether or not the object is the vehicle.

16. The vehicle control device according to claim 15 , wherein

the object information acquisition unit further obtains an image location that is the location of the object in the image, and

the limit value setting unit performs the extension process by correcting the limit value on a right side to a larger value when the image location is present to the right of a central axis of the own vehicle, and performs the extension process by correcting the limit value on a left side to a larger value when the image location is present to the left of the central axis of the own vehicle.

17. The vehicle control device according to claim 15 , wherein

the object information acquisition unit further obtains, on the basis of the image, an overlap ratio indicating a ratio of overlap in width between the own vehicle and the object, and

the limit value setting unit performs the extension process when the overlap ratio is greater than a predetermined value.

18. The vehicle control device according to claim 16 , wherein the limit value setting unit performs the extension process when the image location is present in a range defined by a width of the own vehicle.

19. The vehicle control device according to claim 2 , wherein the type determination unit determines, on the basis of intensity of the reflected waves received by the radar device, whether or not the object is the vehicle.

20. The vehicle control device according to claim 2 , wherein the object information acquisition unit obtains the sensing information for a predetermined period of time, estimates a motion trajectory of the object on the basis of a plurality of pieces of the sensing information obtained, calculates, on the basis of a result of the estimation, a location in the lateral direction in which the relative distance of the object to the own vehicle reaches zero, as an estimated collision location, and sets, as the lateral position, the estimated collision location calculated.

21. The vehicle control device according to claim 20 , wherein the limit value setting unit performs the extension process when a current location of the object is present on at least one of right and left sides in the lateral direction orthogonal to the travel direction of the own vehicle and the estimated collision location is present on the other side.

22. The vehicle control device according to claim 2 , wherein

the type determination unit further determines whether or not the object is a preceding vehicle that runs in the same direction as the own vehicle, and

the limit value setting unit performs the extension process when the object is the preceding vehicle.

23. The vehicle control device according to claim 2 , further comprising

a straight-through determination unit which determines whether or not the own vehicle is traveling straight, wherein

when the own vehicle is determined as traveling straight, the limit value setting unit performs the extension process.

24. The vehicle control device according to claim 16 , further comprising

an object recognition unit which determines, on the basis of a first location obtained from the radar device and a second location obtained from the imaging device, whether or not the object detected by the radar device and the object detected by the imaging device are the same object, wherein

the object information acquisition unit further obtains the image location that is the location of the object in the image, and

when the object is determined as being the same object by the object recognition unit, the limit value setting unit performs the extension process by correcting the limit value on a right side to a larger value when the image location is present to the right of a central axis of the own vehicle, and performs the extension process by correcting the limit value on a left side to a larger value when the image location is present to the left of the central axis of the own vehicle.