Vehicle control device, method and computer program product
A vehicle control device includes an oncoming vehicle detection sensor and a controller that automatically applies brakes to avoid a collision with the oncoming vehicle, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller sets a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brakes to avoid to avoid a collision. In response to the sensor detecting first and second oncoming vehicles, the controller sets first and second virtual areas, and automatically brakes the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane.
1. A vehicle control device comprising:
an oncoming vehicle detection sensor configured to detect an oncoming vehicle that approaches an own vehicle; and
a controller configured to automatically apply brakes to the own vehicle to avoid a collision with the oncoming vehicle, detected by the oncoming vehicle detection sensor, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane, wherein
the controller is configured to
set, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and
automatically brake the own vehicle to avoid the own vehicle coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle, wherein
under a condition that the oncoming vehicle detection sensor detects a first oncoming vehicle and a second oncoming vehicle that moves to pass the first oncoming vehicle by passing on a lateral side of the first oncoming vehicle in the opposite lane, the controller is further configured to
set a first virtual area with respect to the first oncoming vehicle, and
set a second virtual area with respect to the second oncoming vehicle, and automatically brake the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane,
wherein, under a condition that after the second oncoming vehicle traveling on a rear side or a lateral side of the first oncoming vehicle is detected by the oncoming vehicle detection sensor, and no second oncoming vehicle is detected, the controller continues to set the second virtual area assuming that the second oncoming vehicle travels at a position of a predetermined blind spot of the first oncoming vehicle in the opposite lane.
2. The vehicle control device according to claim 1 , wherein
the controller is configured to set the first virtual area and the second virtual area along a center line of a road on which the own vehicle and the oncoming vehicle travel.
3. The vehicle control device according to claim 2 , wherein, under a condition that after the second oncoming vehicle traveling on a rear side or a lateral side of the first oncoming vehicle is detected by the oncoming vehicle detection sensor, and no second oncoming vehicle is detected, the controller maintains the second virtual area under a condition that the second oncoming vehicle travels at a position of a predetermined blind spot of the first oncoming vehicle in the opposite lane.
4. The vehicle control device according to claim 2 , wherein the second oncoming vehicle is a small vehicle including a motorcycle, a three-wheeled motorcycle, and a bicycle.
5. The vehicle control device according to claim 2 , wherein the controller is configured to set a front end of the virtual area on an own vehicle side at a position separated from a front end of the oncoming vehicle by a distance that corresponds to a relative speed of the own vehicle and the oncoming vehicle.
6. The vehicle control device according to claim 2 , wherein the controller is configured to set a rear end of the virtual area on an oncoming vehicle side at a position separated from a rear end of the oncoming vehicle by a distance that corresponds to a speed of the oncoming vehicle, or at a position of the rear end of the oncoming vehicle.
7. The vehicle control device according to claim 1 , wherein the second oncoming vehicle is a small vehicle including a motorcycle, a three-wheeled motorcycle, and a bicycle.
8. The vehicle control device according to claim 1 , wherein the controller is configured to set a front end of the virtual area on an own vehicle side at a position separated from a front end of the oncoming vehicle by a distance that corresponds to a relative speed of the own vehicle and the oncoming vehicle.
9. The vehicle control device according to claim 1 , wherein the controller is configured to set a rear end of the virtual area on an oncoming vehicle side at a position separated from a rear end of the oncoming vehicle by a distance which corresponds to a speed of the oncoming vehicle, or at a position of the rear end of the oncoming vehicle.
10. A vehicle control method comprising:
detecting with an oncoming vehicle detection sensor an oncoming vehicle that approaches an own vehicle; and
automatically applying brakes to the own vehicle to avoid a collision with the oncoming vehicle, detected by the oncoming vehicle detection sensor, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane, the automatically applying brakes includes
setting, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle,
automatically braking the own vehicle to avoid the own vehicle coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle,
under a condition that the oncoming vehicle detection sensor detects a first oncoming vehicle and a second oncoming vehicle that moves to pass the first oncoming vehicle by passing on a lateral side of the first oncoming vehicle in the opposite lane, the controller is further configured to
setting a first virtual area with respect to the first oncoming vehicle, and
setting a second virtual area with respect to the second oncoming vehicle, and automatically braking the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane,
wherein, under a condition that after the second oncoming vehicle traveling on a rear side or a lateral side of the first oncoming vehicle is detected by the oncoming vehicle detection sensor, and no second oncoming vehicle is detected, the method further comprises maintaining the second virtual area under a condition that the second oncoming vehicle travels at a position of a predetermined blind spot of the first oncoming vehicle in the opposite lane.
11. The vehicle control method according to claim 10 , wherein
the setting includes setting the first virtual area and the second virtual area along a center line of a road on which the own vehicle and the oncoming vehicle travel.
12. The vehicle control method according to claim 11 , wherein, under a condition that after the second oncoming vehicle traveling on a rear side or a lateral side of the first oncoming vehicle is detected by the oncoming vehicle detection sensor, and no second oncoming vehicle is detected, the method further comprises maintaining the second virtual area under a condition that the second oncoming vehicle travels at a position of a predetermined blind spot of the first oncoming vehicle in the opposite lane.
13. The vehicle control method according to claim 11 , wherein the second oncoming vehicle is a small vehicle including a motorcycle, a three-wheeled motorcycle, and a bicycle.
14. The vehicle control method according to claim 11 , wherein the setting further includes setting a front end of the virtual area on an own vehicle side at a position separated from a front end of the oncoming vehicle by a distance that corresponds to a relative speed of the own vehicle and the oncoming vehicle.
15. The vehicle control method according to claim 11 , wherein the setting further includes setting a rear end of the virtual area on an oncoming vehicle side at a position separated from a rear end of the oncoming vehicle by a distance that corresponds to a speed of the oncoming vehicle, or at a position of the rear end of the oncoming vehicle.
16. The vehicle control method according to claim 10 , wherein the second oncoming vehicle is a small vehicle including a motorcycle, a three-wheeled motorcycle, and a bicycle.
17. The vehicle control method according to claim 10 , wherein the setting further includes setting a front end of the virtual area on an own vehicle side at a position separated from a front end of the oncoming vehicle by a distance that corresponds to a relative speed of the own vehicle and the oncoming vehicle.
18. A non-transitory computer readable storage including computer readable instructions that when executed by a controller cause the controller to execute a vehicle control method, the method comprising:
detecting with an oncoming vehicle detection sensor an oncoming vehicle that approaches an own vehicle; and
automatically applying brakes to the own vehicle to avoid a collision with the oncoming vehicle, detected by the oncoming vehicle detection sensor, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane, the automatically applying brakes includes
setting, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle,
automatically braking the own vehicle to avoid the own vehicle coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle,
under a condition that the oncoming vehicle detection sensor detects a first oncoming vehicle and a second oncoming vehicle that moves to pass the first oncoming vehicle by passing on a lateral side of the first oncoming vehicle in the opposite lane, the controller is further configured to
setting a first virtual area with respect to the first oncoming vehicle, and
setting a second virtual area with respect to the second oncoming vehicle, and automatically braking the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane,
wherein, under a condition that after the second oncoming vehicle traveling on a rear side or a lateral side of the first oncoming vehicle is detected by the oncoming vehicle detection sensor, and no second oncoming vehicle is detected, the method further comprises maintaining the second virtual area under a condition that the second oncoming vehicle travels at a position of a predetermined blind spot of the first oncoming vehicle in the opposite lane.