Vehicle control device
Provided is a vehicle control device capable of preventing a delay in driver's bank angle operation during traveling of a straddle type vehicle on a curve and enhancing safety of the vehicle. The vehicle control device 100 is a device that is mounted on a two-wheeled motor vehicle and controls the vehicle to travel while following a preceding vehicle. The vehicle control device 100 includes a curvature acquisition unit 110 that acquires a curvature of a road in front of the vehicle and a driving force control unit 120 that limits a change amount of driving force of the vehicle per unit time based on the curvature acquired by the curvature acquisition unit 110.
1. A vehicle control device that is mounted on a straddle type vehicle and controls the vehicle to travel while following a preceding vehicle, the vehicle control device comprising:
a curvature acquisition system including at least one camera that acquires a curvature of a road in front of the vehicle;
a driving force controller that:
limits a change amount of driving force of the vehicle per unit time based on the curvature acquired by the curvature acquisition system;
sets a lower limit value of the driving force so that a vehicle speed does not exceed a minimum value of the vehicle speed corresponding to an actual bank angle during traveling on a curve based on a target acceleration lower limit according to the curvature of the road, wherein the actual bank angle is estimated based on one or more images acquired from a stereo camera mounted on the vehicle;
sets an upper limit value of the driving force so that the vehicle speed does not exceed a maximum value of the vehicle speed corresponding to a maximum bank angle based on a target acceleration upper limit according to the curvature of the road; and
wherein an inter-vehicle distance and the actual bank angle is received by the vehicle control device from the stereo camera mounted on the vehicle, and wherein the inter-vehicle distance from the preceding vehicle is estimated based on one or more images acquired from the stereo camera mounted on the vehicle.
2. The vehicle control device according to claim 1 , wherein
the driving force controller controls the driving force so as not to maintain a target relative speed with respect to the preceding vehicle in a case where the change amount of the driving force per unit time is limited.
3. The vehicle control device according to claim 1 , wherein
the driving force controller system controls the driving force so as not to maintain a target inter-vehicle distance from the preceding vehicle in a case where the change amount of the driving force per unit time is limited.
4. The vehicle control device according to claim 1 , wherein
before the vehicle enters the curve, the driving force controller controls the driving force so that the inter-vehicle distance from the preceding vehicle becomes a prescribed distance or more.
5. The vehicle control device according to claim 2 , wherein
in a case where the restriction on the change amount of the driving force per unit time is released, the driving force controller restricts a transition speed at which the control that does not maintain the target relative speed transitions to the control that maintains the target relative speed.
6. The vehicle control device according to claim 3 , wherein
in a case where the restriction on the change amount of the driving force per unit time is released, the driving force controller restricts a transition speed at which the control that does not maintain the target inter-vehicle distance transitions to the control that maintains the target inter-vehicle distance.
7. The vehicle control device according to claim 1 , wherein
a limitation amount of the change amount of the driving force per unit time is determined based on the curvature of the road, an actual bank angle, and a vehicle speed.
8. The vehicle control device according to claim 1 , wherein
the driving force controller notifies a driver by using a notification system mounted on the vehicle while the change amount of the driving force per unit time is being limited.