JP2013025624A - Control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the amount of information for determining the possibility of collision smaller than the case of displaying a road as a link connecting a node to a node.SOLUTION: A control device 2 for vehicle includes: self-vehicle information acquisition means 11; other vehicle information acquisition means 12; road information acquisition means 13 for acquiring a position of the center of an intersection and the azimuth of a crossing road; road determination means 14 for, when the position of the self-vehicle enters a predetermined range with the position of the center of the intersection as a center, and the travel azimuth of the self-vehicle is coincident with the azimuth of the road, determining that the road is a target road; and target vehicle determination means 15 for, when the position of the self-vehicle, the position of the other vehicle and the position of the center of the intersection have a predetermined positional relation, and the travel azimuth of the other vehicle is coincident with the azimuth of the road, determining that the vehicle is a target vehicle. Collision possibility determination means 16 is configured to, when it is determined that the road is the target road by the road determination means 14, and it is determined that the vehicle is the target vehicle by the target vehicle determination means 15, determine that there is possibility that the self-vehicle may collide with the other vehicle.

Description

  The present invention relates to a vehicle control device, and more particularly to a vehicle control device that determines the possibility of collision and provides information to a driver, and can determine the possibility of collision with a small amount of information.

  The vehicle detects the target vehicle (four-wheeled / two-wheeled vehicle, etc.) that approaches the host vehicle when going straight at an intersection or turning left or right, and determines the possibility of a collision. By providing information to, encounter accident (collision accident with own vehicle going straight in the intersection and other vehicle trying to go straight), right straight accident (going straight with the own vehicle trying to turn right in the intersection) Equipped with a vehicle control device that avoids the occurrence of accidents involving collisions with other vehicles), left turn entrainment accidents (collision accidents with other vehicles such as two-wheeled vehicles traveling on the left side of the host vehicle) There is something.

  In a conventional vehicle control device, a road is represented as a link connecting a start node and an end node, and the host vehicle and the other vehicle collide with each other depending on whether the position of the host vehicle and the other vehicle is near or far from the link. There was something to determine whether there was a possibility. (Japanese Patent Laid-Open No. 2010-286877)

JP 2010-286877 A

  However, in the technique described in Patent Document 1, it is necessary to store the latitude and longitude data of the start point node and the end point node in order to create link data, and there is a problem that the amount of data increases. . As the amount of data increases, the load of data management and data processing increases, which affects the determination of the possibility of collision.

  An object of the present invention is to provide a vehicle control device that can reduce the amount of information for determining the possibility of a collision rather than representing a road as a link connecting nodes.

  The present invention relates to a collision possibility determination unit that determines whether or not there is a possibility of collision between the host vehicle and another vehicle, and information that provides information to a driver based on a result determined by the collision possibility determination unit. In the vehicle control device comprising the providing means, the own vehicle information obtaining means for obtaining the position and traveling direction of the own vehicle, the other vehicle information obtaining means for obtaining the position and traveling direction of the other vehicle, and the intersection center Road information acquisition means for acquiring the position of the road and the direction of the intersecting road, and the position of the own vehicle acquired by the own vehicle information acquisition means is centered on the position of the intersection center acquired by the road information acquisition means A road that falls within a predetermined range and is determined as a target road when the traveling direction of the host vehicle acquired by the host vehicle information acquiring unit matches the direction of the road acquired by the road information acquiring unit and matches. The determination means, the position of the own vehicle acquired by the own vehicle information acquisition means, the position of the other vehicle acquired by the other vehicle information acquisition means, and the position of the intersection center acquired by the road information acquisition means are predetermined. The target vehicle determination is determined as a target vehicle when the traveling direction of the other vehicle acquired by the other vehicle information acquisition unit and the direction of the road acquired by the road information acquisition unit match and match. And the collision possibility determining means is capable of colliding between the host vehicle and another vehicle when the road determining means determines the target road and the target vehicle determining means determines the target vehicle. It is characterized by determining that there is sex.

  The vehicle control device according to the present invention uses the direction of the road that intersects the position of the intersection center when determining whether or not the host vehicle and the other vehicle may collide. The amount of information can be reduced as compared with a link that connects.

FIG. 1 is a block diagram showing a system configuration of a vehicle control device. (Example) FIG. 2 is a diagram illustrating target road determination at an intersection. (Example) FIG. 3 is a diagram for explaining target vehicle determination at an intersection. (Example) FIG. 4 is a diagram showing that the positional relationship between the other vehicle and the host vehicle is a relationship of encounter. (Example) FIG. 5 is a main flowchart of the vehicle control apparatus. (Example) FIG. 6 is a flowchart of target road determination. (Example) FIG. 7 is a flowchart of target vehicle determination. (Example) FIG. 8 is a time chart of the vehicle control device. (Example) FIG. 9 is a diagram showing that the positional relationship between the other vehicle and the host vehicle is a right-straight relationship. (Example) FIG. 10 is a diagram showing that the positional relationship between the other vehicle and the host vehicle is a left-turning relationship. (Example) FIG. 11 is a diagram illustrating the direction of a road that intersects at an intersection. (Example) FIG. 12 is a block diagram showing a system configuration of the vehicle control device. (Modification)

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 11 show an embodiment of the present invention. In FIG. 1, 1 is a vehicle and 2 is a vehicle control device. The vehicle 1 includes a host vehicle 1 </ b> A and another vehicle 1 </ b> B, each of which is equipped with a vehicle control device 2. The vehicle control device 2 includes a GPS module 3, a communication module 4, a determination module 5, and an information providing module 6, and is supplied with power from the vehicle 1.
The GPS module 3 has a GPS antenna 7 that receives GPS signals from a plurality of GPS satellites. The GPS module 3 constitutes own vehicle information detection means for detecting the position, traveling direction, and traveling speed of the own vehicle 1A by measuring the current position of the own vehicle 1A from the GPS signal.
The communication module 4 includes a receiver 8 and a transmitter 9, and includes a communication antenna 10 that transmits and receives signals to and from another vehicle 1B. The communication module 4 constitutes vehicle-to-vehicle communication means for transmitting and receiving host vehicle information and other vehicle information (position of vehicle 1, traveling direction, travel speed) between the host vehicle 1A and the other vehicle 1B.

The determination module 5 includes own vehicle information acquisition means 11, other vehicle information acquisition means 12, road information acquisition means 13, road determination means 14, target vehicle determination means 15, and collision possibility determination means 16. It comprises and constitutes a control means. The determination module 5 inputs the own vehicle information of the position, traveling direction, and traveling speed of the own vehicle 1 </ b> A from the GPS module 3, and inputs / outputs own vehicle information and other vehicle information with the communication module 4.
The host vehicle information acquisition means 11 and the GPS module 3 acquire host vehicle information of the position, traveling direction, and traveling speed of the host vehicle 1A. The other vehicle information acquisition unit 12 acquires other vehicle information of the position, traveling direction, and traveling speed of the other vehicle 1 </ b> B through inter-vehicle communication of the communication module 4. The road information acquisition unit 13 acquires the coordinates of the intersection center stored in the storage unit 17 and the direction of the intersecting road. The storage means 17 is provided in the vehicle control device 2 and stores the coordinates of the intersection center and the direction of the intersecting road.

As shown in FIG. 2, the road determination unit 14 is configured such that when the number of directions of intersecting roads is 4,
1. Coordinate O of the center of the intersection J where there is a temporary stop
2. Directions J1 and J3 of non-priority roads that intersect at intersection J where there is a temporary stop
3. Direction J2 and J4 of priority roads that intersect at intersection J where there is a temporary stop
4). Traveling direction D1 of own vehicle 1A, traveling direction D2 of other vehicle 1B
5. 5. Coordinates of position of own vehicle 1A, coordinates of position of other vehicle 1 Circular predetermined range A with radius L centering on coordinate O of the center of intersection J where there is a temporary stop
The road is determined as follows.
The radius L of the predetermined range A may be a fixed value, but may be increased as the vehicle speed increases. Moreover, the shape of the predetermined range A may not be circular.
The road determination means 14 is a predetermined circular shape having a radius L with the position of the vehicle 1A acquired by the vehicle information acquisition means 11 as the center and the position of the coordinates O of the intersection center acquired by the road information acquisition means 13. The vehicle travel direction D1 of the host vehicle 1A is compared with the travel direction D1 of the host vehicle 1A acquired by the host vehicle information acquisition unit 11 and the direction J1 to J4 of the road acquired by the road information acquisition unit 13. Is coincident with the direction J1 or J3 of the non-priority road, it is determined as the information provision target road.

As shown in FIG. 3, the target vehicle determination unit 15 acquires the position of the own vehicle 1A acquired by the own vehicle information acquisition unit 11, the position of the other vehicle 1B acquired by the other vehicle information acquisition unit 12, and the road information acquisition. The position of the coordinates O of the intersection center acquired by the means 13 is in a predetermined positional relationship, and the traveling direction D2 of the other vehicle 1B acquired by the other vehicle information acquisition means 12 and the direction acquired by the road information acquisition means 13 J1 to J4 are compared, and when the traveling direction D2 of the other vehicle 1B coincides with the direction J2 or J4 of the priority road, it is determined as the information providing target vehicle.
In this embodiment, the position of the host vehicle 1 A acquired by the host vehicle information acquisition unit 11, the position of the other vehicle 1 B acquired by the other vehicle information acquisition unit 12, and the coordinates of the intersection center acquired by the road information acquisition unit 13 For example, as shown in FIG. 4, the positional relationship with the position of O includes the position of the own vehicle 1 </ b> A acquired by the own vehicle information acquisition unit 11, the position of the other vehicle 1 </ b> B acquired by the other vehicle information acquisition unit 12, and the road. The two angles of the triangle whose apexes are the coordinates O of the intersection center acquired by the information acquisition means 13 are predetermined angles α and β, respectively, and the position of the coordinates O of the intersection center of the triangle and the vehicle 1A This is the positional relationship of the encounter where the distance between the sides connecting the positions is a predetermined distance γ.
Here, regarding the angles a and β and the distance γ that are the positional relationship of the encounter,
Α1 ≦ α ≦ α2, β1 ≦ β ≦ β2, and γ1 ≦ γ ≦ γ2,
(Α1, α2, β1, β2, γ1, and γ2 are constants)
-Moreover, it is set as (gamma) <= L.
It is to be noted that the position relationship of the encounter is that the position of the own vehicle 1A, the position of the other vehicle 1B, and the position of the coordinate O at the center of the intersection is an encounter accident (other than trying to go straight to the own vehicle 1A that is going straight ahead in the intersection) This is a positional relationship that may cause a collision accident with the vehicle 1B.

When the collision possibility determination means 16 is determined to be the target road by the road determination means 14 and is determined to be the target vehicle by the target vehicle determination means 15, the own vehicle 1A and the other vehicle 1B may encounter and collide with each other. Judge that there is sex.
The information providing module 6 provides information to the driver of the host vehicle 1 </ b> A as information providing means based on the result determined by the collision possibility determining means 16. That is, in response to an HMI (Human Machine Interface) request input from the determination module 5, the information providing module 6 informs the driver of the vehicle 1 </ b> A from the other vehicle by a speaker sound, a buzzer warning sound, an LED flashing light, and the like. Provides information that there is a possibility of collision with 1B.

Next, the operation will be described.
As shown in FIG. 5, when the control is started (A01), the vehicle control device 2 determines whether or not the condition for determining the target road is satisfied (A02).
In the target road determination (A02), as shown in FIG. 6, when the determination starts (B01), the distance γ between the position of the host vehicle 1A and the position of the coordinate O at the center of the intersection J where the temporary stop line is located is It is determined whether the predetermined range A of the radius L is entered (γ ≦ L) (B02).
When this determination (B02) is NO, the target road determination is not established (B05), and the determination is ended (B06). If this determination (B02) is YES, it is determined whether the traveling direction D1 of the host vehicle 1A matches the direction J1 or J3 of the non-priority road (B03).
When this determination (B03) is NO, the target road determination is not established (B05), and the determination is ended (B06). When this determination (B03) is YES, the target road determination is established (B04), and the determination is ended (B06).

In the determination of whether or not the target road determination condition is satisfied (A02), if the target road determination is not satisfied and the answer is NO, the information provision is stopped (A07) and the control is ended (A08). In the determination (A02) of whether or not the target road determination condition is satisfied, if the target road determination is satisfied and YES, whether or not the vehicle speed of the host vehicle 1A is equal to or less than a predetermined value and the stop determination condition is satisfied. Judgment (A03).
When this determination (A03) is NO, the information provision is terminated (A07), and the control is ended (A08). If this determination (A03) is YES, it is determined whether the condition for determining the target vehicle is satisfied (A04).
In the target vehicle determination (A04), as shown in FIG. 7, when the determination is started (C01), the own vehicle 1A, the other vehicle 1B, and the position of the coordinates O of the intersection center have a predetermined positional relationship, for example, It is determined whether the position of the vehicle 1A, the position of the other vehicle 1B, and the position of the coordinates O of the center of the intersection are in the position of the encounter where the two angles of the triangle are respectively predetermined angles α and β ( C02).
When this determination (C02) is NO, the target vehicle determination is not established (C05), and the determination is ended (C06). If this determination (C02) is YES, it is determined whether the traveling direction D2 of the other vehicle 1B matches the direction J2 or J4 of the priority road (C03).
When this determination (C03) is NO, the target road determination is not established (C05), and the determination is ended (C06). If this determination (C03) is YES, the target vehicle determination is established (C04), and the determination is ended (C06).

In the determination as to whether the target vehicle determination condition is satisfied (A04), if the target vehicle determination is not satisfied and the determination is NO, the information provision is terminated (A07), and the control is ended (A08). In the determination of whether or not the target vehicle determination condition is satisfied (A04), if the target vehicle determination is satisfied and YES, it is determined whether or not a TTC determination (Time To Collision) condition is satisfied (A05). ). TTC is the time until the host vehicle 1A enters the predetermined range A (γ ≦ L), the TTC is calculated, and the host vehicle 1A travels while maintaining the traveling state at the time until the vehicle 1C collides with the other vehicle 1B. Indicates time.
When this determination (A05) is NO, the information provision is terminated (A07), and the control is ended (A08). When this determination (A05) is YES, the driver is provided with information that the host vehicle 1A may collide with the other vehicle 1B (A06), and then the information provision is stopped (A07). End control (A08).

Control by the vehicle control device 2 will be described with reference to a time chart shown in FIG.
The vehicle control device 2 starts the control, and the distance γ between the position of the host vehicle 1A and the position of the coordinate O at the center of the intersection J where the temporary stop line is located enters the predetermined range A of the radius L (t1). When the traveling direction D1 of the host vehicle 1A coincides with the direction J1 or J3 of the non-priority road (t2), the target road determination is established (t3).
Subsequent to the establishment of the target road determination condition (t3), when the vehicle speed of the host vehicle 1A is equal to or less than a predetermined value and the stop determination condition is satisfied (t4), the host vehicle 1A and the other vehicle 1B have a predetermined positional relationship. When the traveling direction D2 of the other vehicle 1B coincides with the direction J2 or J4 of the priority road (t6), the target vehicle determination is established (t7).
Following the establishment of the target vehicle determination condition (t7), when the TTC determination condition is satisfied (t8), the driver is provided with information that the host vehicle 1A may collide with the other vehicle 1B ( t9) and end the control.

Thus, the vehicle control device 2 enters the predetermined range A in which the position of the own vehicle 1A is centered on the coordinate O of the position of the intersection center, and the traveling direction D1 of the own vehicle 1A and the direction J1 or J3 of the road are The position of the vehicle 1A, the position of the other vehicle 1B, and the position of the coordinate O at the center of the intersection are in a predetermined positional relationship (for example, a positional relationship that may cause an encounter accident) ) And the traveling direction D2 of the other vehicle 1B coincides with the direction J2 or J4 of the road, and it is determined that the host vehicle 1A and the other vehicle 1B may collide with each other.
As a result, the vehicle control device 2 uses the azimuth of the road that intersects the position of the intersection center when determining whether or not the host vehicle 1A and the other vehicle 1B may collide. The amount of information can be reduced as compared to expressing as a link connecting nodes.
In addition, the vehicle control device 2 includes storage means 17 that stores the coordinates O of the intersection center and the azimuths J1 to J4 of the intersecting road. The road information acquisition means 13 stores the intersection center stored in the storage means 17. The directions J1 to J4 of the road intersecting with the position of the coordinate O are acquired.
Thereby, since this vehicle control device 2 uses the position of the intersection center and the direction of the intersecting road, the storage capacity can be reduced as compared to representing the road as a link connecting the nodes.
Further, the vehicle control device 2 is acquired by the position of the own vehicle 1 </ b> A acquired by the own vehicle information acquisition unit 11, the position of the other vehicle 1 </ b> B acquired by the other vehicle information acquisition unit 12, and the road information acquisition unit 13. The positional relationship between the coordinates O of the intersection center and the position of the own vehicle 1A acquired by the own vehicle information acquiring unit 11, the position of the other vehicle 1B acquired by the other vehicle information acquiring unit 12, and the road information acquiring unit 13 The two angles of the triangle whose apex is the position of the coordinate O at the center of the intersection obtained by the above are in a positional relationship in which the predetermined angles α and β are respectively set.
As a result, the vehicle control apparatus 2 encounters the position of the own vehicle 1A, the position of the other vehicle 1B, and the position of the coordinate O at the center of the intersection, and tries to go straight with the own vehicle 1A trying to go straight in the intersection. Since the positional relationship has the possibility of occurrence of a collision accident with the other vehicle 1B, it is possible to determine the possibility of encounter accident.

In the above-described embodiment, the predetermined positional relationship between the own vehicle 1A and the other vehicle 1B, which is a condition for determining the other vehicle, is set as a positional relationship that may cause an encounter accident. However, the present invention is not limited to this. is not.
For example, as shown in FIG. 9, the position of the own vehicle 1 </ b> A acquired by the own vehicle information acquisition unit 11, the position of the other vehicle 1 </ b> B acquired by the other vehicle information acquisition unit 12, and the road information acquisition unit 13 The positional relationship with the position of the coordinate O at the center of the intersection is that the position of the own vehicle 1A acquired by the own vehicle information acquisition means 11 and the position of the other vehicle 1B acquired by the other vehicle information acquisition means 12 are road information acquisition means. It is also possible to have a positional relationship in series across the position of the coordinates O of the intersection center acquired by 13.
As a result, the vehicle control device 2 tries to go straight with the own vehicle 1A about to turn right in the intersection between the position of the own vehicle 1A, the position of the other vehicle 1B, and the position of the coordinate O at the center of the intersection. Therefore, it is possible to determine the possibility of the occurrence of a right-handed accident. In addition, the determination accuracy can be improved by adding a condition that the vehicle 1A is blinking the right turn signal to the determination condition of the positional relationship in which a right hand accident may occur.
Further, as shown in FIG. 10, the position of the host vehicle 1 </ b> A acquired by the host vehicle information acquisition unit 11, the position of the other vehicle 1 </ b> B acquired by the other vehicle information acquisition unit 12, and the road information acquisition unit 13. The positional relationship with the position of the coordinates O at the center of the intersection is the position of the coordinates O at the center of the intersection acquired by the road information acquisition means 13, the position of the own vehicle 1A acquired by the own vehicle information acquisition means 11, and the other vehicle information acquisition. It can be set as the positional relationship which the position of the other vehicle 1B acquired by the means 12 serializes in this order.
As a result, the vehicle control device 2 travels on the left side of the own vehicle 1A that is going to turn left at the intersection of the position of the own vehicle 1A, the position of the other vehicle 1B, and the coordinate O of the center of the intersection. Since the positional relationship is likely to cause a collision accident with another vehicle 1B such as a two-wheeled vehicle, it is possible to determine the possibility of a left turn-in accident. In addition, the determination accuracy can be improved by adding a condition that the vehicle 1A is blinking the left turn signal to the determination condition of the positional relationship that may cause the left turn.
In the above-described embodiment, the number of azimuths of intersecting roads is four and the intersections of the roads are substantially orthogonal to each other. However, the present invention can be applied to intersections of other shapes. For example, as shown in FIG. 11, the present invention can also be applied to an intersection of T-shaped roads in which the number of azimuths of intersecting roads is 3 and any one of them intersects obliquely.

In the above-described embodiment, the vehicle control device 2 includes the storage unit 17 that stores the coordinates of the intersection center and the direction of the intersecting road, and the road information acquisition unit 13 is stored in the storage unit 17. Although the coordinates of the intersection center and the direction of the intersecting road are acquired, the present invention is not limited to this.
For example, as shown in FIG. 12, the communication module 4 includes a receiver 8 and a transmitter 9, and transmits and receives signals to and from road vehicles 18 while transmitting and receiving signals to and from other vehicles 1B. 10. The communication module 4 constitutes inter-vehicle communication means for transmitting and receiving own vehicle information and other vehicle information (position, traveling direction, travel speed) between the own vehicle 1A and the other vehicle 1B. Road-to-vehicle communication means for transmitting and receiving information on the coordinates of the intersection center and the direction of the intersecting road between the machines 18 is configured.
The road information acquisition means 13 acquires the position of the coordinates of the intersection center and the direction of the road from the road unit 18 by the communication module 4 and the communication antenna 10 constituting the road-to-vehicle communication means. Further, the other vehicle information acquisition means 12 may acquire other vehicle information of the position, traveling direction, and traveling speed of the other vehicle 1 </ b> B through road-to-vehicle communication of the communication module 4.
The vehicle control device 2 acquires the directions of the coordinates O of the intersection center and the directions J1 to J4 of the road that intersect with each other by road-to-vehicle communication (see FIGS. 2 to 4), and the position of the host vehicle 1A is the position of the intersection center. Is within a predetermined range A centered on the coordinate O of the vehicle, and the traveling direction D1 of the host vehicle 1A coincides with the direction J1 or J3 of the road and is determined to be a target road, and the position of the host vehicle 1A and the other vehicle 1B The position and the position of the coordinate O at the center of the intersection meet each other and there is a possibility of occurrence of a head-on accident, and the traveling direction D2 of the other vehicle 1B coincides with the direction J2 or J4 of the road and is determined as the target vehicle. Sometimes, it is determined that the host vehicle 1A and the other vehicle 1B may collide (FIGS. 5 to 8).
As described above, the vehicle control device 2 needs the storage means 17 for storing the position of the intersection center and the direction of the intersecting road in order to acquire the position of the intersection center and the direction of the intersecting road by road-to-vehicle communication. And not. Further, since the vehicle control device 2 uses the position of the intersection center and the direction of the intersecting road, the amount of communication by road-to-vehicle communication can be reduced.

  The present invention can reduce the amount of information for determining the possibility of collision rather than expressing a road as a link connecting nodes, and can be applied to an accident prevention system.

DESCRIPTION OF SYMBOLS 1 Vehicle 1A Own vehicle 1B Other vehicle 2 Vehicle control apparatus 3 GPS module 4 Communication module 5 Judgment module 6 Information provision module 7 GPS antenna 8 Receiving means 9 Transmitting means 10 Communication antenna 11 Own vehicle information acquisition means 12 Other vehicle information acquisition means 13 Road information acquisition means 14 Road judgment means 15 Target vehicle judgment means 16 Collision possibility judgment means 17 Storage means 18 Roadside machine

Claims (6)

  Collision possibility determination means for determining whether or not there is a possibility of collision between the host vehicle and another vehicle, and information provision means for providing information to the driver based on the result determined by the collision possibility determination means. In the vehicle control device, the own vehicle information acquisition means for acquiring the position and the traveling direction of the own vehicle, the other vehicle information acquisition means for acquiring the position and the traveling direction of the other vehicle, and the position of the intersection center Road information acquisition means for acquiring the direction of the road to be entered, and the position of the own vehicle acquired by the own vehicle information acquisition means falls within a predetermined range centered on the position of the intersection center acquired by the road information acquisition means. A road determination unit that compares the traveling direction of the host vehicle acquired by the host vehicle information acquisition unit with the direction of the road acquired by the road information acquisition unit and determines that the road is the same as the target road. The position of the host vehicle acquired by the host vehicle information acquiring unit, the position of the other vehicle acquired by the other vehicle information acquiring unit, and the position of the intersection center acquired by the road information acquiring unit are in a predetermined positional relationship. And a target vehicle determination unit that determines that the vehicle is a target vehicle when the traveling direction of the other vehicle acquired by the other vehicle information acquisition unit matches the direction of the road acquired by the road information acquisition unit. When the collision possibility determining means is determined as the target road by the road determining means and is determined as the target vehicle by the target vehicle determining means, there is a possibility that the own vehicle and another vehicle may collide. A control apparatus for a vehicle characterized by determining.   The positional relationship between the position of the host vehicle acquired by the host vehicle information acquiring unit, the position of the other vehicle acquired by the other vehicle information acquiring unit, and the position of the intersection center acquired by the road information acquiring unit is 2 of a triangle having the vertex of the position of the own vehicle acquired by the own vehicle information acquisition means, the position of the other vehicle acquired by the other vehicle information acquisition means, and the position of the intersection center acquired by the road information acquisition means. The vehicle control apparatus according to claim 1, wherein the two angles are in a positional relationship such that each angle is a predetermined angle.   The positional relationship between the position of the host vehicle acquired by the host vehicle information acquiring unit, the position of the other vehicle acquired by the other vehicle information acquiring unit, and the position of the intersection center acquired by the road information acquiring unit is Positional relationship in which the position of the own vehicle acquired by the own vehicle information acquisition unit and the position of the other vehicle acquired by the other vehicle information acquisition unit are in series across the position of the intersection center acquired by the road information acquisition unit The vehicle control device according to claim 1, wherein:   The positional relationship between the position of the host vehicle acquired by the host vehicle information acquiring unit, the position of the other vehicle acquired by the other vehicle information acquiring unit, and the position of the intersection center acquired by the road information acquiring unit is A position where the position of the intersection center acquired by the road information acquisition means, the position of the own vehicle acquired by the own vehicle information acquisition means, and the position of the other vehicle acquired by the other vehicle information acquisition means are serially arranged in this order. The vehicle control device according to claim 1, wherein the relationship is a relationship.   Storage means for storing the coordinates of the intersection center and the direction of the intersecting road is provided, and the road information acquisition means acquires the position of the intersection center and the direction of the intersecting road stored by the storage means. The vehicle control device according to any one of claims 1 to 4.   Road-to-vehicle communication means for transmitting and receiving information between the host vehicle and the road vehicle is provided, and the road information acquisition means acquires the position of the intersection center and the direction of the road intersecting from the road machine by the road-to-vehicle communication means. The vehicle control device according to any one of claims 1 to 4, wherein the vehicle control device is characterized in that

Images