JP6176460B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device, and more particularly, to a vehicle control device that controls a host vehicle so as to prevent a collision between an oncoming vehicle that is about to cross a lane of the host vehicle and a moving body behind the host vehicle. .

  This type of technology is disclosed in Patent Document 1, for example. Patent Document 1 aims to prevent a collision accident between an opposing right turn vehicle and a subsequent straight traveling vehicle by notifying the driver of the opposing right turn vehicle that there is a subsequent straight traveling vehicle in the blind spot of the own vehicle. A vehicle alert device is disclosed.

JP 2011-164760 A

  However, since the technique described in Patent Document 1 only notifies the oncoming vehicle that there is a subsequent straight-ahead vehicle, for example, when the driver of the oncoming vehicle does not notice this notification, In some cases, it was not possible to properly prevent a collision with the vehicle that followed straight. Therefore, the technique described in Patent Document 1 is not sufficient to reliably prevent the collision between the oncoming vehicle and the following straight ahead vehicle.

  The present invention has been made to solve the above-described problems of the prior art, and appropriately prevents a collision between an oncoming vehicle and a moving body behind the host vehicle that are about to cross the lane of the host vehicle. An object of the present invention is to provide a vehicle control device that can perform the above-described operation.

In order to achieve the above object, the present invention provides a vehicle control apparatus, comprising: an oncoming vehicle determining unit that determines whether an oncoming vehicle is about to cross the lane of the own vehicle in front of the own vehicle; and a rear movable body determining means for determining whether the moving body could overtake the vehicle is present behind the vehicle slip through between the shoulder side of the road edge of the sides and of the vehicle the vehicle, the own In a situation where the vehicle is traveling straight, the oncoming vehicle determination means determines that the oncoming vehicle is about to cross the lane of the own vehicle in front of the own vehicle, and the backward moving body determination means determines that the moving body is behind the own vehicle. Control means for performing control for guiding the position of the host vehicle to the road shoulder side when it is determined that the vehicle exists.
In the present invention configured as described above, the oncoming vehicle is about to cross the lane of the own vehicle in front of the own vehicle, and passes between the side portion of the own vehicle and the road end on the shoulder side of the own vehicle. When there is a moving body that may overtake the host vehicle behind the host vehicle, control is performed to guide the position of the host vehicle to the shoulder side, so that the moving body passes through the side of the shoulder side of the host vehicle. It can prevent you from overtaking your vehicle. Therefore, according to the present invention, it is possible to appropriately prevent an oncoming vehicle crossing the front of the host vehicle and a moving body that has passed the host vehicle from colliding with each other.

In the present invention, preferably, the control means performs control for moving the position of the own vehicle to the roadside, and the shorter the arrival time until the moving body reaches the own vehicle, the more the position of the own vehicle is changed to the roadside. Reduce the amount to be moved to.
In the present invention configured as described above, the shorter the arrival time until the rear moving body reaches the host vehicle, the smaller the amount by which the host vehicle is moved to the road shoulder side. It is possible to reliably prevent the rear moving body from colliding with the own vehicle by largely moving the own vehicle to the road shoulder side.

In the present invention, preferably, the control means performs control for moving the position of the own vehicle to the road shoulder side when the arrival time until the moving body reaches the own vehicle is a predetermined time or more. When the arrival time is less than the predetermined time, the control for notifying the moving body of the presence of the oncoming vehicle is performed without performing the control for moving the position of the host vehicle to the shoulder side.
In the present invention configured as described above, when the arrival time until the rear moving body reaches the host vehicle is considerably short (less than a predetermined time), the control of moving the host vehicle to the shoulder side is executed. Is prohibited, and only the control for notifying the moving body of the presence of the oncoming vehicle that is about to cross the front of the host vehicle is performed, so that it is possible to reliably prevent the rear moving body from colliding with the host vehicle, It is possible to appropriately prevent the oncoming vehicle that is about to cross the front of the host vehicle and the moving body behind the host vehicle from colliding with each other.

In the present invention, preferably, the control means performs control for moving the position of the own vehicle to the road shoulder side, and increases the amount of moving the position of the own vehicle to the road shoulder side as the size of the moving body is smaller. .
In the present invention configured as described above, when the size of the moving body is small (that is, when the moving body can easily pass through the side of the own vehicle), the own vehicle is moved to the roadside. Since the amount to be increased is increased, it is possible to appropriately prevent such a moving body from passing through the side of the roadside of the host vehicle.

In the present invention, preferably, the control means performs steering control so as to guide the position of the host vehicle to the road shoulder side.
In the present invention configured as described above, it is possible to appropriately guide the host vehicle to move to the road shoulder side using the steering control.

In the present invention, preferably, the control means changes the target position in the lane used for maintaining the host vehicle in the lane in the lane keeping control to a position closer to the road shoulder, and determines the position of the host vehicle by the steering control. Move to the shoulder side.
In the present invention configured as described above, the target position in the lane (for example, approximately the center position in the width direction of the lane) used to maintain the host vehicle in the lane in the lane keeping control is changed to a position closer to the road shoulder. Then, the host vehicle is moved to the shoulder side by the steering control, that is, the host vehicle is moved to the shoulder side using the existing lane keeping control. Therefore, control for moving the vehicle to the shoulder side can be incorporated into the existing lane maintenance control without newly adding control for moving the vehicle to the shoulder side, thus simplifying the control configuration. can do.

  According to the vehicle control apparatus of the present invention, it is possible to appropriately prevent a collision between an oncoming vehicle that is about to cross the lane of the host vehicle and a moving body behind the host vehicle.

1 is a schematic configuration diagram of a steering system to which a vehicle control device according to an embodiment of the present invention is applied. It is a block diagram which shows the electric constitution of the control apparatus of the vehicle by embodiment of this invention. It is explanatory drawing about the control content which a controller performs in embodiment of this invention. It is a flowchart which shows the control processing of the vehicle by embodiment of this invention.

  Hereinafter, a vehicle control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

<Device configuration>
First, with reference to FIG.1 and FIG.2, the structure of the control apparatus of the vehicle by embodiment of this invention is demonstrated. FIG. 1 is a schematic configuration diagram of a steering system to which a vehicle control device according to an embodiment of the present invention is applied, and FIG. 2 is a block diagram showing an electrical configuration of the vehicle control device according to the embodiment of the present invention. .

  As shown in FIG. 1, a steering system 1 according to this embodiment is mounted on a vehicle, and a steering wheel 2 operated by a driver, a steering shaft 4 coupled to the steering wheel 2, and the steering wheel An electric power steering mechanism 6 as a torque actuator that applies steering assist torque to the shaft 4, a controller 8 that controls the assist torque to be applied from the electric power steering mechanism 6, and a rack that is connected to a terminal portion of the steering shaft 4 An and pinion type steering gear device 10 and left and right steering wheels 12 steered (steered) by the steering gear device 10 are provided.

  In the present embodiment, the controller 8 mainly performs control for applying a predetermined assist torque to the steering wheel 2 and the steering shaft 4 via the electric power steering mechanism 6 so as to maintain the traveling position of the host vehicle in the lane. I do. That is, the controller 8 performs lane keeping control (lane keeping control) using the electric power steering mechanism 6. This lane maintenance control is a control for maintaining the host vehicle at the center position of the lane in which the host vehicle is traveling, or a control for maintaining the host vehicle between the white lines on both sides defining the lane on which the host vehicle is traveling ( In other words, this is control for preventing the own vehicle from protruding from the white lines on both sides.

  The controller 8 stores various programs (including basic control programs such as an OS and application programs that are activated on the OS to realize specific functions), programs, and various data that are interpreted and executed on the CPU. It is configured by a computer having an internal memory such as a ROM or RAM for storing. For example, the controller 8 is configured by an ECU (Electronic Control Unit).

  Next, as shown in FIG. 2, in addition to the electric power steering mechanism 6 described above, the controller 8 includes a front camera 21, a front radar 23, a rear camera 25, a rear radar 27, a vehicle speed sensor 29, and the like. Are electrically connected.

  The front camera 21 is a camera that images the front of the vehicle, and the rear camera 25 is a camera that images the rear of the vehicle. The front camera 21 and the rear camera 25 supply image signals S21 and S25 corresponding to the captured image data to the controller 8, respectively. The forward radar 23 is configured by a millimeter wave radar, a laser radar, or the like that detects a forward object (a stationary object, a moving object, etc.) of the vehicle, and the presence of the forward object, the distance from the host vehicle to the forward object, The relative speed of the host vehicle can be detected. Similarly, the rear radar 27 is configured by a millimeter wave radar, a laser radar, or the like that detects a rear object (such as a stationary object and a moving object) of the vehicle, and the presence of the rear object, the distance from the own vehicle to the rear object, The relative speed of the host vehicle with respect to the rear object can be detected. The front radar 23 and the rear radar 27 supply detection signals S23 and S27 corresponding to the detected object to the controller 8, respectively. The vehicle speed sensor 29 is a sensor that detects the vehicle speed of the vehicle, and supplies a detection signal S29 corresponding to the detected vehicle speed to the controller 8.

  Moreover, as shown in FIG. 2, the controller 8 functionally includes an oncoming vehicle determination unit 8a, a backward moving body determination unit 8b, and a control unit 8c.

  The oncoming vehicle determination unit 8a of the controller 8 is mainly based on the image signal S21 supplied from the front camera 21 (may include the detection signal S23 from the front radar 23), and the oncoming vehicle is in front of the own vehicle. Whether or not it is going to cross. The rear moving body determination unit 8b of the controller 8 is based on the image signal S25 supplied from the rear camera 25 and / or the detection signal S27 supplied from the rear radar 27, and the road on the side of the host vehicle and the shoulder side of the host vehicle. It is determined whether or not there is a moving body behind the host vehicle that may pass through the end and pass the host vehicle.

  The controller 8c of the controller 8 determines that the oncoming vehicle is about to cross the lane of the host vehicle in front of the host vehicle by the oncoming vehicle determination unit 8a, and the rear moving body determination unit 8b Control that guides the position of the vehicle to the shoulder side when it is determined that there is a moving object that may pass the vehicle and the road edge on the shoulder side of the vehicle and pass the vehicle. I do. In the present embodiment, the control unit 8c supplies the control signal S60 to the electric power steering mechanism 6 so as to perform the steering control so as to move the position of the host vehicle to the shoulder side. In addition, the specific content of the control which the control part 8c performs in this embodiment is mentioned later for details.

  Thus, the controller 8 corresponds to the “vehicle control device” in the present invention.

<Control details>
Next, the control performed by the controller 8 in the embodiment of the present invention will be specifically described.

  FIG. 3 is an explanatory diagram of the control content performed by the controller 8 in the embodiment of the present invention. FIGS. 3A and 3B are schematic views of a single-lane road as viewed from above. Reference numeral V1 indicates the host vehicle, and reference numeral V2 indicates an oncoming vehicle that travels in the opposite lane of the lane of the host vehicle V1. , V3 indicates a preceding vehicle that runs immediately in front of the host vehicle V1, and V4 indicates a rear vehicle (specifically, a motorcycle, more specifically a motorcycle) that exists behind the host vehicle V1. . Here, it is assumed that the lane of the host vehicle V1 is congested and the host vehicle V1 is traveling at a low speed (for example, 30 km / h or less).

  First, as shown in FIG. 3A, it is assumed that the oncoming vehicle V2 is about to cross the lane of the host vehicle V1 in front of the host vehicle V1. Specifically, it is assumed that the oncoming vehicle V2 is turning right between the host vehicle V1 and the preceding vehicle V3. In this case, the oncoming vehicle determination unit 8a of the controller 8 is based on the image signal S21 supplied from the front camera 21, and the oncoming vehicle V2 exists immediately in front of the host vehicle V1, and the oncoming vehicle V2 is for a right turn. It is determined that the direction indicator lamp is blinking (see arrow A1 in FIG. 3A), and the oncoming vehicle V2 is turning right between the host vehicle V1 and the preceding vehicle V3 and crossing. Judge.

  Further, as shown in FIG. 3A, it is assumed that the two-wheeled vehicle V4 is moving toward the host vehicle V1 behind the host vehicle V1. In this case, based on the image signal S25 supplied from the rear camera 25, the rear moving body determination unit 8b of the controller 8 indicates that the two-wheeled vehicle V4 is present behind the host vehicle V1, and that the two-wheeled vehicle V4 is present in the host vehicle V1. The vehicle V1 passes through the shoulder side of the host vehicle V1 (specifically, between the side of the host vehicle V1 and the road end on the shoulder side of the host vehicle V1). It is determined that the two-wheeled vehicle V4 as a moving body that may overtake the vehicle exists behind the host vehicle V1.

  In the situation as shown in FIG. 3A, when the oncoming vehicle V2 turns right in front of the host vehicle V1 and crosses, and the two-wheeled vehicle V4 passes by the side of the shoulder side of the own vehicle V1 and passes, There is a possibility that the vehicle V2 and the motorcycle V4 collide. In the present embodiment, in order to prevent such a collision between the oncoming vehicle V2 and the two-wheeled vehicle V4, the control unit 8c of the controller 8 moves the host vehicle V1 to the road shoulder side as shown in FIG. 3B. In other words, the vehicle V1 is controlled to be moved closer to the road shoulder side to prevent the two-wheeled vehicle V4 from passing through the side of the road side of the vehicle V1 and overtaking. Hereinafter, such control for causing the host vehicle V1 to be brought closer is referred to as “width-shifting control” as appropriate. In the present embodiment, the controller 8c of the controller 8 blinks the left turn direction indicator lamp so as to notify the rear two-wheeled vehicle V4 that the own vehicle V1 is width-shifted when performing the width-shift control described above. (See arrow A2 in FIG. 3B).

  More specifically, the control unit 8c of the controller 8 implements the width shifting control using the lane keeping control when the setting of the above lane keeping control is turned on. Specifically, the control unit 8c makes an oncoming vehicle V2 turn right between the host vehicle V1 and the preceding vehicle V3 and cross the road shoulder side of the host vehicle V1. When it is determined that the two-wheeled vehicle V4 that may overtake the vehicle exists behind the host vehicle V1, the target position in the lane (for example, the width of the lane) used for maintaining the host vehicle V1 in the lane in the lane keeping control. The position of the host vehicle V1 is moved to the road shoulder side (left side) by steering control via the electric power steering mechanism 6 by changing the position in the direction (substantially the center position) to a position closer to the road shoulder. That is, the control unit 8c performs control to steer (steer) the steered wheels 12 by the electric power steering mechanism 6, and moves the host vehicle V1 leftward in the lane.

  In the present embodiment, the controller 8c of the controller 8 obtains a time margin for collision (TTC: Time To Collision) between the host vehicle V1 and the two-wheeled vehicle V4 as an arrival time until the two-wheeled vehicle V4 reaches the host vehicle V1. As the collision margin time is shorter, the amount by which the position of the host vehicle V1 is moved to the road shoulder side in the above-described width-shifting control is reduced. This is because if the collision margin time is short, the two-wheeled vehicle V4 may collide with the own vehicle V1 if the own vehicle V1 is largely moved to the shoulder side. In this case, the control unit 8c obtains the inter-vehicle distance between the host vehicle V1 and the two-wheeled vehicle V4 and the relative speed of the two-wheeled vehicle V4 with respect to the host vehicle V1 based on the detection signal S27 supplied from the rear radar 27, and determines the inter-vehicle distance. Is divided by the relative speed to obtain the collision margin time.

  Further, in the present embodiment, the controller 8c of the controller 8 executes the width adjustment control only when the above-described collision allowance time is equal to or longer than a predetermined time (for example, 3 seconds), and the collision allowance time is set to this predetermined time. If it is less than the time, execution of the width adjusting control is prohibited, and only the notification of the presence of the oncoming vehicle V2 about to turn right is made to the two-wheeled vehicle V4. This is because the two-wheeled vehicle V4 may collide with the host vehicle V1 when the host vehicle V1 is brought closer when the margin for collision is less than the predetermined time. Specifically, when the collision margin time is less than the predetermined time, the control unit 8c alerts the two-wheeled vehicle V4 by blinking the hazard lamp.

  Next, a control flow according to an embodiment of the present invention will be described with reference to FIG. FIG. 4 is a flowchart showing a vehicle control process according to the embodiment of the present invention.

  The flowchart shown in FIG. 4 is repeatedly executed by the controller 8 only when the vehicle speed detected by the vehicle speed sensor 29 is a predetermined speed (for example, 30 km / h) or less. In other words, this flowchart is not executed when the vehicle speed of the host vehicle exceeds a predetermined speed. This is because, if the vehicle speed of the host vehicle is high (in this case, naturally, the vehicle speed of the rear two-wheeled vehicle is also large), the rear two-wheeled vehicle may collide with the host vehicle. Because.

  First, in step S1, the oncoming vehicle determination unit 8a of the controller 8 determines whether or not the oncoming vehicle is about to turn right and cross the lane of the own vehicle in front of the own vehicle. Specifically, the oncoming vehicle determination unit 8a analyzes an image corresponding to the image signal S21 supplied from the front camera 21 (an image ahead of the host vehicle), thereby indicating a direction for turning right of the oncoming vehicle ahead of the host vehicle. By determining whether or not the light is flashing, it is determined whether or not the oncoming vehicle is going to cross the lane of the host vehicle and turn right.

  As a result of the determination in step S1, if it is determined that the oncoming vehicle is going to turn right and cross the lane of the host vehicle (step S1: Yes), the process proceeds to step S2. In step S2, the rear moving body determination unit 8b of the controller 8 determines whether or not a two-wheeled vehicle exists behind the host vehicle. Specifically, the rear moving body determination unit 8b analyzes the image corresponding to the image signal S25 supplied from the rear camera 25 (an image behind the vehicle), so that a two-wheeled vehicle exists behind the host vehicle. It is determined whether or not the vehicle is traveling toward the host vehicle. Thus, the backward moving body determination unit 8b determines the presence of a moving body that may pass the side of the host vehicle and pass the host vehicle.

  As a result of the determination in step S2, if it is determined that there is a motorcycle behind the host vehicle (step S2: Yes), the process proceeds to step S3. On the other hand, if it is not determined in step S1 that the oncoming vehicle is going to turn right and cross the lane of the own vehicle (step S1: No), and if there is a motorcycle behind the own vehicle in step S2. If not determined (step S2: No), the process ends. In this case, the width adjusting control according to the present embodiment is not performed.

  In step S3, the controller 8c of the controller 8 obtains a collision margin time between the host vehicle and the two-wheeled vehicle. Specifically, the control unit 8c obtains the inter-vehicle distance between the own vehicle and the two-wheeled vehicle and the relative speed of the two-wheeled vehicle with respect to the own vehicle based on the detection signal S27 supplied from the rear radar 27, and determines the relative distance between the two vehicles. The collision margin time is obtained by dividing by the speed.

  Next, in step S4, the control unit 8c determines whether or not the collision margin time obtained in step S3 is equal to or longer than a predetermined time (for example, 3 seconds). As a result, when the collision allowance time is equal to or longer than the predetermined time (step S4: Yes), the process proceeds to step S5, and the control unit 8c performs width-shifting control for causing the host vehicle to be width-closed.

  Specifically, in step S5, when the setting of the lane keeping control is turned on, the control unit 8c uses the target position in the lane that is used to keep the vehicle in the lane in the lane keeping control. Is changed to a position closer to the road shoulder, the host vehicle is moved to the road shoulder side (leftward) in the lane by steering control via the electric power steering mechanism 6. In this case, the control unit 8c sets the amount by which the own vehicle is moved to the road shoulder side as the collision margin time obtained in step S3 is shorter. In other words, the control unit 8c increases as the collision margin time obtained in step S3 increases. Set a large amount to move the vehicle to the shoulder side. However, the control unit 8c makes the movement of the host vehicle to the shoulder side within the range of the lane of the host vehicle (that is, the host vehicle does not deviate from the lane). In addition, when performing such width adjustment control, the control unit 8c blinks the left turn direction indicator lamp so as to notify the rear two-wheeled vehicle that the own vehicle is width-adjusted.

  Note that the above-mentioned width adjustment control basically assumes that the host vehicle is traveling, but when the host vehicle is stopped, the host vehicle is started (for example, the host vehicle is idling). It is only necessary to control the engine or the like so that the vehicle travels as much as the vehicle travels), and the host vehicle may be moved to the road shoulder side by steering control via the electric power steering mechanism 6.

  On the other hand, if the collision allowance time is not longer than the predetermined time (step S4: No), that is, if the collision allowance time is less than the predetermined time, the process proceeds to step S6, and the control unit 8c prohibits execution of the width adjusting control. Then, only control for notifying the two-wheeled vehicle of the presence of the oncoming vehicle (right turn oncoming vehicle) that is about to turn right is performed. Specifically, the control unit 8c alerts the two-wheeled vehicle by blinking the hazard lamp.

<Effect>
Next, functions and effects of the vehicle control apparatus according to the embodiment of the present invention will be described.

  According to the present embodiment, a two-wheeled vehicle in which an oncoming vehicle is about to turn right across the lane of the host vehicle in front of the host vehicle and pass the side of the host vehicle and overtake the host vehicle is the host vehicle. When the vehicle is behind, control to guide the position of the vehicle to the road shoulder side, specifically, control to move the vehicle to the road shoulder side (width adjustment control) is performed. It can prevent you from passing through and overtaking. As a result, it is possible to appropriately prevent the oncoming vehicle crossing the front of the host vehicle from colliding with the two-wheeled vehicle that has passed the host vehicle.

  Further, according to the present embodiment, the shorter the collision allowance time between the own vehicle and the two-wheeled vehicle, the smaller the amount of movement of the own vehicle to the road shoulder side. It is possible to reliably prevent the two-wheeled vehicle from colliding with the host vehicle by being moved.

  Further, according to the present embodiment, when the collision margin time between the own vehicle and the two-wheeled vehicle is considerably short (less than a predetermined time), the execution of the control for moving the own vehicle to the road shoulder side is prohibited, and the own vehicle is prohibited. Since the motorcycle only informs the two-wheeled vehicle of the presence of the oncoming vehicle that is about to cross the front, the oncoming vehicle is about to cross the front of the own vehicle while reliably preventing the two-wheeled vehicle from colliding with the own vehicle. And the two-wheeled vehicle behind the host vehicle can be appropriately prevented from colliding with each other.

  Further, according to the present embodiment, the target position in the lane used for maintaining the host vehicle in the lane in the lane maintaining control is changed to a position closer to the road shoulder, and the host vehicle is moved to the road shoulder side. In other words, in order to move the host vehicle to the shoulder side using the existing lane keeping control, it is only necessary to incorporate the width adjusting control into the existing lane keeping control without newly adding the width adjusting control. Can be simplified.

<Modification>
Below, the modification of above-mentioned embodiment is described. The modifications described below can be applied to the above-described embodiment in an appropriate combination.

(Modification 1)
In the above-described embodiment, the present invention is applied to a case where an oncoming vehicle is going to turn right and cross a lane of the own vehicle, assuming an area where the vehicle travels on the left side. In an area where the oncoming vehicle performs, the present invention may be applied when the oncoming vehicle is going to turn left and cross the lane of the own vehicle.

(Modification 2)
In the embodiment described above, a two-wheeled vehicle (see FIGS. 3 and 4) is shown as an example of the “moving body” in the present invention, but the present invention is also applicable to a moving body other than a two-wheeled vehicle. Specifically, the present invention can be applied to various moving bodies that can move through a side portion of the own vehicle and a road end on the shoulder side of the own vehicle. For example, the present invention can be applied to a motorcycle other than a motorcycle with a motor (that is, a motorcycle (bicycle) as a light vehicle), a tricycle, a runner, a pedestrian, and the like.

(Modification 3)
When the present invention is applied to various moving bodies as described above, it is preferable to change the amount by which the position of the host vehicle is moved to the road shoulder side according to the size of the moving body behind the host vehicle. Specifically, the smaller the size of the moving body, the larger the amount by which the position of the host vehicle is moved toward the roadside. For example, when the moving body is a runner or a pedestrian, it is better to increase the amount by which the position of the host vehicle is moved to the road shoulder side than when the moving body is a motorcycle. This is because when the size of the moving body is small, the moving body is likely to pass through the side of the roadside of the host vehicle, and therefore it is desirable to move the host vehicle to the side of the roadside.

  Note that the size of the moving body behind the host vehicle can be obtained by analyzing an image captured by the rear camera 25. In this case, the type of the moving body is specified from the image captured by the rear camera 25 without determining the size of the moving body, and the size of the moving body is estimated based on the specified type of the moving body. Also good.

(Modification 4)
In the above-described embodiment, the collision margin time (TTC) between the host vehicle and the moving body is used as the arrival time until the moving body behind the host vehicle reaches the host vehicle, but instead of this collision margin time. So-called vehicle head time (THW) may be used. The vehicle head time is obtained by dividing the distance between the host vehicle and the rear moving body by the speed of the moving body. In the above-described collision margin time, the relative speed between the host vehicle and the moving body was used. However, since the host vehicle is slow, the speed of the moving body becomes dominant. Close to the target value.

(Modification 5)
In the above-described embodiment, the lane keeping control is used to perform the control of moving the host vehicle to the road shoulder side (width-shifting control), but this is not a limitation. That is, a control for moving the host vehicle to the road shoulder side may be applied separately without using the lane keeping control. Even in that case, it is only necessary to control the steering wheel 12 to be steered (turned) by the electric power steering mechanism 6 to move the host vehicle to the shoulder side. In such a case, even if the setting of the lane keeping control is not turned on, the host vehicle can be moved to the shoulder side.

(Modification 6)
In the above-described embodiment, the control for actually moving the own vehicle to the road shoulder side is performed, but the position of the own vehicle may be guided to the road shoulder side without moving the own vehicle to the road shoulder side. In that case, what is necessary is just to guide | lead so that a driver may perform steering operation for moving the own vehicle to the shoulder side. For example, if the driver is notified to perform the steering operation for moving the host vehicle to the road shoulder side, or the steering assist is performed so that the steering operation for moving the host vehicle to the road shoulder side is performed. Good.

DESCRIPTION OF SYMBOLS 1 Steering system 2 Steering wheel 6 Electric power steering mechanism 8 Controller 8a Oncoming vehicle determination part 8b Backward moving body determination part 8c Control part 21 Front camera 23 Front radar 25 Rear camera 27 Rear radar 29 Vehicle speed sensor V1 Own vehicle V2 Oncoming vehicle V3 Lead Vehicle V4 motorcycle (rear vehicle)

Claims (6)

A control device for a vehicle,
Oncoming vehicle determination means for determining whether the oncoming vehicle is about to cross the lane of the own vehicle in front of the own vehicle;
A backward moving body determination means for determining whether or not there is a moving body that may pass through the side of the own vehicle and a road edge on the shoulder side of the own vehicle and pass the own vehicle;
In a situation where the host vehicle is traveling straight, it is determined by the oncoming vehicle determining means that the oncoming vehicle is about to cross the lane of the host vehicle in front of the host vehicle, and the moving body is determined by the rear moving body determining means. Control means for performing control for guiding the position of the host vehicle to the road shoulder side when it is determined that the vehicle is present behind the host vehicle;
A vehicle control apparatus comprising:   The control means performs control for moving the position of the own vehicle to the road shoulder side, and the amount of movement of the position of the own vehicle to the road shoulder side is shorter as the arrival time until the moving body reaches the own vehicle is shorter. The vehicle control device according to claim 1, wherein the vehicle control device is made smaller.   The control means performs control for moving the position of the host vehicle to the road shoulder side when the time required for the moving body to reach the host vehicle is equal to or longer than a predetermined time. The predetermined control for notifying the moving body of the presence of the oncoming vehicle is performed without performing control for moving the position of the host vehicle to the roadside when the time is less than the time. The vehicle control device according to 2.   The control means performs control for moving the position of the own vehicle to the road shoulder side, and increases the amount of moving the position of the own vehicle to the road shoulder side as the size of the moving body is smaller. The vehicle control device according to claim 3.   The vehicle control device according to any one of claims 1 to 4, wherein the control means performs steering control so as to guide the position of the host vehicle toward a road shoulder.   The control means changes the target position in the lane used for maintaining the host vehicle in the lane in the lane keeping control to a position closer to the shoulder, and moves the position of the host vehicle to the shoulder side by the steering control. The vehicle control device according to claim 5.

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