WO2016117487A1

WO2016117487A1 - Vehicle control apparatus

Info

Publication number: WO2016117487A1
Application number: PCT/JP2016/051224
Authority: WO
Inventors: 仁胡桃沢; 光宏時政; 豊晴勝倉; 緒方　義久; 剛名波; 喬士西田
Original assignee: 株式会社デンソー; トヨタ自動車株式会社
Priority date: 2015-01-21
Filing date: 2016-01-18
Publication date: 2016-07-28
Also published as: JP2016133461A

Abstract

Provided is a vehicle control apparatus (10) for detecting the presence of a leading vehicle to the front of a host vehicle, on the basis of reflected waves produced when transmitted waves transmitted frontward from the host vehicle at a prescribed cycle are reflected back from the leading vehicle. This vehicle control apparatus (10) comprises: a detection distance acquisition unit (21) for acquiring the distance from the host vehicle to a leading vehicle, calculated using reflected waves, by way of a detection distance; a filter process unit (23) for performing a process to minimize change of the detection distance, using past values of the detection distance; and a distance correction unit (24) for calculating the amount of change of the detection distance, and making corrections of the detection distance on the basis of the amount of change thereof. The filter process unit (23) is designed to reset the past value of the detection distance, at the point in time that correction is initiated by the distance correction unit (24).

Description

Vehicle control device

Cross-reference of related applications

This application is based on Japanese Application No. 2015-9777 filed on January 21, 2015, the contents of which are incorporated herein by reference.

The present invention relates to a vehicle control device that is mounted on a vehicle or the like and detects a preceding vehicle existing in front of the vehicle.

There is known a vehicle control device that detects the inter-vehicle distance between the host vehicle and the preceding vehicle and controls the inter-vehicle distance and speed according to the vehicle speed. In the vehicle control device described in Patent Document 1, the difference between the detection distance based on the position of the rear end of the preceding vehicle and the detection distance based on another reflection position of the preceding vehicle is recorded. And when the detection distance based on the position of the rear end of the preceding vehicle is not obtained, the recorded difference is subtracted from the detection distance based on the other reflection position of the preceding vehicle, so that it is based on the position of the rear end of the preceding vehicle. Even when the detection distance can no longer be obtained, the position of the rear end of the preceding vehicle can be estimated from the detection distance obtained from other reflection sites of the preceding vehicle.

International Publication No. 2014/038076

When the detection distance is obtained from the reflected wave from the target, the detection distance includes noise. If the own vehicle is controlled based on this noise, the speed of the own vehicle is erroneously changed. Therefore, it is common to perform a filter process to remove noise. In the filter processing, using the acquired current value and past value of the detected distance, the change in the detected distance is smoothed to suppress the change in the detected distance.

If the filtering process is performed in the vehicle control device described in Patent Document 1, a transition is made from a state in which the detection distance is acquired by the position of the rear end of the preceding vehicle to a state in which the detection distance is acquired by another position of the preceding vehicle. When the distance variation occurs, the filtering process is performed for the change in the detected distance. At this time, since the detection distance is gradually changed by the filter processing, when the distance based on the distance fluctuation is subtracted from the gradually changing detection distance, the subtraction amount is excessive, and the subtracted distance and A deviation occurs between the position values of the rear end of the preceding vehicle.

In view of such problems, it is an object of the present invention to provide a vehicle control device capable of estimating the position of a preceding vehicle more accurately even when the detection distance varies, while removing noise generated in the detection distance. .

As one aspect of the present invention, a preceding vehicle existing in front of the host vehicle is detected based on a reflected wave that is transmitted in a predetermined cycle in front of the host vehicle and reflected back by the preceding vehicle. A vehicle control apparatus is provided. The vehicle control device uses a detection distance acquisition unit configured to acquire a distance from the host vehicle to the preceding vehicle obtained from the reflected wave as a detection distance, and a past value of the detection distance. A filter processing unit configured to perform a process of suppressing a change in the detection distance, a distance variation calculation unit configured to calculate a change amount of the detection distance, and the detection based on the change amount A distance correction unit configured to perform distance correction. In the vehicle control device, the filter processing unit is configured to reset the past value of the detection distance at a start time of the correction by the correction unit.

Since the detection distance based on the reflected wave from the preceding vehicle often includes noise, in order to remove the noise, a process for suppressing a change in the detection distance using the past value of the detection distance is performed by the filter processing unit. Done. On the other hand, when the reflected wave is reflected on a different part of the preceding vehicle, the detection distance is greatly changed. Therefore, the distance correction unit corrects the detection distance based on the amount of change in the detection distance, so that even if the reflected wave is reflected by a different part of the preceding vehicle, the distance before the change in the detection distance is applied. The detection distance can be obtained.

However, if the reflected wave is reflected on different parts of the preceding vehicle and a large change occurs in the detection distance, the change in the detection distance can be suppressed by performing the filtering process. Then, if correction based on the change amount is performed on the detection distance in which the change is suppressed, the corrected distance is deviated from the value that should be originally acquired.

In this regard, in the above configuration, since the filter processing unit resets the past value of the detection distance at the time of starting correction of the detection distance based on the change amount of the detection distance, No gradual change in value occurs. Therefore, the distance that has been corrected based on the amount of change in the detection distance can be set to a value that corresponds to the detection distance before the change in the detection distance occurs.

The above and other objects, features and advantages of the present invention will become readily apparent and fully understood when the following detailed description of the preferred embodiment is read in conjunction with the accompanying drawings.

It is a whole block diagram of a vehicle control apparatus. An example is shown in which the detection distance varies. The other example in which the distance fluctuation | variation of detection distance arises is shown. It is a time chart which shows the correction distance when not performing the processing concerning an embodiment. It is a flowchart which shows the process which concerns on embodiment. It is a time chart which shows the correction distance at the time of performing processing concerning an embodiment.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the following embodiments, parts that are the same or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same reference numerals is used.

A vehicle control apparatus according to an embodiment of the present invention will be described with reference to the drawings. The vehicle control device is mounted on the vehicle, has an ACC (Adaptive Cruise Control) function, and causes the host vehicle to follow the vehicle so that the detected distance from the preceding vehicle becomes a target value of the inter-vehicle distance according to the vehicle speed. . Further, the vehicle control device performs control so that the vehicle speed set as the target value is obtained when no preceding vehicle is detected.

In FIG. 1, an inter-vehicle control ECU 10 that is a vehicle control device is a computer including a CPU, a ROM, a RAM, an I / O, and the like. The inter-vehicle control ECU 10 realizes each of these functions when the CPU executes a program installed in the ROM.

The vehicle is provided with a radar device 11 as an object detection means. The radar device 11 is a detection device that detects an object by transmitting an electromagnetic wave as a transmission wave at a predetermined cycle and receiving the reflected wave, and is configured by a millimeter wave radar in this embodiment. The radar device 11 is attached to the front portion of the host vehicle, and scans a region that extends over a range of a predetermined angle from the front of the vehicle with the optical axis as a center by using a radar signal. The radar apparatus 11 creates distance measurement data based on the time from when the electromagnetic wave is transmitted toward the front of the vehicle until the reflected wave is received, and the created distance measurement data is sequentially output to the inter-vehicle control ECU 10. The distance measurement data includes information on the direction in which the object exists, the distance to the object, and the relative speed.

The inter-vehicle control ECU 10 acquires distance measurement data from the radar device 11 and also acquires detection signals from various sensors provided in the vehicle. As various sensors, a vehicle speed sensor 12 that detects the vehicle speed, an ACC switch 13 that is operated when the driver selects the follow-up control mode, and the like are provided.

The detection distance acquisition unit 21 included in the inter-vehicle control ECU 10 acquires a detection distance that is a distance between the host vehicle and the preceding vehicle based on the distance measurement data from the radar device 11. Furthermore, the relative speed acquisition unit 26 included in the inter-vehicle control ECU 10 acquires the relative speed between the host vehicle and the preceding vehicle based on the distance measurement data from the radar device 11. The detection distance acquired by the detection distance acquisition unit 21 and the relative speed acquired by the relative speed acquisition unit 26 are input to the distance variation calculation unit 22, and the distance variation calculation unit 22 calculates a distance change amount generated in the detection distance. Is made. Further, the distance variation calculation unit 22 determines whether or not the detection distance should be corrected based on the distance change amount. This process will be described later.

In addition, the detection distance obtained by the detection distance acquisition unit 21 is input to the filter processing unit 23, and using the acquired current value of the detection distance and the past value of the detection distance temporarily stored in the memory, In order to suppress an abrupt change in the detection distance, smoothing is performed by gradually changing the detection distance to the current value so that the amount of change does not exceed a predetermined value. The processing by the filter processing unit 23 is performed in order to suppress a sudden change in the detection distance due to the noise when the detection distance includes noise.

The distance fluctuation calculation unit 22 inputs a determination result as to whether or not the detection distance should be corrected to the distance correction unit 24. The distance correction unit 24 corrects the detection distance subjected to the filter process based on the determination result of the distance variation calculation unit 22, and the correction distance that is the corrected detection distance or correction is performed. In addition, the detection distance that is only subjected to the filtering process is input to the control target value setting unit 25. At this time, the distance variation calculation unit 22 and the distance correction unit 24 cooperate to constitute a distance correction unit. In the above description, the distance fluctuation calculation unit 22 is configured to determine whether or not the detection distance should be corrected based on the distance change amount. Instead of this, the distance correction unit 24 may be configured to determine whether or not the detection distance should be corrected based on the distance change amount calculated by the distance variation calculation unit 22.

The control target value setting unit 25 calculates a control target value for maintaining the inter-vehicle distance between the selected preceding vehicle and the host vehicle at a preset target interval by controlling the traveling speed of the host vehicle. To do. Specifically, the control target value setting unit 25 calculates a target output of the vehicle-mounted engine, a required brake force, and the like, and outputs these to the engine ECU 31 and the brake ECU 32. In the present embodiment, the inter-vehicle control ECU 10 outputs a control signal to each of the engine ECU 31 and the brake ECU 32. However, the inter-vehicle control ECU 10 transmits a control signal to one of the engine ECU 31 and the brake ECU 32. Also good. In this case, the control signal may be transmitted from one of the engine ECU 31 and the brake ECU 32 that have received the control signal from the inter-vehicle control ECU 10 to the other.

By the way, when a vehicle with a high rear end such as a large vehicle or a vehicle with a low rear end such as a low-floor vehicle is traveling in front of the host vehicle, the rear end (rear portion) of the vehicle. And a height position of the radar apparatus 11 are shifted. For this reason, when the inter-vehicle distance from the host vehicle becomes short, the position of the rear end of the preceding vehicle may not be captured by the radar device 11.

For example, as shown in FIG. 2A, when the inter-vehicle distance from the preceding vehicle 70 traveling in front of the host vehicle 80 is far and the rear end 72 of the preceding vehicle 70 is included in the radar wave detection angle range. The detection distance is obtained based on the position of the rear end 72. However, as shown in FIG. 2B, when the preceding vehicle 70 and the host vehicle 80 approach each other and the inter-vehicle distance is shortened, and the rear end 72 is included only in a part of the radar wave detection angle range, For example, the detection distance may be obtained by a reflected wave from the chassis 73. In this case, if control that follows the preceding vehicle 70 is performed, the inter-vehicle distance between the preceding vehicle 70 and the host vehicle 80 may be shorter than the target inter-vehicle distance.

Similarly, as shown in FIG. 3, when the preceding vehicle 70 is pulling the low floor vehicle 74 and the area of the rear end 75 of the low floor vehicle 74 is small, the rear end 75 of the low floor vehicle 74. The detection distance may be acquired based on the position of the vehicle, or the detection distance may be acquired based on the position of the rear end 76 of the preceding vehicle 70 that is towing the low floor vehicle 74.

2 and 3, when the detection distance changes due to the change of the reflection point of the radar wave, the distance variation is larger than the change in the detection distance based on the relative speed between the host vehicle and the preceding vehicle. For this reason, in the present embodiment, when a change in the detection distance caused by the change in the reflection point occurs, a process for correcting the detection distance is performed.

The estimated value of the inter-vehicle distance between the preceding vehicle and the host vehicle in the distance measurement cycle (for example, 50 ms) in the radar apparatus 11 is calculated by the equation (1). That is, Dx (i) that is a distance estimation value is calculated using the detected distance and the relative speed between the preceding vehicle and the host vehicle. D (i-1) is the previous value of the detected distance, Vz (i) is the current value of the relative speed, Vz (i-1) is the previous value of the relative speed, and tm is the distance measurement cycle by the radar device 11. . If Dx (i) that is the distance estimation value and D (i) that is the current value of the detection distance are used, a distance variation value that indicates the difference between the distance estimation value and the detection distance, as shown in equation (2). ΔD (i) can be calculated. By comparing this ΔD (i) with a threshold value, it is determined whether or not a distance variation has occurred. As the threshold value, a distance fluctuation value that is sufficiently larger than a distance fluctuation value that occurs based on noise in the distance measurement cycle and cannot normally occur is adopted. For example, if the distance measurement cycle is 50 ms, a distance of about 0.5 to 1 m is set.

[Equation 1]
Dx (i) = D (i−1) + (Vz (i) + Vz (i−1)) / 2 × tm (1)
[Equation 2]
ΔD (i) = | D (i) −Dx (i) | (2)
If the distance fluctuation value is equal to or greater than the threshold value, the distance fluctuation value is used as a distance correction value, and if the correction distance is obtained by correcting by adding or subtracting the distance correction value from the detected detection distance, the correction distance is The value is equal to the estimated distance value. Therefore, even if the detection distance by the reflected wave from a different target is acquired, the correction distance is a distance estimated to be equal to the detection distance based on the position of the target detected previously.

However, in the present embodiment, the filter processing unit 23 smoothes the detection distance in order to remove noise existing in the acquired detection distance. Therefore, even when the distance fluctuation occurs, the distance fluctuation is smoothed by the filter processing, and the detection distance after the filter processing gradually changes from the detection distance before the distance fluctuation to the detection distance after the distance fluctuation (hereinafter referred to as the distance fluctuation). The period in which the detection distance gradually changes is referred to as “gradual change period”). In this case, when the correction distance is obtained using the distance variation value and the detected distance after the filter process, the correction distance in the gradual change period is deviated from the distance estimation value. In addition, when the detection position returns to the detection position based on the reflected wave from the position where the main body distance should be acquired, the distance variation similarly occurs. At this time, the correction using the distance variation value is finished, but also in this case, a gradual change period is caused by the filter processing.

FIG. 4 is a time chart showing a change in the correction distance with time when both the filter process and the distance correction process are performed. FIG. 4 shows a case where the preceding vehicle and the host vehicle approach each other as shown in FIGS. 2 and 3 and the detection distance varies.

Until time t1, the detection distance gradually decreases as the preceding vehicle approaches the host vehicle. At the time t1, the detection distance is greatly changed by acquiring the detection distance by a reflected wave from a target different from the previous one. At this time, the filter process is performed on the detection distance, thereby suppressing the change in the detection distance, and the detection distance gradually changes. Therefore, it takes time for the distance after the filter processing to be approximately equal to the detection distance. That is, at the time t2 after the elapse of a predetermined time from the time t1, the detection distance is substantially equal to the distance after the filtering process.

On the other hand, at time t1, distance correction processing is also executed due to the occurrence of distance fluctuation. At this time, the distance correction value used for the distance correction process is based on ΔD (i), which is the amount of deviation between the distance estimated value and the current value. By subtracting the distance correction value from the distance after the filter processing, a correction distance is obtained, so that a divergence occurs between the distance after the filter processing and the distance to be originally acquired.

Also, assume that a reflected wave from a target to be detected again is detected again at time t3 after a predetermined time has elapsed from time t2. In this case, the distance variation occurs again for the detection distance. At this time, the filtering process is performed on the detection distance, so that the distance after the filtering process gradually changes. For this reason, even in this case, it takes time until the distance after the filtering process becomes substantially equal to the detection distance. At this time, since the correction using the distance correction value is not performed, a value deviating from the actual detection distance is obtained from the time t3 to the time t4 when the distance after the filter processing is approximately equal to the detection distance. It will be.

That is, the period from the time t1 when the distance change occurs to the time t2 until the gradual change of the detection distance by the filter process and the time lapse of the detection distance by the filter process from the time t3 when the distance change ends. During the period up to the end time t4, an abnormal correction distance is calculated by the correction process using the distance correction value.

Therefore, in the present embodiment, at the time when the distance fluctuation is detected, the past value is reset and the current value of the detected distance is set in the filter processing using the current value and the past value of the detected distance. Then, the current value of the detected distance is corrected by the distance correction value. The past value is reset when the distance fluctuates. After the past value is reset once, the filtering process is resumed to remove noise.

FIG. 5 is a flowchart showing a series of processes executed by the inter-vehicle control ECU 10. The processing according to this flowchart is repeatedly executed every predetermined time.

First, in step S101, the detection distance and the relative speed are acquired, and it is determined whether or not the distance fluctuation value is equal to or greater than a threshold value. That is, in step S101, it is determined whether or not the distance variation of the detection distance has occurred as shown in FIGS. If it is determined in step S101 that the distance fluctuation value is equal to or greater than the threshold value, the filter value (that is, the past value of the detected distance) is reset. Subsequently, in step S103, it is determined whether or not distance correction using the distance variation value is performed. If it is determined in step S103 that distance correction is to be performed, in step S104, the process of adding and subtracting the distance correction value to the detected distance after the filter process to obtain a correction distance is continued, and the series of processes ends. On the other hand, if it is determined in step S103 that distance correction is not performed, correction for the detected distance after the filter processing is not performed, and the series of processing ends.

If it is determined in step S101 that the distance fluctuation value is smaller than the threshold value, in step S105, the current value and the past value of the detection distance are used to perform filtering to remove noise generated in the detection distance. Subsequently, in step S106, it is determined whether or not distance correction is to be performed. If it is determined in step S106 that distance correction is to be performed, the process of adding and subtracting the distance correction value to / from the detected distance after the filter process in step S107 to obtain a correction distance is continued, and the series of processes is terminated. On the other hand, if it is determined in step S106 that distance correction is not performed, correction for the detected distance after the filter processing is not performed, and the series of processing ends.

In the flowchart of FIG. 5, for example, the distance fluctuation calculation unit 22 is in charge of executing steps S101, S103, and S106, the filter processing unit 23 is in charge of executing steps S102 and S105, and the distance correction unit 24 is in steps S104 and S107. Responsible for the execution of

FIG. 6 is a time chart when the processing according to the flowchart of FIG. 5 is executed. In the time chart of FIG. 6, the detection distance shows the same change as the time chart of FIG.

First, at time t11, the detection distance is greatly changed by acquiring the detection distance by a reflected wave from a target different from the previous one. At this time, the distance variation value becomes equal to or greater than the threshold value, and the filter value is reset. More specifically, the distance variation calculation unit 22 determines whether to start correction based on the amount of change in the detection distance, and the filter processing unit 23 determines the detection distance at the start of correction by the distance correction unit 24. Reset past values. Therefore, the gradual change period of the distance due to the filter processing does not occur. Further, at the time t11, the correction distance is obtained by correcting the detection distance with the distance correction value. Since this distance correction value is based on a distance fluctuation value caused by a change in the target, the correction distance is a detection distance based on the target to be detected originally.

Subsequently, at time t12, the detection distance can be acquired by the reflected wave from the target reflecting the reflected wave before time t11. Also at this time, the detection distance changes greatly, the distance fluctuation value becomes equal to or greater than the threshold value, and the filter value is reset. More specifically, after starting the correction, the distance variation calculation unit 22 determines whether or not to end the correction based on the amount of change in the detection distance, and the filter processing unit 23 detects the detection at the end of the correction. Reset the past value of distance. Therefore, the gradual change period due to the filter process does not occur. Further, the correction using the distance correction value ends at time t12 when the distance variation occurs. Therefore, vehicle control based on the acquired detection distance is performed immediately at time t12.

With the above configuration, the vehicle control device according to the present embodiment has the following effects.

(A1) When the distance fluctuation value is equal to or greater than the threshold value and the detection distance is corrected based on the distance fluctuation value, the past value of the detection distance used for the filter processing is reset. Therefore, a gradual change period of the detection distance due to the filter processing does not occur. Therefore, when the correction value is obtained by correcting the detection distance based on the distance fluctuation value, the correction value can be a value based on the position of the target before the distance fluctuation. Similarly, after the correction is started, the past value of the detection distance used for the filtering process is reset even when the distance fluctuation value becomes equal to or greater than the threshold again and the acquisition of the detection distance based on the position of the target before the distance fluctuation is resumed. is doing. Therefore, at the end of correction of the detection distance, it is possible to immediately perform control based on the position of the target before the distance change.

(A2) A distance fluctuation value for determining whether or not a distance fluctuation has occurred is obtained from the estimated distance value based on the relative speed between the host vehicle and the preceding vehicle and the current value of the detected distance. Therefore, when the detection distance changes due to sudden acceleration or sudden deceleration of the preceding vehicle, the distance estimate is calculated based on the sudden acceleration or sudden deceleration, and the difference between the detection distance and the distance estimate is small. The possibility that the distance fluctuation value is equal to or greater than the threshold value is small. Therefore, the distance fluctuation caused by detecting a different position of the preceding vehicle can be determined without determining that the distance fluctuation has occurred due to a change in the detection distance based on factors such as sudden acceleration or sudden deceleration of the preceding vehicle. It can be detected with high accuracy.

(Modification)
(M1) In the above embodiment, the state changes from the state in which the detection distance is acquired by a nearby target to the state in which the detection distance is acquired by a farther target, resulting in a variation in distance and an increase in detection distance. In this case, an example is shown in which a correction distance smaller than the detection distance is obtained by performing correction processing. This also applies to the case where the detection distance is changed from a state where the detection distance is acquired by a distant target to a state where the detection distance is acquired from a nearby target, resulting in a variation in distance, and the detection distance becomes small. Alternatively, a process for obtaining a correction distance larger than the detection distance may be performed by performing the correction process. However, if the vehicle is controlled based on a detection distance by a nearby target, the distance from the preceding vehicle existing ahead of the host vehicle can be further increased. This means that the approach of the host vehicle to the preceding vehicle can be further suppressed. For this reason, the correction processing by the distance correction unit may be performed only when a distance variation that increases the detection distance occurs. Specifically, in this modification, for example, the distance fluctuation calculation unit 22 does not perform the correction by the distance correction unit 24 when the change in the detection distance indicates a change in which the detection distance becomes small, and the change in which the detection distance increases. May be configured to determine that the correction by the distance correction unit 24 should be performed.

(M2) In the above-described embodiment, when the correction of the detection distance is finished, it is performed again based on whether or not the distance fluctuation value is equal to or greater than the threshold value. At this time, the distance fluctuation may occur when the detection distance based on the position of the target detected before is acquired, or the detection distance based on the position of the farther target is acquired. It may occur if it is to be done. Therefore, it may be determined whether the distance variation is caused by a decrease in the detection distance or by an increase in the detection distance. If the distance variation occurs due to the decrease in the detection distance, the correction of the detection distance ends. On the other hand, if the distance variation occurs due to the increase in the detection distance, the distance correction value may be increased. In any case, the past value of the filter value is reset. In addition, when a change in distance is detected during the period during which the detection distance is being corrected, if the difference between the current value of the detection distance and the past value of the correction distance is smaller than a predetermined threshold, the detection distance is corrected. It may be terminated.

Claims

A vehicle control device (10) for detecting a preceding vehicle existing in front of the host vehicle based on a reflected wave that is transmitted in a predetermined cycle in front of the host vehicle and reflected back by the preceding vehicle. ) And
A detection distance acquisition unit (21) configured to acquire a distance from the host vehicle determined by the reflected wave to the preceding vehicle as a detection distance;
A filter processing unit (23) configured to perform a process of suppressing a change in the detection distance using a past value of the detection distance;
A distance fluctuation calculating unit (22) configured to calculate a change amount of the detection distance;
A distance correction unit (24) configured to correct the detection distance based on the amount of change,
The vehicle control device, wherein the filter processing unit (23) is configured to reset the past value of the detection distance at a start time of the correction by the distance correction unit (24).
The distance fluctuation calculation unit (22) is configured to determine whether to start the correction by the distance correction unit (24) based on a change amount of the detected distance. The vehicle control device according to 1.
The distance variation calculation unit (22) is configured to determine whether to end the correction based on a change amount of the detection distance after starting the correction,
The vehicle control device according to claim 1 or 2, wherein the filter processing unit (23) is configured to reset the past value of the detection distance at the end of the correction.
The distance fluctuation calculation unit (22) does not perform the correction by the distance correction unit (24) and changes the detection distance when the change in the detection distance indicates a change in which the detection distance decreases. The vehicle control apparatus according to any one of claims 1 to 3, wherein the vehicle control apparatus is configured to determine that the correction by the distance correction unit (24) should be performed when the distance is indicated.
A relative speed acquisition unit (26) configured to acquire a relative speed between the host vehicle and the preceding vehicle;
The distance variation calculation unit (22) calculates and acquires a distance estimated value that is an estimated value of the distance between the host vehicle and the preceding vehicle based on the relative speed and a previously acquired detected distance. The difference between the detected distance and the calculated distance estimate is used as the amount of change to determine whether or not to correct the detected distance. The vehicle control device according to any one of claims.
The distance correction unit (24) is configured to determine whether to start the correction based on a change amount of the detection distance calculated by the distance correction unit (24). The vehicle control device according to claim 1.