The present disclosure provides a vehicle control device capable of preventing an erroneous operation of an advanced driving assistance system while ensuring safety. A vehicle control device 110 includes a course prediction unit F1, a collision prediction unit F3, a vehicle control unit F5, and a control intervention adjustment unit F4. The course prediction unit F1 predicts a turning course of a vehicle as a steady circular turning course based on a steering angle θ. The collision prediction unit F3 calculates a collision margin time (TTC) between a target detected by an external environment sensor of the vehicle and the vehicle that travels on the steady circular turning course, and calculates a predicted collision lateral position CLL of the target with respect to a vehicle width center position of the vehicle. The vehicle control unit F5 performs collision avoidance control of a vehicle 100 when the collision margin time is shorter than a control intervention threshold value TH. The control intervention adjustment unit F4 adjusts the control intervention threshold value TH. The control intervention adjustment unit F4 reduces the control intervention threshold value when the predicted collision lateral position CLL with respect to the vehicle width center position of the vehicle is in a direction opposite to a direction of a steering angular speed which is a time change rate of the steering angle θ.
VEHICLE CONTROL DEVICE
2024-06-27
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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