| CPC B60W 30/18154 (2013.01) [B60W 30/143 (2013.01); G06V 20/584 (2022.01); B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2555/60 (2020.02); B60W 2720/106 (2013.01)] | 4 Claims |
|
1. A vehicle control device comprising:
a camera device configured to acquire image data about an image of a region ahead of a vehicle; and
an electronic control unit configured to
determine, based on a vehicle speed of the vehicle and a set vehicle speed, maintaining acceleration that is necessary to cause the vehicle speed of the vehicle to coincide with the set vehicle speed,
execute vehicle speed maintaining control for controlling acceleration of the vehicle speed such that the maintaining acceleration and actual acceleration of the vehicle coincide with each other,
start first control or second control as limit control when the electronic control unit determines that a stop instructing traffic signal is present ahead in a host vehicle lane and a traffic signal correlated distance becomes equal to or less than a first threshold based on the image data during execution of the vehicle speed maintaining control, the stop instructing traffic signal being a traffic signal instructing the vehicle to stop, the host vehicle lane being a lane in which the vehicle is traveling, the traffic signal correlated distance being a distance correlated with a traffic signal distance that is a distance from the vehicle to the stop instructing traffic signal, the first control being control for controlling the acceleration of the vehicle speed such that target acceleration and the acceleration of the vehicle coincide with each other, the target acceleration being obtained by limiting the maintaining acceleration so as not to become higher than limit acceleration, and the second control being control for controlling the acceleration of the vehicle such that the vehicle speed does not become higher than a limit vehicle speed set to a value that is less than the set vehicle speed,
suspend the vehicle speed maintaining control and the limit control when a driver of the vehicle operates a deceleration operator for decelerating the vehicle during execution of the limit control, and
end the limit control and resume the vehicle speed maintaining control when the electronic control unit determines that the stop instructing traffic signal continuously instructs the vehicle to stop and an entrance reaching condition is met based on the image data during execution of the limit control, the entrance reaching condition being met when the vehicle reaches a position near an entrance to an intersection at which the stop instructing traffic signal is installed.
|