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Vehicle control device

A vehicle control device, the technology of the control device, applied in the direction of the control device, vehicle parts, transportation and packaging, etc.

Pending Publication Date: 2021-12-21
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, through the above control, the vehicle may stop at a certain place (for example, an intersection)

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Deformed example 1

[0189] exist Figure 9 The control performed in step 904 of the routine is not limited to the vehicle speed maintaining control. The CPU only needs to execute control for causing the vehicle VA to pass through a specific point. For example, the CPU may execute the third deceleration control for decelerating the vehicle VA at the third deceleration rate α3. The magnitude of the third deceleration α3 is smaller than the magnitude of the second deceleration α2.

[0190] Assume from image 3 The CPU continues to execute the second deceleration control from the time point t11. In this case, there is a possibility that the vehicle VA stops at the intersection Is. In contrast, the CPU of this example executes the third deceleration control from time t11. In this case, although the vehicle VA decelerates slightly, the vehicle VA passes through the intersection Is. The CPU restarts the second deceleration control when the restart condition is satisfied. Accordingly, it is possib...

Deformed example 2

[0193] When there is a T-shaped intersection ahead of the vehicle VA, only one of the pair of boundary lines in the image data has a discontinuous portion. Therefore, the specific point condition may also be established when at least one of a pair of boundary lines defining the lane in which the vehicle VA is traveling has a discontinuous portion within a range from the current position of the vehicle VA to a front position separated by a predetermined distance Da. conditions of.

Deformed example 3

[0195] The driving assistance ECU 10 can also acquire the recognition result of the boundary line from the LKA system / module. The driving assistance ECU 10 recognizes a pair of boundary lines LL and RL in order to estimate the center line LM in the LKA, and determines the recognition level (level) of the pair of boundary lines LL and RL. In this example, the higher the recognition accuracy of the pair of boundary lines LL and RL is, the higher the recognition level becomes. As an example, when both the pair of boundary lines LL and RL are interrupted in front of the vehicle VA, the recognition level is the first level. When one of the pair of boundary lines LL and RL is interrupted in front of the vehicle VA, the recognition level is the second level. When both the pair of boundary lines LL and RL are normally recognized in front of the vehicle VA, the recognition level is the third level. At the intersection, a pair of boundary lines LL and RL are interrupted, so the recogn...

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PUM

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Abstract

Provided is a vehicle control device configured to execute, when a driver is in an abnormal state, deceleration control for decelerating a vehicle to stop the vehicle, the vehicle control device being further configured to determine whether the vehicle is likely to stop at a specific spot based on an image (400,1100) acquired by an image sensor during the execution of the deceleration control, the specific spot being a spot at which another physical body moves in a direction intersecting with a travel direction of the vehicle, and the vehicle control device being further configured to, when the vehicle is likely to stop at the specific spot, execute control for causing the vehicle to pass through the specific spot and stop the vehicle thereafter.

Description

technical field [0001] The present invention relates to a vehicle control device configured to stop a vehicle when it is determined that a driver is in an abnormal state. Background technique [0002] Conventionally, there has been proposed a device (hereinafter referred to as "conventional device") that executes control to forcibly stop the vehicle when it is determined that the driver is in an abnormal state (for example, refer to Patent Document 1). Here, the abnormal state means a state in which the driver loses the ability to drive the vehicle, and includes, for example, a drowsy driving state, a state of cessation of physical and mental functions, and the like. [0003] However, there is a possibility that the vehicle may stop at a specific point (for example, an intersection) through the above control. When a vehicle stops at an intersection, the stopped vehicle blocks the path of other vehicles, pedestrians, and the like. Therefore, one of the existing devices cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/08
CPCB60W40/08B60W2040/0827B60W2040/0872B60W2540/225B60W2540/221B60W2552/53B60W50/14B60W2050/143B60W30/12B60W30/16B60W2720/106B60W30/18109B60W2540/10B60W2540/12B60W2540/18B60W2040/0818B60W2720/12B60W2720/10B60W60/0015B60W2710/18B60W2420/403
Inventor 田中佑典
Owner TOYOTA JIDOSHA KK