Driving assistance device, driving assistance method

Abstract

The present invention provides a driving assistance device and a driving assistance method, which perform the release of a driver abnormality response system based on multiple operations intentionally performed by a driver. The driving assistance device includes: a non-drivable state detection unit that is provided in a vehicle and detects whether a driver is in a non-drivable state; and a parking control unit that performs automatic parking control to decelerate and stop the vehicle based on whether a non-drivable state is detected by the non-drivable state detection unit. A vehicle is provided with an operating member for operating the vehicle, and the driving assistance device has an operating state detection unit that detects the operating state of the operating member. When transferring to automatic parking control or when performing automatic parking control, if the operating state detection unit detects that the operating state of the operating member changes multiple times, the execution of the automatic parking control is released.

Description

Technical Field

[0001] The present invention relates to a driving assistance device and a driving assistance method as follows: after a driver abnormality response system provided in a vehicle detects an abnormality of a driver, the execution of automatic parking control is cancelled by an action of the driver. Background Art

[0002] In recent years, in vehicles, a driver abnormality response system is installed as follows: in a case where a driver is unable to continue driving due to a sudden change in the physical condition of the driver, as an emergency measure, the vehicle is stopped instead of the driver. The driver abnormality response system performs automatic parking control to reduce the speed of the vehicle and stop it at the roadside or the like when an abnormality is detected, and takes measures such as making an emergency notification to a hospital or the like. The driver abnormality response system should not provide a function when the driver is in a normal state, and the system should be cancelled. However, on the other hand, if the system is cancelled when the driver is abnormal, the original value of the system cannot be provided.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-77823

[0004] In the technique disclosed in Patent Document 1, during the running of the vehicle, when a parking intention is detected or estimated by a parking intention detection unit, or when a non-driving state is detected or estimated by a non-driving state detection unit, the automatic parking control unit gradually decelerates the vehicle and performs automatic parking control. Therefore, in a parking control device that automatically parks the vehicle when an emergency occurs in which the driver has difficulty driving due to a health problem or the like, it is possible to reduce the confusion of the driver that may be associated with the start and cancellation timing of the automatic parking control, and perform automatic parking control corresponding to the intention of the occupant. However, when relying only on this technique, there is a problem that there is a possibility that the system is cancelled due to a pedal stepping operation caused by body stiffness such as epilepsy. Summary of the Invention

[0005] The present invention has been made in view of the above background, and an object thereof is to provide a driving assistance device that cancels a driver abnormality response system based on multiple operations intentionally performed by a driver.

[0006] As a first mode for achieving the above object, a driving assistance device is provided, which has: an inability-to-drive state detection unit provided in a vehicle to detect whether a driver is in an inability-to-drive state; and a parking control unit that performs automatic parking control to decelerate and stop the vehicle according to whether the inability-to-drive state is detected by the inability-to-drive state detection unit. It is characterized in that the vehicle is provided with an operating member for operating the vehicle, and the driving assistance device has an operating state detection unit that detects the operating state of the operating member. When transferring to the automatic parking control or when executing the automatic parking control, if the operating state detection unit detects that the operating state of the operating member changes multiple times, the execution of the automatic parking control is cancelled.

[0007] In the above driving assistance device, it may also be configured such that an accelerator pedal and a brake pedal for operating acceleration and deceleration are provided in the vehicle, and the operating member includes the accelerator pedal and the brake pedal.

[0008] In the above driving assistance device, it may also be configured such that when transferring to the automatic parking control or when executing the automatic parking control, if the operating state detection unit detects that the operating state transfers from a first operating state in which the accelerator pedal or the brake pedal is operated to a second operating state in which the accelerator pedal or the brake pedal is not operated, and then the operating state transfers to the first operating state in which the accelerator pedal or the brake pedal is operated within a specified period, the execution of the automatic parking control is cancelled.

[0009] In the above driving assistance device, it may also be configured such that the first operating state is a state in which a pedal including the accelerator pedal or the brake pedal is depressed, and the second operating state is a state in which the depression of the pedal is released.

[0010] In the above driving assistance device, it may also be configured such that the first operating state is a state in which the depression of a pedal including the accelerator pedal or the brake pedal is released, and the second operating state is a state in which the pedal is depressed.

[0011] In the above driving assistance device, it may also be configured such that when transferring to the automatic parking control or when executing the automatic parking control, if the operating state detection unit detects that the operating state transfers from a third operating state in which one of the accelerator pedal and the brake pedal is operated to a fourth operating state in which one of the accelerator pedal and the brake pedal is not operated, and then the operating state transfers to a fifth operating state in which the other of the accelerator pedal and the brake pedal is operated within a specified period, the execution of the automatic parking control is cancelled.

[0012] In the above-described driving assistance device, it may also be configured such that the operating member is a direction indicator, and when the operating state detection unit detects that the direction indicator has been operated in one direction and then has been operated in the other direction opposite to the one direction, the execution of the automatic parking control is cancelled.

[0013] In the above-described driving assistance device, it may also be configured such that when the parking control unit transfers to the automatic parking control or executes the automatic parking control, after the operating state detection unit detects that one of the accelerator pedal and the brake pedal has been operated with a first operation amount to become the first operating state, and then detects that one of the accelerator pedal and the brake pedal has been operated with a second operation amount to become the first operating state, and when the second operation amount is greater than the first operation amount, the execution of the automatic parking control is cancelled.

[0014] As a second mode for achieving the above object, a driving assistance method is provided, which includes the following steps: a non-drivable state detection step of detecting whether the driver is in a non-drivable state; and a parking control step of executing automatic parking control for decelerating and stopping the vehicle according to whether the non-drivable state is detected in the non-drivable state detection step. It is characterized in that the vehicle is provided with an operating member for operating the vehicle, and the driving assistance method has an operating state detection step of detecting the operating state of the operating member. When transferring to the automatic parking control or executing the automatic parking control, when the operating state detection step detects that the operating state of the operating member has changed multiple times, the execution of the automatic parking control is cancelled.

[0015] Advantages of the Invention

[0016] According to the above-described driving assistance device, without performing special switch operations, the cancellation of the automatic parking control can be achieved at an appropriate timing by combining normal driving operations. Thus, the system for coping with driver abnormalities can be smoothly utilized. Description of the Drawings

[0017] Figure 1 It is a structural diagram of the driving assistance device according to the first embodiment.

[0018] Figure 2 It is an explanatory diagram showing the state of stepping on the operating member.

[0019] Figure 3 It is an explanatory diagram showing the state of releasing the stepping on the operating member.

[0020] Figure 4 It is an explanatory diagram showing the state of stepping on the operating member significantly.

[0021] Figure 5 is a flowchart showing the operation of the driving assistance device.

[0022] Figure 6 is a structural diagram of the driving assistance device of the second embodiment.

[0023] Reference numeral description

[0024] 1: Driving assistance device;

[0025] 3: Parking control device;

[0026] 5: Processing device;

[0027] 7: Non-drivable state detection unit;

[0028] 9: Operating state detection unit;

[0029] 10: Parking intention detection unit;

[0030] 11: Parking control unit;

[0031] 13: Steering control unit;

[0032] 15: Emergency notification unit;

[0033] 20: Communication unit;

[0034] 25: Storage device;

[0035] 30: Bus;

[0036] 35: Throttle (throttle pedal);

[0037] 37: Braking device (brake pedal);

[0038] 40: Operating member;

[0039] 43: Driving device;

[0040] 45: Speed sensor;

[0041] 47: AC-ECU;

[0042] 49: BRK-ECU;

[0043] 51: DC-ECU;

[0044] 53: SENS-ECU;

[0045] 55: Emergency switch;

[0046] 57: Imaging device;

[0047] 59: Steering device;

[0048] 61: External communication device;

[0049] 63: Display device;

[0050] 65: Speaker;

[0051] 67: Microphone;

[0052] 70: AVC - ECU;

[0053] 73: COM - ECU;

[0054] 75: STRG - ECU;

[0055] 77: CAM - ECU;

[0056] 79: SW - ECU;

[0057] 100: Operating member (pedal);

[0058] 110: Driver's foot;

[0059] 120: Floor panel;

[0060] 130: Driver's foot. Detailed implementation mode

[0061] [1 - 1. Structure of the driving assistance device and automatic parking control in the first embodiment]

[0062] Hereinafter, the embodiments will be described with reference to the drawings. Figure 1 FIG. is a diagram showing the structure of the driving assistance device 1 according to the first embodiment. The driving assistance device 1 is configured to include a plurality of devices mounted on a vehicle, an electronic control unit (ECU: Electronic Control Unit) that controls them, and a parking control device 3 that executes automatic parking control. The communication unit 20 of the parking control device 3 is connected to each ECU via a bus 30 for data communication. The parking control device 3 has a communication unit 20, a storage device 25, and a processing device 5. Here, the communication unit 20 can be set as a transceiver that communicates based on the CAN (Control Area Network) standard. Hereinafter, the vehicle that is the object of the automatic parking control by the parking control device 3 will be referred to as the host vehicle or the own vehicle.

[0063] The parking control device 3 obtains data such as the depression amount (operation amount) of the accelerator pedal 35 from, for example, the accelerator control ECU (AC-ECU) 47 that detects the operation of the accelerator (accelerator pedal) 35 performed by the driver, communicates with the drive control ECU (DC-ECU) 51 that controls the operation of the drive device 43, and controls the vehicle driving force generated by the drive device 43. Here, the drive device 43 can be, for example, an electric motor or an internal combustion engine that imparts a driving force to the vehicle. In addition, in the present embodiment, the driver controls the driving force of the drive device 43 by operating the accelerator 35, but an accelerator operator including an arbitrary operation unit such as a joystick can be used instead of the accelerator pedal 35. Specifically, an operating member 40 for the driver to perform this operation is provided in the vehicle, and the operating member 40 includes an accelerator pedal 35 for operating acceleration and deceleration and a brake pedal (brake device) 37.

[0064] In addition, the parking control device 3 obtains information related to the pressed state of the emergency switch 55 from the switch control ECU (SW-ECU) 79 that detects the pressed state of the emergency switch 55 provided in the vehicle interior, and obtains the image via the camera control ECU (CAM-ECU) 77 that controls the imaging device 57 for imaging the inside and outside of the vehicle. Further, the parking control device 3 communicates with the steering control ECU (STRG-ECU) 75 that controls the steering device 59, and controls the steering device 59 so that the vehicle travels, for example, within the lane in front of the vehicle recognized based on the image obtained via the CAM-ECU 77.

[0065] In addition, the parking control device 3 communicates with the communication control ECU (COM-ECU) 73 that controls the external communication device 61, and for example, calls an emergency center in an emergency to ensure telephone-based communication between the vehicle occupants and the center. In addition, the parking control device 3 communicates with the brake control ECU (BRK-ECU) 49 that controls the brake device 37 including a hydraulic brake and an electric parking brake, controls the hydraulic brake to decelerate the vehicle at a desired deceleration, and drives the electric parking brake when the vehicle stops to set the vehicle in a stopped state (parked state).

[0066] In addition, the parking control device 3 communicates with the audio-visual device control ECU (AVC-ECU) 70, outputs an image to the display device 63, outputs a sound to the speaker 65, and / or receives a sound signal from the microphone 67. In addition, the display device 63, the speaker 65, and the microphone 67 are respectively provided in the vehicle interior of the vehicle to provide image information and sound information to the driver and / or the occupants, and to obtain sounds from the driver and / or the occupants.

[0067] Furthermore, a parking control device 3 monitors, via a sensor monitoring ECU (SENS-ECU) 53, a speed detection signal from a speed sensor 45 that detects the vehicle speed of the host vehicle, and determines, for example, whether the host vehicle has stopped.

[0068] The display device 63 can be provided, for example, on the instrument panel of the driver's seat. Specifically, the display device 63 is configured as a so-called multi-information display (MID: Multi Information Display) assembled in the instrument panel.

[0069] Accordingly, the driver can easily visually recognize the image of the display device 63 located behind the steering wheel by hand. In addition, instead of using the multi-information display provided on the instrument panel as the display device 63, a navigation device or a display device (not shown) of a so-called display audio device provided on the instrument panel can also be used as the display device 63.

[0070] In addition, an emergency switch 55 is provided as a push-button switch on the steering wheel, the ceiling, etc. In the present embodiment, when the driver has difficulty continuing driving operations such as brake operations due to sudden onset or deterioration of disease symptoms, etc., the driver can press the emergency switch 55 to transmit the intention to stop to the parking control device 3. Alternatively, the non-drivable state detection unit 7 can also detect the abnormality of the driver based on the image captured by the imaging device 57 and perform automatic parking control. As a non-drivable state, for example, a state in which the imaging device 57 captures the driver in a posture such as hunched back, leaning back, bowing the head, suddenly lying down, only the neck lying horizontally, leaning sideways, or lying horizontally is cited.

[0071] The processing device 5 of the parking control device 3 is a computer having a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) in which a program is written, a RAM (Random Access Memory) for temporarily storing data, etc. The processing device 5 includes: a non-drivable state detection unit 7 that detects whether the driver is in a non-drivable state; a parking control unit 11 that performs automatic parking control to decelerate and stop the vehicle according to whether a non-drivable state is detected in the non-drivable state detection unit; an operation state detection unit 9 that detects the operation state of the operating member 40; a steering control unit 13 that controls the steering device 59 to bring the vehicle closer to the roadside of the road during automatic parking control; and an emergency notification unit 15 that performs emergency notification. Specifically, the processing device 5 as a computer executes the program stored in the storage device 25, thereby performing the above control.

[0072] The driving assistance device 1 of the present embodiment cancels the execution of the automatic parking control when the operation state detection unit 9 detects that the operation state of the operating element 40 has changed a plurality of times during the transition to the automatic parking control or during the execution of the automatic parking control.

[0073] The above-mentioned units of the processing device 5 are implemented by the processing device 5 as a computer executing a program, and the computer program can be stored in any computer-readable storage device 25. Alternatively or in addition, all or part of the above-mentioned units can be configured by hardware each including one or more electronic circuit components.

[0074] The parking intention detection unit 10 implemented by the processing device 5 inquires the SW-ECU 79 about the pressing state of the emergency switch 55 at a predetermined time interval, and obtains information on the pressing state. When the emergency switch 55 is pressed, a signal (parking intention detection signal) notifying that the emergency switch 55 is pressed is output to the parking control unit 11. Alternatively, when the emergency switch 55 is pressed, the SW-ECU 79 may send a signal (SW pressing signal) indicating that the emergency switch 55 is pressed to the parking intention detection unit 10. In response to receiving the SW pressing signal, the parking intention detection unit 10 outputs the parking intention detection signal to the parking control unit 11.

[0075] The driving disabled state detection unit 7 obtains the operation amount (depression amount) of the accelerator pedal 35 via the AC-ECU 47 at a predetermined time interval. The driving disabled state detection unit 7 obtains the operation amount (depression amount) of the brake pedal 37 via the BRK-ECU 49 at a predetermined time interval. In addition, when the driving disabled state detection unit 7 detects that the operating member 40 is operated, for example, when it is detected that the depression amount of the accelerator pedal 35 becomes smaller, it activates a measuring timer for determining whether the automatic parking control is released based on the time when the depression amount becomes smaller. Figure 5 , 6 The operation of releasing the automatic parking control by the driving assistance device 1 will be described in detail.

[0076] The parking control unit 11 performs automatic parking control to decelerate the vehicle and automatically stop the vehicle according to whether the parking intention detection signal is received from the parking intention detection unit 10 and / or whether the drivability detection signal is received from the drivability detection unit 7 .

[0077] More specifically, when the parking control unit 11 receives either a parking intention detection signal from the parking intention detection unit 10 or an inability to drive state detection signal from the inability to drive state detection unit 7, it starts automatic parking control and controls the braking device 37 and the driving device 43 via the BRK-ECU 49 and the DC-ECU 51 to decelerate the vehicle.

[0078] [1-2. Operation of the operating member for releasing the automatic stop control]

[0079] Refer to Figures 2 to 3 for a specific example of the operation of the operating member 40 by the driver to release the automatic stop control.

[0080] Figures 2 to 3 is an explanatory view showing the state where the driver steps on the operating member 40 with the foot 110. As the operating member (pedal) 100, the accelerator pedal 35 and the brake device (brake pedal) 37 are considered. Here, it is assumed that the operating member 100 is the brake pedal.

[0081] In Figure 2 , the driver steps on the operating member 100 with the foot 110, and the operating member 100 becomes the first operating state where the angle between the operating member 100 and the floor plate 120 is, for example, the angle θ1.

[0082] Next, in Figure 3 , the driver relaxes the stepping on the foot 110, whereby it becomes the second operating state where the angle between the operating member 100 and the floor plate 120 is, for example, the angle θ2. Here, θ2 is an angle larger than θ1, and the stepping amount of the pedal becomes smaller.

[0083] Then, within a specified period from when it becomes the second operating state, the driver steps on the foot 110 more deeply again, whereby the operating member 100 becomes the first operating state where the angle between the operating member 100 and the floor plate 120 is, for example, the angle θ1 (returns to Figure 2 ). Of course, at this time, even if the angle does not strictly return to θ1, it is sufficient that the operating member 100 is stepped on and operated more deeply to a certain operating amount or more.

[0084] As described above, when the parking control unit transfers to the automatic parking control or executes the automatic parking control, when the operation state detection unit 9 detects that the operation state transfers from the first operation state where the accelerator pedal 35 or the brake pedal 37 is operated to the second operation state where the accelerator pedal 35 or the brake pedal 37 is not operated, and then the operation state transfers to the first operation state where the accelerator pedal 35 or the brake pedal 37 is operated within a specified period, the driving assistance device 1 of the present embodiment releases the execution of the automatic parking control. Here, the second operation state where the accelerator pedal 35 or the brake pedal 37 is not operated does not mean that the pedal is not stepped on at all, and may mean that the stepping on the operating member 40 is shallow. That is, the first operation state is the state where the pedal is stepped on, and the second operation state is the state where the stepping on the pedal is relaxed. The specified period is, for example, 2 seconds.

[0085] Here, a method of canceling the execution of the automatic parking control based only on the change in the pedal stepping operation of the brake pedal 37 is shown. However, it may also be that the operation state detection unit 9 detects the change in the stepping operation of the accelerator pedal 35 to cancel the execution of the automatic parking control. At this time, it may also be that the first state is a state where the driver's foot 110 steps lightly, and the second state is a state where the driver's foot 110 steps deeply. That is, it may also be that the first operation state is a state where the pedal stepping is released, and the second operation state is a state where the pedal is stepped on.

[0086] Alternatively, it may also be that when the operation state detection unit 9 detects that the operation state has shifted from the first operation state in which the accelerator pedal 35 is operated to the second operation state in which the brake pedal 37 is not operated, and then the operation state shifts to the first operation state in which the accelerator 35 is operated within a specified period, the driving assistance device 1 cancels the execution of the automatic parking control.

[0087] In addition, it may also be that when the operation state detection unit 9 detects that the operation state has shifted from the first operation state in which the brake pedal 37 is operated to the second operation state in which the accelerator pedal 35 is not operated, and then the operation state shifts to the first operation state in which the brake pedal 37 is operated within a specified period, the driving assistance device 1 cancels the execution of the automatic parking control.

[0088] That is, it may also be configured such that when the parking control unit 11 transfers to the automatic parking control or executes the automatic parking control, when the operation state detection unit 9 detects that the operation state has shifted from the third operation state in which one of the accelerator pedal 35 and the brake pedal 37 is operated to the fourth operation state in which one of the accelerator pedal 35 and the brake pedal 37 is not operated, and then the operation state shifts to the fifth operation state in which the other of the accelerator pedal 35 and the brake pedal 37 is operated within a specified period, the execution of the automatic parking control is canceled.

[0089] [1-3. Actions of the driving assistance device when canceling the automatic stop control]

[0090] Figure 5 It is a flowchart showing the actions of the driving assistance device 1 when canceling the automatic stop control. In this flowchart, the accelerator 35 is represented as AP or ap, and the brake device 37 is represented as BP or bp. In addition, EDGE_HIGH refers to a state where the operation member (pedal) 100 is stepped on deeply, that is, a pedal operation amount that gives a judgment criterion for whether it is in the first state. For example, Figure 2 it is a state where the driver steps on to an operation amount corresponding to an angle θ1. EDGE_LOW refers to a state where the operation member (pedal) 100 is stepped on lightly, that is, a pedal operation amount that gives a judgment criterion for whether it is in the second state. For example, Figure 3This means that the driver has released the pedal depression to an operation amount corresponding to the angle θ2.

[0091] Here, the change amount of the brake pedal 37 depression, i.e., Δx_bp, is described. However, in each step, instead of the change amount of the brake pedal 37 depression, the change amount of the accelerator pedal 35 depression, i.e., Δx_ap, can also be used.

[0092] In addition, LOW_EDGE_FLG is a variable that returns 1 when the change amount of depression reaches the second state and returns 0 in other cases. HIGH_EDGE_FLG is a variable that returns 1 when the depression amount reaches the first state and returns 0 in other cases.

[0093] First, the driving assistance device 1 inputs initial values, i.e., 0, to LOW_EDGE_FLG and HIGH_EDGE_FLG (step SA1). Next, the driving assistance device 1 inputs the change amount of the brake pedal 37 depression to the variable Δx_bp (step SA2). The driving assistance device 1 determines whether Δx_bp is greater than EDGE_HIGH (step SA3). When Δx_bp is greater than EDGE_HIGH (step SA3: Yes), it determines whether LOW_EDGE_FLG is 1 (step SA4). If LOW_EDGE_FLG is 1 (step SA4: Yes), the driving assistance device 1 cancels the execution of the automatic parking control (step SA5). Specifically, when changing from the second state of releasing the brake pedal 37 depression to the first state of deeper depression, the driving assistance device 1 cancels the execution of the automatic parking control.

[0094] On the other hand, when Δx_bp is less than or equal to EDGE_HIGH (step SA3: No), the driving assistance device 1 determines whether Δx_bp is less than EDGE_LOW (step SA6). When Δx_bp is less than EDGE_LOW (step SA6: Yes), the driving assistance device 1 inputs 1 to LOW_EDGE_FLG (step SA7). Then, the measurement of the release establishment timer that measures the time until the brake device 37 returns to the first state from the second state, which is the judgment criterion for release establishment, is started (step SA8). Then, it returns to step SA2.

[0095] When Δx_bp is above EDGE_LOW (step SA6: No), the driving assistance device 1 determines whether a specified period has elapsed since the time when the establishment measurement timer was released (step SA9). Here, the specified period is, for example, 2 seconds. When the time since the establishment measurement timer was released has elapsed for more than the specified period (step SA9: Yes), that is, when more than the specified period has elapsed since the braking device 37 returned to the first state from the second state, 0 is input to Low_EDGE_FLG (step SA10), and the cancellation of the automatic stop control is not established (step SA11). Then, the establishment measurement timer is reset (step SA12), and the process returns to step SA2.

[0096] In addition, when the time of the establishment measurement timer is less than the specified period (step SA9: No), that is, when the time from when the braking device 37 returned to the first state from the second state is shorter than the specified period, the process directly returns to step SA2.

[0097] According to the above process, the following operation is achieved: After the operation state detection unit 9 detects that the braking device 37 has changed from the first state where it is depressed deeply to the second state where it is depressed shallowly, when it returns to the first state where it is depressed deeply again within the specified period, the driving assistance device 1 cancels the execution of the automatic stop control. In addition, a series of operations can also be achieved by the processing device 5 of the driving assistance device 1 executing a program.

[0098] [2-1. Structure of the driving assistance device and operation of the operating member in the second embodiment]

[0099] Next, the second embodiment will be described with reference to the drawings.

[0100] In addition, the structure of the driving assistance device 1 in the second embodiment is the same as that of the driving assistance device 1 in the first embodiment, so the description thereof is omitted.

[0101] [2-2. Operation of the operating member for canceling the automatic stop control]

[0102] Refer to Figures 2 to 4 to describe a specific example of the operation of the operating member 40 by the driver to cancel the automatic stop control for the driving assistance device 1 in the second embodiment.

[0103] Figures 2 to 4 is an explanatory diagram showing the state where the driver steps on the operating member 40 with the foot 110. As the operating member 100, the accelerator pedal 35 and the braking device (brake pedal) 37 are considered. Here, it is assumed that the operating member 100 is the brake pedal.

[0104] In this embodiment, the driving assistance device 1 determines whether the automatic parking control can be canceled based on the difference in the depression operation amount of the operating member 100. Specifically, for example, it is assumed that the operation state detection unit 9 detects that the driver initially depressed the brake device 37 deeply with a first operation amount such that the angle between the operating member 100 and the floor panel 120 becomes, for example, an angle θ1 as shown in Figure 2 . Then, when the operation state detection unit 9 detects that the driver released the depression (see Figure 3 ) in such a manner that the angle between the operating member 100 and the floor panel 120 becomes, for example, an angle θ2, and within a specified period from the release, the driver depressed the brake device 37 more deeply with a second operation amount such that the angle between the operating member 100 and the floor panel 120 becomes, for example, an angle θ3 as shown in Figure 4 , specifically, when the angle θ3 is smaller than the angle θ1, the driving assistance device 1 cancels the execution of the automatic parking control.

[0105] In other words, in this embodiment, regarding the driving assistance device 1, when the parking control unit 11 transfers to the automatic parking control or executes the automatic parking control, after the operation state detection unit 9 detects that one of the accelerator pedal 35 and the brake pedal 37 is operated with a first operation amount to become a first operation state, and then detects that one of the accelerator pedal 35 and the brake pedal 37 is operated with a second operation amount to become a first operation state, and when the second operation amount is greater than the first operation amount, the execution of the automatic parking control is canceled.

[0106] [2-3. Operation of the driving assistance device when canceling the automatic stop control]

[0107] Figure 6 is a flowchart showing the operation of the driving assistance device 1 when canceling the automatic stop control in the driving assistance device 1 of the second embodiment. In this flowchart, the accelerator 35 is represented as AP or ap, and the brake device 37 is represented as BP or bp. In addition, EDGE_HIGH refers to a state where the operating member (pedal) 100 is depressed deeply, that is, a pedal operation amount that gives a judgment criterion for whether it is in the first state. For example, for Figure 2 , it is a state where the driver depresses to an operation amount corresponding to the angle θ1. EDGE_LOW refers to a state where the operating member (pedal) 100 is depressed shallowly, that is, a pedal operation amount that gives a judgment criterion for whether it is in the second state. For example, for Figure 3 , it is a state where the driver releases the depression to an operation amount corresponding to the angle θ2.

[0108] Here, the depression change amount of the brake device 37, that is, Δx_bp, is described. However, in each step, instead of the depression change amount of the brake device 37, the depression change amount of the accelerator 35, that is, Δx_ap, can also be used.

[0109] In addition, LOW_EDGE_FLG is a variable that returns 1 when the pedal travel change amount reaches the second state, and returns 0 in other cases. HIGH_EDGE_FLG is a variable that returns 1 when the pedal travel amount reaches the first state, and returns 0 in other cases.

[0110] First, the driving assistance device 1 inputs initial values, i.e., 0, to LOW_EDGE_FLG and HIGH_EDGE_FLG (step SB1). Next, the driving assistance device 1 inputs the pedal travel change amount of the braking device 37 to the variable Δx_bp (step SB2). The driving assistance device 1 determines whether Δx_bp is greater than EDGE_HIGH (step SB3). If Δx_bp is greater than EDGE_HIGH (step SB3: YES), it determines whether LOW_EDGE_FLG is 1 (step SB4). If LOW_EDGE_FLG is 1 (step SB4: YES), the driving assistance device 1 inputs Δx_bp to the second operation amount (step SB5). Then, the second operation amount and the first operation amount are compared (step SB6). If the second operation amount is greater than the first operation amount (step SB6: YES), the driving assistance device 1 cancels the execution of the automatic parking control (step SB7). Specifically, when changing from the second state of pedal release of the braking device 37 to the first state of deeper pedal depression, the driving assistance device 1 cancels the execution of the automatic parking control.

[0111] If the second operation amount is less than or equal to the first operation amount, or if the first operation amount is not input (step SB6: NO), the driving assistance device 1 inputs 0 to LOW_EDGE_FLG (step SB12), and sets the driving assistance device 1 to indicate that the cancellation of the automatic parking control is not established (step SB13). Then, the timer for measuring the establishment of the cancellation of the automatic parking control is reset (step SB14), and it returns to step SB2.

[0112] If LOW_EDGE_FLG is 0 (step SB4: NO), it returns to step SB2.

[0113] In addition, if Δx_bp is less than or equal to EDGE_HIGH (step SB3: NO), the driving assistance device 1 determines whether Δx_bp is less than EDGE_LOW (step SB8). If Δx_bp is less than EDGE_LOW (step SB8: YES), the driving assistance device 1 inputs Δx_bp to the first operation amount (step SB9), and inputs 1 to LOW_EDGE_FLG (step SB10). Then, it starts measuring the timer for measuring the time until the braking device 37 returns to the first state again from the second state, which is the criterion for determining the establishment of the cancellation (step SB11). Then, it returns to step SB2.

[0114] When Δx_bp is equal to or greater than EDGE_LOW (step SB8: No), the driving assistance device 1 determines whether a specified period has elapsed since the time when the measurement timer for cancellation was started (step SB15). Here, the specified period is, for example, 2 seconds. When the time since the measurement timer for cancellation was started is equal to or greater than the specified period (step SB15: Yes), that is, when the braking device 37 has been in the second state for a period equal to or greater than the specified period until it returns to the first state again, 0 is input to Low_EDGE_FLG (step SB16), and the cancellation of the automatic parking control is not established (step SB17). Then, the measurement timer for cancellation is reset (step SB18), and the process returns to step SB2.

[0115] In addition, when the time since the measurement timer for cancellation was started is less than the specified period (step SB15: No), that is, when the braking device 37 has been in the second state for a period shorter than the specified period until it returns to the first state again, the process directly returns to step SB2.

[0116] According to the above process, the following operation is realized: after the operation state detection unit 9 detects that the braking device 37 has changed from the first state in which it is operated with the first operation amount to the second state in which it is lightly stepped on, if the braking device 37 returns to the state in which it is stepped on more deeply with the second operation amount greater than the first operation amount within the specified period, the driving assistance device 1 cancels the execution of the automatic parking control. In addition, a series of operations can also be realized by the processing device 5 of the driving assistance device 1 executing a program.

[0117] [3. Driving Assistance Method of the Third Embodiment]

[0118] The driving assistance method of the third embodiment includes the following steps: a non-drivable state detection step of detecting whether the driver is in a non-drivable state; and a parking control step of performing automatic parking control to decelerate and stop the vehicle according to whether it is detected in the non-drivable state detection step that the driver is in the non-drivable state. The vehicle is provided with an operating member for operating the vehicle, and the driving assistance method includes an operation state detection step of detecting the operation state of the operating member. When transferring to the automatic parking control or when executing the automatic parking control, if it is detected in the operation state detection step that the operation state of the operating member has changed multiple times, the execution of the automatic parking control is cancelled.

[0119] [4. Other Embodiments]

[0120] In the above-described embodiment, as the operating member 40 for performing the operation of canceling the automatic parking control, an example of operating the accelerator pedal 35 and the braking device (brake pedal) 37 is shown. However, the present invention can also use other devices as the operating member. Specifically, the following case is also considered: The operating member 40 is a direction indicator, and when the operating state detection unit 9 detects that the direction indicator has been operated in one direction and then has been operated in the other direction opposite to the one direction, the execution of the automatic parking control is canceled. In addition, the steering device 59 is also considered to be used as the operating member 40.

[0121] [Structure supported by the above embodiment]

[0122] The above embodiment supports the following structure.

[0123] (Structure 1) A driving assistance device 1, comprising: a non-driving state detection unit 7 provided in a vehicle for detecting whether a driver is in a non-driving state; and a parking control unit 11 for performing automatic parking control to decelerate and stop the vehicle according to whether the non-driving state is detected in the non-driving state detection unit 7, characterized in that the vehicle is provided with an operating member 40 for operating the vehicle, and the driving assistance device has an operating state detection unit 9 for detecting the operating state of the operating member 40. When shifting to the automatic parking control or performing the automatic parking control, if the operating state detection unit 9 detects that the operating state of the operating member 40 has changed multiple times, the execution of the automatic parking control is canceled.

[0124] When canceling the automatic parking control only with the change from the state where the operating member is operated to the state where it is not operated, it may be canceled even though the driver is in a non-driving state. Therefore, in canceling the automatic parking control, it is set that intentional multiple operations of the operating member are required, whereby the intention of the occupant can be reliably detected and the automatic parking control can be canceled. According to the driving assistance device of Structure 1, without performing special switch operations, the automatic parking control can be canceled at an appropriate timing by combining normal driving operations.

[0125] (Structure 2) The driving assistance device according to Structure 1, characterized in that an accelerator pedal 35 and a brake pedal 37 for operating acceleration and deceleration are provided in the vehicle, and the operating member 40 includes the accelerator pedal 35 and the brake pedal 37.

[0126] According to the driving assistance device of Structure 2, without performing special switch operations, the automatic parking control can be canceled by combining normal driving operations. The occupant can also smoothly cancel the automatic parking control in an emergency.

[0127] (Structure 3) The driving assistance device according to Structure 2, characterized in that when transferring to the automatic parking control or when executing the automatic parking control, the parking control unit 11 releases the execution of the automatic parking control when the operation state detection unit 9 detects that the operation state transfers from a first operation state in which the accelerator pedal 35 or the brake pedal 37 is operated to a second operation state in which the accelerator pedal 35 or the brake pedal 37 is not operated, and then the operation state transfers to the first operation state in which the accelerator pedal 35 or the brake pedal 37 is operated within a specified period.

[0128] With the driving assistance device according to Structure 3, it is possible to clearly distinguish between the case where the driver is in a state of continuously stepping on the pedal due to stiffness such as epilepsy and the case where the driver intentionally wishes to release the execution of the automatic parking control. Therefore, it is possible to implement a vehicle that reduces the possibility of malfunctioning when the system should operate in response to driver abnormalities, and conversely, is easily released when the driver wishes to release the execution of the automatic parking control based on the driver abnormality response system.

[0129] (Structure 4) The driving assistance device according to Structure 3, characterized in that the first operation state is a state in which a pedal is stepped on, the pedal including the accelerator pedal or the brake pedal, and the second operation state is a state in which the stepping on the pedal is released.

[0130] With the driving assistance device according to Structure 4, without performing a special switch operation, the execution of the automatic parking control can be released by combining normal driving operations. The occupant can also smoothly release the automatic parking control in an emergency.

[0131] (Structure 5) The driving assistance device according to Structure 3, characterized in that the first operation state is a state in which the stepping on the pedal is released, the pedal including the accelerator pedal or the brake pedal, and the second operation state is a state in which the pedal is stepped on.

[0132] With the driving assistance device according to Structure 5, without performing a special switch operation, the execution of the automatic parking control can be released by combining normal driving operations. Therefore, the occupant can also smoothly release the automatic parking control in an emergency.

[0133] (Structure 6) The driving assistance device according to Structure 3 is characterized in that when transferring to the automatic parking control or when executing the automatic parking control, the parking control unit 11, when the operation state detection unit 9 detects that the operation state transfers from the third operation state where one of the accelerator pedal 35 and the brake pedal 37 is operated to the fourth operation state where neither the accelerator pedal 35 nor the brake pedal 37 is operated, and then the operation state transfers to the fifth operation state where the other of the accelerator pedal 35 and the brake pedal 37 is operated within a specified period, the execution of the automatic parking control is cancelled.

[0134] In the case of a driver's convulsion or the like, re-step on the same pedal may occur inadvertently, thereby possibly erroneously cancelling the execution of the automatic parking control. However, according to the driving assistance device of Structure 6, in order to cancel the automatic parking control, an instruction for changing steps on a plurality of different pedals is required. Therefore, the intention of the driver can be detected with high precision to cancel the execution of the automatic parking control.

[0135] (Structure 7) The driving assistance device according to Structure 1 is characterized in that the operating member is a direction indicator, and when the operation state detection unit 9 detects that the direction indicator has been operated to indicate in one direction and then has been operated to indicate in the other direction opposite to the one direction, the execution of the automatic parking control is cancelled.

[0136] According to the driving assistance device of Structure 7, the execution of the automatic parking control can be cancelled by operating the direction indicator. Therefore, there is no need to prepare a special switch or the like, and the automatic parking control can be cancelled by combining normal driving operations. Therefore, the occupant can smoothly cancel the automatic parking control even in an emergency.

[0137] (Structure 8) The driving assistance device according to any one of Structures 3 to 5 is characterized in that when transferring to the automatic parking control or when executing the automatic parking control, the parking control unit, after the operation state detection unit detects that one of the accelerator pedal and the brake pedal is operated with a first operation amount to become the first operation state, and then detects that one of the accelerator pedal and the brake pedal is operated with a second operation amount to become the first operation state and the second operation amount is greater than the first operation amount, the execution of the automatic parking control is cancelled.

[0138] According to the driving assistance device of Structure 8, in order to cancel the automatic parking control, an instruction based on the change in the pedal stepping operation amount is required. Therefore, the intention of the driver can be detected with high precision to cancel the execution of the automatic parking control.

[0139] (Structure 9) A driving assistance method includes the following steps: a non-driving state detection step for detecting whether the driver is in a non-driving state; and a parking control step for performing automatic parking control to decelerate and stop the vehicle based on whether the non-driving state is detected in the non-driving state detection step. It is characterized in that the vehicle is provided with an operating member for operating the vehicle, and the driving assistance method has an operating state detection step for detecting the operating state of the operating member. When transferring to the automatic parking control or during the execution of the automatic parking control, if the operating state of the operating member is detected to change multiple times in the operating state detection step, the execution of the automatic parking control is cancelled.

[0140] When the automatic parking control is cancelled only by the change from the state where the operating member is operated to the state where it is not operated, it may be cancelled even though the driver is in a non-driving state. Therefore, in the cancellation of the automatic parking control, it is set that multiple intentional operations of the operating member are required, so that the intention of the occupant can be reliably detected and the automatic parking control can be cancelled. According to the driving assistance method of Structure 9, the cancellation of the automatic parking control can be achieved at an appropriate timing.

[0141] As described above, as an example of the technology disclosed in the present application, the embodiments have been described. However, the technology of the present invention is not limited thereto, and it can also be applied to embodiments with changes, replacements, additions, omissions, etc. In addition, the respective structural elements described in the above embodiments can be combined to form a new embodiment.

[0142] For example, Figure 5 、 Figure 6 The step units of the control actions shown are divided according to the main processing contents for easy understanding of the actions of each part of the driving assistance device 1, and the present invention is not limited by the division method and name of the processing units. It can also be divided into more step units according to the processing contents. In addition, it can also be divided in such a way that one step unit includes more processing. In addition, the order of these steps can also be appropriately changed within the scope not affecting the gist of the present invention.

Claims

1. A driving assistance device, comprising: An inability to drive state detection unit is provided in the vehicle to detect whether the driver is in an inability to drive state; and a parking control unit that performs automatic parking control for decelerating and parking the vehicle according to whether the drivable state is detected by the drivable state detection unit, It is characterized in that The vehicle is provided with an operating member for operating the vehicle, The operating member includes an accelerator pedal and a brake pedal for operating acceleration and deceleration. The driving assistance device includes an operation state detection unit that detects an operation state of the operation member. When transferring to the automatic parking control or executing the automatic parking control, when it is detected that the accelerator pedal or the brake pedal is operated, the vehicle is transferred from a first operating state in which the angle between the accelerator pedal or the brake pedal and the floor of the vehicle is a first angle to a second operating state, and then transferred to a third operating state in which the angle between the accelerator pedal or the brake pedal and the floor of the vehicle is a third angle within a prescribed period, and the third angle is less than the first angle, the driving disabled state detection unit detects that the driver is in a driving disabled state, and the execution of the automatic parking control is released by the parking control unit, wherein the second operating state is a state in which the accelerator pedal or the brake pedal, which has a first angle with the floor of the vehicle, forms a second angle with the floor of the vehicle that is larger than the first angle, and the depression of the accelerator pedal or the brake pedal is relaxed.

2. The driving assistance device according to claim 1, characterized in that: When the parking control unit transfers to the automatic parking control or executes the automatic parking control, if the operation state detection unit detects that the operation state is transferred from the third operation state in which one of the accelerator pedal and the brake pedal is operated to the fourth operation state in which the accelerator pedal or the brake pedal is not operated in the third operation state, and then the operation state is transferred to the fifth operation state in which the other of the accelerator pedal and the brake pedal is operated within a prescribed period, the execution of the automatic parking control is released.

3. A driving assistance method, comprising the following steps: an inability to drive state detection step, detecting whether the driver of the vehicle is in an inability to drive state; and a parking control step of executing automatic parking control for decelerating and parking the vehicle according to whether the vehicle is in the drivable state detected in the drivable state detection step, It is characterized in that The vehicle is provided with an operating member for operating the vehicle, The operating member includes an accelerator pedal and a brake pedal for operating acceleration and deceleration. The driving assist method further comprises an operation state detection step of detecting an operation state of the operation member. In the parking control step, when transferring to the automatic parking control or executing the automatic parking control, when the operation of the accelerator pedal or the brake pedal is detected by the operation state detection step, the accelerator pedal or the brake pedal is transferred from a first operation state in which the angle formed by the accelerator pedal or the brake pedal with the floor of the vehicle is a first angle to a second operation state, and then transferred to a third operation state in which the angle formed by the accelerator pedal or the brake pedal with the floor of the vehicle is a third angle within a prescribed period, and when the third angle is less than the first angle, the execution of the automatic parking control is released, wherein the second operation state is a state in which the accelerator pedal or the brake pedal, whose angle with the floor of the vehicle is the first angle, forms a second angle larger than the first angle with the floor of the vehicle, and the depression of the accelerator pedal or the brake pedal is relaxed.

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