Determining device, storage medium, and determining method

Abstract

Provided is a determination device, storage medium, and determination method capable of detecting that a driver is holding a steering wheel even in the case where an abnormality occurs in a touch sensor. The determination device has a determination section (232) that determines that the driver is holding a steering wheel (32) in the case where an operation signal is input from an operation section (35a, 35b) that the driver can operate with a hand holding the steering wheel (32).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a determination device, a storage medium storing a determination computer program, and a determination method. BACKGROUND

[0002] An automatic control system of a vehicle sometimes transfers the driving of the vehicle to the driver in accordance with a situation where it is determined that the vehicle cannot be automatically controlled or a request of the driver. At the time of transferring the driving of the vehicle, the control of the vehicle is transferred to the driver after determining whether or not there is an agreeing action of the driver.

[0003] For example, in the law, for a level 3 automatic control system, it is required to be able to recognize the following three driver's agreeing actions. (1) The driver holds the steering wheel and operates the accelerator pedal, (2) the driver holds the steering wheel and operates the brake pedal, (3) the driver holds the steering wheel and operates the steering wheel. In this way, it is collectively required to recognize that the driver holds the steering wheel in any one of the conditions.

[0004] It is proposed to use a touch sensor as a unit that detects that the driver holds the steering wheel (for example, refer to Patent Literature 1). The touch sensor detects a pressure when the driver holds the steering wheel by arranging the steering wheel in the rim portion of the steering wheel and outputs a detection signal.

[0005] PRIOR ART DOCUMENT

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Laid-Open No. 2008-273521 SUMMARY

[0008] However, in the case where the unit that detects that the driver holds the steering wheel is only the touch sensor arranged in the steering wheel, in the case where an abnormality occurs in the touch sensor, there is a possibility that it cannot be detected that the driver holds the steering wheel. Therefore, it is preferable to be able to detect that the driver holds the steering wheel independently of the touch sensor arranged in the rim portion of the steering wheel.

[0009] Therefore, an object of the present disclosure is to provide a determination device that can detect that the driver holds the steering wheel.

[0010] According to one embodiment, a determination device is provided. The determination device has a determination portion that determines that the driver holds the steering wheel in a case where an operation signal is input from an operation portion that the driver can operate with a hand holding the steering wheel.

[0011] In addition, in the determination device, it is preferable that the operation portion is operated by the driver to input operation information for changing the gear ratio of the transmission.

[0012] Further, in the determination device, preferably, the operation section has a first shift operation section that is operated by the driver to output a first operation signal for changing in a manner to increase the gear ratio of the transmission, and a second shift operation section that is operated by the driver to output a second operation signal for changing in a manner to decrease the gear ratio of the transmission, and the determination section determines that the driver is holding the steering wheel when the first operation signal is input from the first shift operation section and the second operation signal is input from the second shift operation section.

[0013] Further, in the determination device, preferably, the operation section is operated by the driver to input operation information for operating a display device or a sound device.

[0014] Further, in the determination device, preferably, the determination section determines whether an operation signal is input from the operation section in a case where a touch detection signal indicating that the driver is holding the steering wheel is not input.

[0015] According to another embodiment, a non-transitory storage medium storing a determination computer program is provided. The determination computer program causes a processor to execute: determining that a driver is holding a steering wheel when an operation signal is input from an operation section that the driver can operate with a hand holding the steering wheel.

[0016] According to a further other embodiment, a determination method is provided. In the determination method, a determination device executes: determining that a driver is holding a steering wheel when an operation signal is input from an operation section that the driver can operate with a hand holding the steering wheel.

[0017] The determination device according to the present disclosure can determine that a driver is holding a steering wheel when an operation signal is input from an operation section, so it can determine that the driver is holding the steering wheel even when an abnormality occurs in a touch sensor of the steering wheel. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 (A) to (C) explain an outline of the operation of the determination device of the present embodiment. (A) is a view showing a vehicle, (B) is a view showing a driver holding a steering wheel, and (C) is a view showing the steering wheel.

[0019] Figure 2 is a view showing a driver operating a shift operation section.

[0020] Figure 3 is a schematic configuration view of a vehicle on which a determination system including the determination device of the present embodiment is mounted.

[0021] Figure 4 is one example of an operation flowchart relating to the determination processing of the determination device of the present embodiment.

[0022] Figure 5is one example of an action flowchart related to the holding determination processing of the determination device of the present embodiment.

[0023] Figure 6 is a diagram showing another way of configuring the operation section of the steering wheel.

[0024] (Symbol explanation)

[0025] 1: determination system; 2: pedal sensor; 3: steering wheel sensor; 4: touch sensor; 5: user interface (UI); 5a: display device; 10: vehicle; 11: automatic control device; 12: determination device; 21: communication interface; 22: memory; 23: processor; 231: control shift determination section; 232: holding determination section; 233: operation determination section; 13: in-vehicle network; 30: vehicle cabin; 31: driver's seat; 32: steering wheel; 33: brake pedal; 34: accelerator pedal; 35a, 35b: shift operation section; 36a, 36b: operation section. DETAILED DESCRIPTION

[0026] Figure 1 (A) of Figure 1 (C) of explains an outline of the action of the determination device of the present embodiment, Figure 1 (A) of is a diagram showing a vehicle, Figure 1 (B) of is a diagram showing a driver holding a steering wheel, Figure 1 (C) of is a diagram showing a steering wheel.

[0027] As shown in (A) of Figure 1 , the vehicle 10 has an automatic control device 11 and a determination device 12. The determination device 12 determines whether or not there is a consent action of the driver 40 when the automatic control device 11 shifts the driving of the vehicle 10 from automatic control to manual control.

[0028] As shown in (B) of Figure 1 , inside the vehicle cabin 30, the driver 40 sits on the driver's seat 31 while being able to operate the steering wheel 32, the brake pedal 33, and the accelerator pedal 34.

[0029] The automatic control device 11 notifies the driver 40 of a control shift request that requests a shift of the driving of the vehicle 10 from automatic control to manual control via the user interface (UI) 5 in a case where it is determined that the driving of the vehicle 10 cannot be safely controlled. As the case where the driving of the vehicle 10 cannot be safely controlled, for example, there can be mentioned a case where the sensor is abnormal, a case where the map information is insufficient, or a difficult-to-drive terrain (a road with a steep slope, a curve with a small radius of curvature), and the like. In such a case, the automatic control device 11 ends the automatic driving and requests the driver to drive the vehicle 10 by manual control with high-level driving support.

[0030] The driver 40 consents to the control transfer request by (1) holding the steering wheel 32 and operating the accelerator pedal 34, (2) holding the steering wheel 32 and operating the brake pedal 33, or (3) holding the steering wheel 32 and operating the steering wheel 32. In this specification, the driver 40 holding the steering wheel 32 includes a state in which the driver 40 holds the steering wheel 32, or a state in which the driver 40 holds the steering wheel 32 and exerts a steering force on the steering wheel 32.

[0031] The vehicle 10 has the pedal sensor 2, the steering wheel sensor 3, and the touch sensor 4 in order to detect the consent action based on the control transfer request of the driver 40.

[0032] The pedal sensor 2 detects the operation of the brake pedal 33 or the accelerator pedal 34 by the driver 40, and outputs a brake pedal detection signal or an accelerator pedal detection signal to the determination device 12. In addition, the pedal sensor 2 detects the operation amount of the brake pedal 33 or the accelerator pedal 34 operated by the driver 40 at the time of manual control of the driving of the vehicle 10.

[0033] The steering wheel sensor 3 detects the steering of the steering wheel 32 by the driver 40, and outputs a steering detection signal to the determination device 12. In addition, the steering wheel sensor 3 detects the steering angle and the steering force of the steering wheel 32 operated by the driver 40 at the time of manual control of the driving of the vehicle 10.

[0034] The touch sensor 4 is disposed at the rim portion 321 of the steering wheel. The touch sensor 4 detects the pressure to the rim portion 321 when the driver 40 holds the steering wheel 32, and outputs a touch detection signal to the determination device 12.

[0035] The determination device 12 determines that there is the consent action of the driver 40 when the touch detection signal is input from the touch sensor 4, and any one of the brake pedal detection signal, the accelerator pedal detection signal, and the steering detection signal is input.

[0036] The determination device 12 notifies the automatic control device 11 of the case where the control transfer request is consented. Further, the automatic control device 11 transfers the driving of the vehicle 10 to the manual control. In addition, the automatic control device 11 notifies the driver 40 of the case where the control transfer request is consented via the user interface UI 5. Thereby, the driver 40 recognizes the case where the control transfer request is consented and the driving of the vehicle 10 is transferred to the manual control.

[0037] On the other hand, sometimes an anomaly occurs in the touch sensor 4 and no touch detection signal is generated. Even if the driver 40 holds the steering wheel 32 and performs at least one operation of the accelerator pedal 34, brake pedal 33, and steering wheel 32, the control transfer request will not be notified via UI5.

[0038] Therefore, the driver 40 operates the shift operation units 35a and 35b for changing the gear ratio of the transmission, and performs at least one operation among the accelerator pedal 34, brake pedal 33, and steering wheel 32. The driver 40 is notified in advance that holding the steering wheel 32 as a consent action includes operating the shift operation units 35a and 35b.

[0039] When the determination device 12 receives a shift detection signal from the shift operation unit 35a, 35b, and receives any one of the following signals: brake pedal detection signal, accelerator pedal detection signal, and steering detection signal, it determines that the driver 40 has given consent.

[0040] like Figure 2 As shown, the shift operation units 35a and 35b can be operated by the driver 40 with the hand holding the steering wheel 32. Therefore, when a shift detection signal is input, it is inferred that the driver 40 is holding the steering wheel 32. Figure 2 This is a diagram showing how the driver 40 operates the gear shift control unit 35a.

[0041] The determining device 12 notifies the automatic control device 11 that the control transfer request has been approved. Furthermore, the automatic control device 11 transfers the driving of the vehicle 10 to manual control. Additionally, the determining device 12 notifies the driver 40 that the control transfer request has been approved. Thus, the driver 40 recognizes that the control transfer request has been approved and transfers the driving of the vehicle 10 to manual control.

[0042] As explained above, according to the determination device 12 of this embodiment, when a shift operation signal is input from the shift operation unit 35a, 35b, it can be determined that the driver 40 is holding the steering wheel 32. Therefore, even if an abnormality occurs in the touch sensor 4 of the steering wheel 32, it can still be determined that the driver 40 is holding the steering wheel 32.

[0043] Figure 3 This is a schematic structural diagram of a vehicle 10 equipped with a determination system 1 including the determination device 12 of this embodiment. The determination system 1 includes a pedal sensor 2, a steering wheel sensor 3, a touch sensor 4, a user interface (UI) 5, shift operation units 35a and 35b, an automatic control device 11, and the determination device 12, etc.

[0044] The pedal sensor 2, the steering wheel sensor 3, the touch sensor 4, the UI 5, the shift operation portions 35a, 35b, the automatic control device 11, and the determination device 12 are communicably connected via an in-vehicle network 13 in accordance with a specification such as a controller area network.

[0045] The pedal sensor 2 detects an operation amount of the brake pedal 33 operated by the driver 40, generates a brake pedal detection signal corresponding to the operation amount, and outputs the brake pedal detection signal to the automatic control device 11 and the determination device 12 via the in-vehicle network 13. In addition, the pedal sensor 2 detects an operation amount of the accelerator pedal 34 operated by the driver 40, generates an accelerator pedal detection signal corresponding to the operation amount, and outputs the accelerator pedal detection signal to the automatic control device 11 and the determination device 12 via the in-vehicle network 13.

[0046] The steering wheel sensor 3 detects a steering amount and a steering force (torque) of the steering wheel 32 operated by the driver 40, generates a steering detection signal corresponding to the steering amount, and outputs the steering detection signal to the automatic control device 11 and the determination device 12 via the in-vehicle network 13.

[0047] The steering wheel 32 has a rim portion 321 held by the driver 40 and a spoke portion 322 disposed inside the rim portion 321. The touch sensor 4 is disposed on the rim portion 321 of the steering wheel 32. The touch sensor 4 detects a pressure to the rim portion 321 when the driver 40 holds the steering wheel 32, and outputs a touch detection signal to the automatic control device 11 and the determination device 12. As the touch sensor 4, for example, an electrostatic capacitance sensor can be used.

[0048] The UI 5 is an example of a notification portion. The UI 5 is controlled by the automatic control device 11 or the determination device 12, and notifies the driver 40 of information related to the vehicle 10 such as a control shift request. The UI 5 has a display device 5a such as a liquid crystal display or a touch panel in order to display the control shift request and the like. In addition, the UI 5 can have an audio output device (not shown) for notifying the driver of the control shift request and the like. In addition, in the UI 5, for example, a touch panel or an operation button is provided as an input device for inputting operation information from the driver to the vehicle 10. As the operation information input from the driver to the vehicle 10, for example, there is a control shift request based on the driver to shift the driving of the vehicle 10 from the automatic control to the manual control. The UI 5 outputs the input operation information to the automatic control device 11 and the like via the in-vehicle network 13.

[0049] The shift operation portions 35a, 35b are operable by the driver 40 with the hand holding the steering wheel 32. The shift operation portions 35a, 35b are operated by the driver 40 to input operation information for changing the gear ratio of the transmission (not shown) of the vehicle 10. The shift operation portions 35a, 35b are disposed on the back side of the steering wheel 32 (the side opposite to the side facing the driver 40) and rotate together with the steering wheel 32. The shift operation portion 35b is operated by the driver to output a downshift operation signal for changing in a manner to increase the gear ratio of the transmission to the determination device 12 or the automatic control device 11 via the in-vehicle network 13. The shift operation portion 35a is operated by the driver to output an upshift operation signal for changing in a manner to decrease the gear ratio of the transmission to the determination device 12 or the automatic control device 11 via the in-vehicle network 13.

[0050] The automatic control device 11 controls the operation of the vehicle 10. The automatic control device 11 has an automatic control mode in which the vehicle 10 is driven by automatic control and a manual control mode in which the operation of the vehicle 10 is controlled in accordance with the operation of the driver. The automatic control device 11 drives the vehicle 10 in the automatic control mode. The automatic control device 11 controls the operation of the steering, the driving, the braking, and the like in accordance with the detection information of the sensors (not shown) mounted on the vehicle 10 and the like in the automatic control mode. In addition, the automatic control device 11 controls the operation of the vehicle 10 in accordance with the operation of the driver in the manual control mode. The automatic control device 11 controls the operation of the vehicle 10 in accordance with the operation of at least one of the steering wheel 32, the brake pedal 33, or the accelerator pedal 34 performed by the driver 40 in the manual control mode.

[0051] The automatic control device 11 detects other vehicles around the vehicle 10 in accordance with the detection information of the sensors (not shown) mounted on the vehicle 10. In the automatic control mode, the automatic control device 11 notifies the driver 40 of a control shift request requiring a shift of the driving of the vehicle 10 from the automatic control to the manual control via the UI 5 in a case where it is not possible to maintain a predetermined distance or more between the vehicle 10 and the other vehicles and the like. In addition, in the automatic control mode, the automatic control device 11 notifies the driver 40 of the control shift request via the UI 5 in a case where it is determined that it is not possible to safely control the driving of the vehicle 10 due to an abnormality of the sensors and the like. Furthermore, the automatic control device 11 outputs a determination request requiring a determination of whether or not the control shift request is agreed to by the driver 40 to the determination device 12 via the in-vehicle network 13.

[0052] In addition, the automatic control device 11 outputs a determination request requiring a determination of whether or not the control shift request is agreed to by the driver 40 to the determination device 12 via the in-vehicle network 13 in a case where the control shift request requiring a shift of the driving of the vehicle 10 from the automatic control to the manual control is requested from the driver 40 via the UI 5.

[0053] The automatic control device 11 shifts the driving of the vehicle 10 from the automatic control to the manual control when the control shift request is agreed by the driver 40 is notified by the determination device 12.

[0054] The determination device 12 executes a control shift determination process, a hold determination process, and an operation determination process. For this purpose, the determination device 12 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the determination device 12 to the in-vehicle network 13.

[0055] The memory 22 is one example of a storage section, such as a volatile semiconductor memory and a non-volatile semiconductor memory. Also, the memory 22 stores a computer program of an application used in information processing executed by the processor 23 and various data.

[0056] All or a part of the functions that the determination device 12 has are, for example, function modules realized by a computer program that acts on the processor 23. The processor 23 has a control shift determination section 231, a hold determination section 232, and an operation determination section 233. Alternatively, the function modules that the processor 23 has can also be dedicated arithmetic circuits provided to the processor 23. The processor 23 has one or a plurality of CPUs (Central Processing Units) and peripheral circuits thereof. The processor 23 can also have other arithmetic circuits such as a logic arithmetic unit, a numerical value arithmetic unit, or a graphics processing unit. The determination device 12 is, for example, an electronic control device (ECU). Details of the operation of the determination device 12 will be described later.

[0057] In Figure 3 , the automatic control device 11 and the determination device 12 are explained as independent devices (such as electronic control devices (ECU)), but all of these devices can also be configured as one device.

[0058] Figure 4 is one example of an action flowchart relating to the determination processes of the determination device 12 of the present embodiment. Next, the determination processes of the determination system 1 will be explained below with reference to Figure 4 . The determination processes shown in Figure 4 are executed for each determination timing that has a predetermined cycle.

[0059] First, the control shift determination section 231 determines whether a determination request is input (step S101). In a case where the determination request is input from the automatic control device 11 via the in-vehicle network 13, the control shift determination section 231 determines that the determination request is input (step S101- "Yes").

[0060] Next, the holding determination section 232 determines whether the driver 40 is holding the steering wheel 32 (step S102). With reference to Figure 5 The holding determination processing performed by the holding determination section 232 will be described later.

[0061] In a case where the driver 40 is holding the steering wheel 32 (step S102- "Yes"), the operation determination section 233 determines whether the driver 40 is operating the brake pedal 33, the accelerator pedal 34, or the steering wheel 32. In a case where any one of the brake pedal detection signal, the accelerator pedal detection signal, and the steering detection signal is input within a predetermined period, the operation determination section 233 determines that the driver 40 is operating any one of the brake pedal 33, the accelerator pedal 34, or the steering wheel 32 (step S103- "Yes"). As the predetermined period, for example, 1 second can be set. On the other hand, in a case where any one of the brake pedal detection signal, the accelerator pedal detection signal, and the steering detection signal is not input within the predetermined period, the operation determination section 233 determines that the driver 40 is not operating any one of the brake pedal 33, the accelerator pedal 34, or the steering wheel 32 (step S103- "No").

[0062] In a case where the driver 40 is operating the brake pedal 33, the accelerator pedal 34, or the steering wheel 32, the control shift determination section 231 determines that there is an agreeing action of the driver 40 (step S104).

[0063] Next, the control shift determination section 231 notifies the automatic control device 11 of agreeing information indicating that the control shift request is agreed by the driver 40 (step S105), and the series of processes ends. The automatic control device 11 shifts the driving of the vehicle 10 to manual control. In addition, the automatic control device 11 notifies the driver 40 of the shift of the driving of the vehicle 10 to manual control via the UI 5. Thereby, the driver 40 recognizes the case where the control shift request is agreed and the driving of the vehicle 10 is shifted to manual control.

[0064] On the other hand, in a case where the determination request is not input from the automatic control device 11 (step S101- "No"), the series of processes ends.

[0065] Further, in a case where the driver 40 does not hold the steering wheel 32 (step S102 - "No"), or in a case where the driver 40 does not operate any one of the brake pedal 33, the accelerator pedal 34, or the steering wheel 32 (step S103 - "No"), the control shift determination part 231 determines whether or not the reference time has elapsed from the input determination request (step S107). As the reference time, for example, 5 seconds can be set.

[0066] In a case where the reference time has elapsed (step S107 - "Yes"), the control shift determination part 231 determines that there is no consenting operation of the driver 40 (step S106), and ends the series of processes.

[0067] The automatic control device 11, in a case where the consenting information is not notified even if the predetermined time elapses, notifies the driver 40 of information indicating that the control shift request is not consented by the driver 40 via the UI 5. Further, the automatic control device 11 continues to drive by the automatic control of the vehicle 10, and again notifies the driver 40 of the control shift request that requests the shift of the driving of the vehicle 10 from the automatic control to the manual control via the UI 5. Further, the automatic control device 11 outputs the determination request that requests the determination of whether or not the control shift request is consented by the driver 40 to the determination device 12 via the in-vehicle network 13. The automatic control device 11 can also stop the vehicle 10 in a case where the generation of the control shift request and the notification of the consenting information are repeated a predetermined number of times.

[0068] On the other hand, in a case where the reference time does not elapse (step S107 - "No"), the process returns to before step S102.

[0069] Next, the holding determination process performed by the holding determination part 232 will be described with reference to Figure 5 , below. Figure 5 is one example of an action flowchart relating to the holding determination process of the determination device of the present embodiment.

[0070] First, the holding determination part 232 determines whether or not a touch detection signal is input from the touch sensor 4 (step S201).

[0071] In a case where the touch detection signal is input from the touch sensor 4 (step S201 - "Yes"), the holding determination part 232 determines that the driver 40 holds the steering wheel 32, and ends the series of processes (step S203).

[0072] On the other hand, in a case where the touch detection signal is not input from the touch sensor 4 (step S201 - "No"), the holding determination part 232 determines whether or not an operation signal is input from the shift operation part 35a, 35b (step S202).

[0073] In a case where an operation signal is input from the shift operation section 35a, 35b (step S202 - "Yes"), the holding determination section 232 determines that the driver 40 is holding the steering wheel 32, and ends the series of processes (step S203).

[0074] On the other hand, in a case where an operation signal is not input from the shift operation section 35a, 35b (step S202 - "No"), the holding determination section 232 determines that the driver 40 is not holding the steering wheel 32, and ends the series of processes (step S203).

[0075] In Figure 1 In the example shown in (C) of FIG. 10, the holding determination section 232 can determine that the driver 40 is holding the steering wheel in a case where an upshift operation signal is input from the shift operation section 35a and a downshift operation signal is input from the shift operation section 35b.

[0076] Further, the holding determination section 232 can determine that the driver 40 is holding the steering wheel in a case where an upshift operation signal is input from the shift operation section 35a or a downshift operation signal is input from the shift operation section 35b.

[0077] As Figure 2 shown in FIG. 9, the shift operation section 35a, 35b is operable by the driver 40 with the hand holding the steering wheel 32, so in a case where a shift detection signal is input, it is presumed that the driver 40 is holding the steering wheel 32.

[0078] For example, in a case where the driver 40 holds the steering wheel 32 with both hands and operates the shift operation section 35a with the right hand, the force with which the right hand holds the steering wheel 32 is sometimes weaker than the force with which the left hand holding the steering wheel 32 does not operate the shift operation section 35b. In the present specification, such a state of the right hand is also included in the driver holding the steering wheel 32 with the right hand. The same applies to a case where the driver 40 holds the steering wheel 32 with both hands and operates the shift operation section 35b with the left hand.

[0079] The driver 40 is known to include the operation of the shift operation section 35a, 35b in the holding steering wheel 32 that agrees with the action. In this case, the above step S201 can be omitted, and in step S202, it is determined whether the driver 40 is holding the steering wheel 32. Further, in the process including the above step S201, even in a case where an abnormality occurs in the touch sensor 4 and a touch detection signal is not generated, if the driver 40 operates the shift operation section 35a, 35b with the hand holding the steering wheel 32 from the beginning, in the above step S202, the holding determination section 232 can determine that the driver 40 is holding the steering wheel 32.

[0080] Further, in a case where an abnormality occurs in the touch sensor 4 and no touch detection signal is generated, so that the reference time elapses (step S107 - "Yes"), the automatic control device 11 notifies the driver 40 of information indicating that the control shift request is not agreed to by the driver 40 via the UI 5. Thus, in the next determination processing, the driver 40 is able to hold the steering wheel 32 by operating the shift operation portions 35a, 35b with the hand holding the steering wheel 32, and the holding determination portion 232 is able to determine that the driver 40 is holding the steering wheel 32.

[0081] As explained above, the determination device of the present embodiment is able to determine that the driver is holding the steering wheel in a case where an operation signal is input from the operation portion, so even in a case where an abnormality occurs in the touch sensor of the steering wheel, the driver is able to be determined to be holding the steering wheel.

[0082] Thus, in a case where an abnormality occurs in the touch sensor and no touch detection signal is input to the determination device regardless of whether the driver is holding the steering wheel or not, the driver is able to input an agreement to the control shift request to the determination device by operating the shift operation portion.

[0083] In the present disclosure, the determination device, the determination computer program, and the determination method of the above-described embodiments can be appropriately changed without departing from the gist of the present disclosure. Further, the technical scope of the present disclosure is not limited to these embodiments, and includes the invention recited in the claims and equivalents thereof.

[0084] For example, the operation portion that the driver is able to operate with the hand holding the steering wheel is not limited to the shift operation portion. Figure 6 FIG. 6 is a view showing another manner of the operation portion provided to the steering wheel.

[0085] In Figure 6 In the example shown in FIG. 6, the operation portions 36a, 36b that the driver is able to operate with the hand holding the steering wheel are provided to the spoke portion 322. The operation portions 36a, 36b are operated by the driver 40 to input operation information for operating the display device 5a or the audio device (not shown). When the operation portions 36a, 36b are operated by the driver 40, an operation signal is output to the determination device 12 via the in-vehicle network 13. The operation portions 36a, 36b are, as shown in FIG. 6, able to be operated with the hand holding the steering wheel 32, so in a case where an operation signal is input, it is presumed that the driver 40 is holding the steering wheel 32. Figure 2

[0086] Further, in the present disclosure, the operation portion is preferably provided to the steering wheel or the periphery of the steering wheel in a manner that is difficult to operate if the driver is not holding the steering wheel with the hand. In particular, the operation portion is preferably provided to the steering wheel or the periphery of the steering wheel in a manner that is not operable if the driver is not holding the steering wheel with the hand.

[0087] ​In the above-described embodiment, the operation signal from the operation section is used to determine whether or not there is an agreeing action of the driver when the automatic control device shifts the driving of the vehicle from automatic control to manual control. As for the operation signal from the operation section, as long as it is used to determine whether or not the driver holds the steering wheel with his hand, it can also be used for other purposes.

Claims

1. A determining device, comprising a determining unit, wherein, The determination unit determines whether a touch detection signal indicating that the driver is holding the steering wheel has been input. If the touch detection signal is not input, it determines whether an operation signal is input from the operation unit that the driver can operate with his hand holding the steering wheel. If the touch detection signal is not input and the operation signal is input, it determines that the driver is holding the steering wheel.

2. The determining device according to claim 1, wherein, The operating unit is operated by the driver to input operating information in order to change the gear ratio of the transmission.

3. The determining device according to claim 2, wherein, The operating unit has: The first shift control unit is operated by the driver to output a first operation signal for changing the gear ratio of the transmission by increasing the gear ratio; as well as The second shift control unit is operated by the driver to output a second operation signal for changing the gear ratio of the transmission by reducing it. When the determination unit inputs the first operation signal from the first shift operation unit and the second operation signal from the second shift operation unit, it determines that the driver is holding the steering wheel.

4. The determining device according to claim 1, wherein, The control unit is operated by the driver to input operating information for operating the display device or audio device.

5. A non-transitory storage medium, wherein a computer program is used for storage determination, wherein, This decision is made by a computer program that causes the processor to execute: It determines whether a touch detection signal indicating that the driver is holding the steering wheel has been input, and if the touch detection signal is not input, it determines whether an operation signal is input from an operation unit that the driver can operate with his hand holding the steering wheel. If the touch detection signal is not input and the operation signal is input, it determines that the driver is holding the steering wheel.

6. A determination method, executed by a determination device, wherein, It determines whether a touch detection signal indicating that the driver is holding the steering wheel has been input, and if the touch detection signal is not input, it determines whether an operation signal is input from an operation unit that the driver can operate with his hand holding the steering wheel. If the touch detection signal is not input and the operation signal is input, it determines that the driver is holding the steering wheel.

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