Vehicle control device, vehicle, acceleration / deceleration control method, and non-transitory storage medium

Abstract

A vehicle control device executes acceleration suppression control that suppresses acceleration of a vehicle, in a case where a state of inattentiveness of a driver to driving, which is detected on the basis of a driver's seat image acquired by capturing an image of the driver seated on a driver's seat of the vehicle by a driver's seat camera device, continues for a prescribed first time. The vehicle control device executes deceleration control that decelerates and stops the vehicle, in a case where the state of inattentiveness continues for a second time or more that is longer than the first time.

Description

Technical Field

[0001] The present invention relates to a vehicle control device for controlling the acceleration and deceleration of a vehicle based on the state of the driver, a vehicle equipped with the vehicle control device, an acceleration and deceleration control method for controlling the acceleration and deceleration of a vehicle based on the state of the driver, and a vehicle control program for controlling the acceleration and deceleration of a vehicle based on the state of the driver. Background Technology

[0002] Previously, vehicle control devices that perform deceleration control when the driver is in an abnormal state are known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines whether the driver is in a state of inattention before being in an abnormal state based on the driver's driving state and a facial image of the driver. An inattention state is a state in which the driver's attention to driving becomes inattentive (i.e., the driver's attention is lower than usual).

[0003] Conventional devices would issue an alarm from the moment they determined the driver was in a distracted state, and would initiate deceleration control after a predetermined delay period had elapsed since the initial alarm. If the prescribed operation was performed within the delay period, the conventional device would abort the deceleration control.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-82968 Summary of the Invention

[0007] Conventional deceleration control initiates when the driver is in a relaxed state. However, when a vehicle equipped with this system is behind another vehicle, the deceleration control could potentially cause the following vehicle to approach rapidly. To avoid this rapid approach, we propose initiating deceleration control when the driver enters an abnormal state.

[0008] However, if deceleration is not applied while the driver is in a relaxed state, the vehicle may accelerate. Such acceleration can cause unease when the driver returns to a normal state.

[0009] In addition, because the vehicle deceleration is rapidly controlled when the driver is in a relaxed state, the sudden change in acceleration may cause the driver to feel uneasy.

[0010] This invention was made to solve the aforementioned problems. Specifically, one of the objectives of this invention is to provide a vehicle control device that can reduce the likelihood of a rapid decrease in the distance to following vehicles and prevent vehicle acceleration when the driver is in a distracted state.

[0011] The vehicle control device of the present invention (hereinafter also referred to as "the device of the present invention") includes a control unit (20, 30, 40) capable of communicating with a driver's seat camera device (24) and controlling the acceleration and deceleration of the vehicle, the driver's seat camera device being configured to acquire a driver's seat image by photographing the driver seat of the vehicle.

[0012] The control unit is configured as follows:

[0013] If the driver's inattentiveness, detected based on the driver's seat image, persists for a predetermined first time (step 645 is "No", step 675), acceleration suppression control to inhibit the vehicle's acceleration is executed (step 1230 is "Yes", steps 1240 to 1250, ...). Figure 16 The step 1230 shown is "Yes". Figure 16 Steps 1240 and 1610 are shown. Figure 16 Step 1250 shown).

[0014] If the diffuse state persists for a predetermined second time longer than the first time (step 720 is "No"), deceleration control to slow down and stop the vehicle is executed (steps 1300 to 1395).

[0015] According to the device of the present invention, acceleration suppression control is performed before deceleration control begins. This allows vehicle acceleration to be suppressed before deceleration control begins, preventing situations where acceleration during a period of driver inattention could cause anxiety to the driver upon returning to a normal state. Furthermore, it reduces the likelihood of a sharp decrease in the distance to following vehicles after deceleration control is implemented.

[0016] Furthermore, since deceleration control is performed after acceleration suppression control, the possibility of sudden changes in vehicle acceleration can be reduced, thus reducing the likelihood of such sudden changes causing driver anxiety.

[0017] In one embodiment of the device of the present invention, the control unit is configured as follows:

[0018] If the inattentive state persists for a predetermined first determination time (step 620 is "Yes", step 625), a first attention-awakening notification to enhance the attention is initiated (steps 660, 665).

[0019] If the apathetic state persists for a predetermined second determination time from the start time of the first attention-providing notification (step 645 is "No", step 675), it is determined that the apathetic state has persisted for the first time, and the acceleration suppression control begins (step 1230 is "Yes", steps 1240 to 1250, ...). Figure 16 The step 1230 shown is "Yes". Figure 16 Steps 1240 and 1610 are shown. Figure 16 Step 1250 is shown.

[0020] According to this method, if the inattentive state persists after the first attentional notification is executed, acceleration suppression control is performed. This reduces the possibility of the driver being mistakenly perceived as inattentive and thus triggering acceleration suppression control, even when the driver is in a normal state.

[0021] In one embodiment of the device of the present invention, the control unit is configured as follows:

[0022] At the start of the acceleration inhibition control, a second arousal attention notification is initiated to enhance the attention (steps 735 and 740).

[0023] If the state of inertia has lasted for a predetermined third determination time from the start time of the second attention-awakening notification (step 720 is "No"), it is determined that the state of inertia has lasted for the second time, and the deceleration control is started (steps 1300 to 1395).

[0024] According to this method, if the driver remains in a state of apathy after the second attentional notification has been issued, deceleration control is initiated. This reduces the likelihood that deceleration control will be activated even when the driver is in a normal state.

[0025] In one embodiment of the device of the present invention, the control unit is configured as follows:

[0026] If the driver is no longer in the relaxed state after the start time of the acceleration suppression control and the relaxed state has not continued for a predetermined third determination time (step 730 is "Yes"), the acceleration suppression control ends (step 745), and the acceleration limit control of the vehicle is executed in such a way that the time derivative of the vehicle's acceleration, i.e., the acceleration, is not greater than a predetermined threshold (steps 750, 1245, 1250, 1255 to 1270).

[0027] According to this method, acceleration suppression control ends when the driver is no longer in a relaxed state after the start of acceleration suppression control and before the third determination time of the relaxed state. At this time, since acceleration limiting control is implemented, it is possible to prevent a sudden change in vehicle acceleration due to the end of acceleration suppression control.

[0028] In one embodiment of the device of the present invention, the control unit is configured as follows:

[0029] Once the deceleration control is executed, the deceleration control continues even if the driver is no longer in the relaxed state until the prescribed operation is performed (step 825 is "No", step 920 is "Yes", step 1015 is "Yes", step 1020 is "Yes").

[0030] This reduces the possibility of misinterpreting the driver as returning to a normal state and ending the deceleration control.

[0031] In one embodiment of the device of the present invention, an object sensor (22, 23) is also provided for detecting an object present in front of the vehicle.

[0032] The control unit is configured as follows:

[0033] If the relationship between the object and the vehicle detected by the object sensor changes, thereby causing the predetermined condition to be met (step 1515 is "Yes"), even if the diffuse state does not continue for the first time period ( Figure 15 If step 645 is "Yes", the acceleration suppression control is also executed (if step 1230 is "Yes", steps 1240 to 1250, ...). Figure 12 The step 1230 shown is "Yes". Figure 12 Steps 1240 and 1610 are shown. Figure 12 (as shown in step 1250), wherein the specified condition is met when the necessity for monitoring the driver of the vehicle increases compared to before the change in the relationship.

[0034] According to this method, even if the relaxed state does not persist from the outset, acceleration suppression control is executed when a predetermined condition is met, such that the relationship between the object and the vehicle changes, thereby increasing the necessity for driver monitoring compared to before the change. Thus, acceleration suppression control can be executed at an appropriate time based on the situation ahead of the vehicle.

[0035] In the above method, the control unit is configured as follows:

[0036] If the object sensor does not detect a vehicle traveling in front of the vehicle (step 1120 is "No"), perform constant speed control that makes the acceleration of the vehicle match the target acceleration used to make the speed of the vehicle match the set speed (steps 1140, 1145).

[0037] If the object sensor detects the preceding vehicle (step 1120 is "Yes"), perform vehicle distance maintenance control (steps 1125 to 1135) to make the acceleration of the vehicle consistent with the target acceleration used to maintain the vehicle-to-vehicle distance between the vehicle and the preceding vehicle at a set vehicle distance.

[0038] If the object sensor no longer detects the previously detected forward vehicle (step 1515 is "Yes"), the predetermined condition is met, and the acceleration suppression control is executed.

[0039] When the object sensor no longer detects a previously detected vehicle ahead, the system switches from distance maintenance control to cruise control. Even if the driver is in a distracted state, the vehicle may still accelerate after switching to cruise control. According to this method, when the object sensor no longer detects a previously detected vehicle ahead, a predetermined condition is met, and acceleration suppression control begins, thus preventing vehicle acceleration due to switching to cruise control.

[0040] The vehicle (VA) of the present invention is equipped with the device of the present invention described above.

[0041] The acceleration / deceleration control method of the present invention includes:

[0042] In the first step, if the driver's inattentiveness towards driving, detected by a driver's seat image obtained by photographing the driver in the driver's seat via a driver's seat camera device, persists for a predetermined first time (step 645 is "No", step 675), acceleration suppression control to suppress the acceleration of the vehicle is executed (step 1230 is "Yes", steps 1240 to 1250, ...). Figure 12 The step 1230 shown is "Yes". Figure 12 Steps 1240 and 1610 are shown. Figure 12 Step 1250 shown); and

[0043] In the second step, if the diffuse state continues for a predetermined second time longer than the first time (step 720 is "No"), deceleration control is performed to slow down and stop the vehicle (steps 1300 to 1395).

[0044] The program of this invention causes the computer in the vehicle to perform the following steps:

[0045] In the first step, if the driver's inattentiveness towards driving, detected by a driver's seat image obtained by photographing the driver in the driver's seat via a driver's seat camera device, persists for a predetermined first time (step 645 is "No", step 675), acceleration suppression control to suppress the acceleration of the vehicle is executed (step 1230 is "Yes", steps 1240 to 1250, ...). Figure 12 The step 1230 shown is "Yes". Figure 12 Steps 1240 and 1610 are shown. Figure 12 Step 1250 shown); and

[0046] In the second step, if the diffuse state continues for a predetermined second time longer than the first time (step 720 is "No"), deceleration control is performed to slow down and stop the vehicle (steps 1300 to 1395).

[0047] According to the method and procedure described above, acceleration suppression control is performed before deceleration control. This allows for the suppression of vehicle acceleration before deceleration control is implemented. Furthermore, it reduces the likelihood of a sharp decrease in the distance to following vehicles after deceleration control is executed. Because deceleration control is performed after acceleration suppression control, the possibility of sudden changes in vehicle acceleration causing driver anxiety is reduced.

[0048] Furthermore, in the foregoing description, to aid in understanding the invention, the names and / or reference numerals used in the embodiments described below are enclosed in parentheses to represent the components of the invention. However, the constituent elements of the invention are not limited to the embodiments specified by the names and / or reference numerals. Attached Figure Description

[0049] Figure 1 This is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention.

[0050] Figure 2 This is an explanatory diagram illustrating an example of the operation of the vehicle control device according to an embodiment of the present invention when the driver falls from a relaxed state into an abnormal state.

[0051] Figure 3A Is Figure 1 The diagram shown illustrates the first attention-grabbing screen displayed on the monitor.

[0052] Figure 3B Is Figure 1 The illustration shows the second attention-grabbing screen displayed on the monitor.

[0053] Figure 4A Is Figure 1 The diagram shows an illustration of the first warning screen displayed on the monitor.

[0054] Figure 4B Is Figure 1 The diagram illustrates the second warning screen displayed on the monitor.

[0055] Figure 4C Is Figure 1 The diagram shown illustrates the third warning screen displayed on the monitor.

[0056] Figure 5 This is an explanatory diagram illustrating an example of the operation of the vehicle control device according to an embodiment of the present invention when the driver returns from a relaxed state to a normal state.

[0057] Figure 6 It is shown Figure 1 The flowchart shown is of the first attention-awakening notification routine executed by the CPU of the vehicle control ECU.

[0058] Figure 7 It is shown Figure 1 The flowchart shown is of the second attention-awakening notification routine executed by the CPU of the vehicle control ECU.

[0059] Figure 8 It is shown Figure 1 The flowchart shown is of the first warning routine executed by the CPU of the vehicle control ECU.

[0060] Figure 9 It is shown Figure 1 The flowchart shown is of the second warning routine executed by the CPU of the vehicle control ECU.

[0061] Figure 10 It is shown Figure 1 The flowchart shown is of the third warning routine executed by the CPU of the vehicle control ECU.

[0062] Figure 11 It is shown Figure 1 The flowchart shown is of the ACC routine executed by the CPU of the vehicle control ECU.

[0063] Figure 12 It is shown Figure 1 The flowchart shown is a process executed by the CPU of the vehicle control ECU to set the ACC acceleration.

[0064] Figure 13A It is shown Figure 1 The flowchart shown is a deceleration control routine executed by the CPU of the vehicle control ECU.

[0065] Figure 13B It is shown Figure 1 The flowchart shown is a routine for transmitting the target acceleration executed by the CPU of the vehicle control ECU.

[0066] Figure 14 This is an explanatory diagram illustrating the operation of a vehicle control device according to a first variation of an embodiment of the present invention.

[0067] Figure 15 This is a flowchart illustrating a first attention-awakening notification routine of a first variation of an embodiment of the present invention.

[0068] Figure 16 This is a flowchart illustrating the acceleration setting routine executed by the CPU of the vehicle control ECU of a vehicle control device according to a second variation of an embodiment of the present invention. Detailed Implementation

[0069] <Composition>

[0070] like Figure 1 As shown, the vehicle control device (hereinafter referred to as "this control device") 10 according to the embodiments of the present invention is mounted on a vehicle VA.

[0071] This control device 10 includes a vehicle control ECU 20, an engine ECU 30, a brake ECU 40, and an EPB ECU (electric parking brake ECU) 50. Hereinafter, the vehicle control ECU 20 will be referred to as "VCECU 20".

[0072] These ECUs are Electronic Control Units (ECUs) with a microcomputer as their main component, sometimes referred to as "controllers." The microcomputer includes a CPU, ROM, RAM, and interfaces (I / F). These ECUs are interconnected via a CAN (Controller Area Network) to exchange data. The CPU performs various functions by executing instructions (programs, routines) stored in the ROM. Some or all of these ECUs can be integrated into a single ECU.

[0073] This control unit 10 includes wheel speed sensors 21, a camera device 22, a millimeter-wave radar device 23, a driver's seat camera device 24, a steering torque sensor 25, and a stop switch 26. They are connected to the VCECU 20 in a data-exchanging manner.

[0074] Wheel speed sensors 21 are provided for each wheel of the vehicle VA. Each wheel speed sensor 21 generates a wheel pulse signal whenever the corresponding wheel rotates by a predetermined angle. The VCECU 20 counts the number of pulses per unit time of the wheel pulse signals received from each wheel speed sensor 21 and obtains the rotational speed of each wheel based on the number of pulses. Then, the VCECU 20 obtains the vehicle speed Vs, which represents the speed of the vehicle VA, based on the wheel speed of each wheel. As an example, the VCECU 20 obtains the average wheel speed of the four wheels as the vehicle speed Vs.

[0075] Camera device 22 is disposed in the upper center of the front window inside the passenger compartment of vehicle VA, and acquires an image of the area in front of vehicle VA (hereinafter also referred to as "front image"). Based on the front image, camera device 22 acquires the distance between itself and objects present in the front area and the orientation of those objects. Every predetermined period of time, camera device 22 sends camera object information containing this information to VCECU 20.

[0076] Millimeter-wave radar device 23 transmits millimeter waves in front of the vehicle VA. Millimeter-wave radar device 23 is a known sensor used to detect objects by receiving millimeter waves (reflected waves) reflected from them. Based on the received reflected waves, millimeter-wave radar device 23 calculates the distance to the object (object distance) L, the relative velocity of the object relative to the vehicle VA (object relative velocity) Vr, and the object's direction. Furthermore, every predetermined interval, millimeter-wave radar device 23 sends "radar object information containing object distance L, object relative velocity Vr, and object direction" to VCECU 20.

[0077] The VCECU 20 determines the position of an object in front of the vehicle VA relative to the vehicle VA based on the object information from the camera and the object information from the radar.

[0078] The driver's seat camera device 24 is positioned at a predetermined location near the steering wheel SW to capture an image of the driver's seat area, specifically the area around the driver's face. At predetermined intervals, the driver's seat camera device 24 transmits the driver's seat image to the VCECU 20.

[0079] Steering torque sensor 25 detects the steering torque Tr applied to the steering shaft SS of vehicle VA by the operation of steering wheel SW, and generates a detection signal representing the steering torque Tr. VCECU 20 determines the steering torque Tr by receiving the detection signal from steering torque sensor 25.

[0080] The stop switch 26 is installed at a designated position on the steering wheel SW.

[0081] The engine ECU 30 is connected to the accelerator pedal operation sensor 32 and the engine sensor 34, and receives the detection signals from these sensors.

[0082] The accelerator pedal operation amount sensor 32 detects the operation amount (i.e., accelerator pedal operation amount AP) of the accelerator pedal 32a in the vehicle VA. The accelerator pedal operation amount AP is "0" when the driver does not operate the accelerator pedal 32a.

[0083] Engine sensor 34 is a sensor that detects the operating status of the internal combustion engine (not shown), which serves as the drive source for the vehicle's VA. Engine sensor 34 includes a throttle opening sensor, an engine speed sensor, and an intake air volume sensor, among others.

[0084] Furthermore, the engine ECU 30 is connected to engine actuators 36, such as the throttle actuator and fuel injection valve. The engine ECU 30 adjusts the driving force of the vehicle VA by driving the engine actuators 36 to change the torque produced by the internal combustion engine.

[0085] The engine ECU 30 determines the target throttle opening TAtgt in such a way that the greater the accelerator pedal operation amount AP, the greater the target throttle opening TAtgt. The engine ECU 30 drives the throttle actuator in a manner that makes the throttle opening match the target throttle opening TAtgt.

[0086] The brake ECU 40 is connected to the wheel speed sensor 21 and the brake pedal operation sensor 42, and receives the detection signals from these sensors.

[0087] The brake pedal operation amount sensor 42 detects the operation amount (i.e., brake pedal operation amount BP) of the brake pedal 42a of the vehicle VA. When the brake pedal 42a is not operated, the brake pedal operation amount BP is "0".

[0088] The brake ECU 40 obtains the vehicle speed Vs based on the wheel pulse signal from the wheel speed sensor 21, just like the VCECU 20. Alternatively, the brake ECU 40 can also obtain the vehicle speed Vs from the VCECU 20.

[0089] Furthermore, the brake ECU 40 is connected to the brake actuator 44. The brake actuator 44 is a hydraulically controlled actuator. The brake actuator 44 is configured in a hydraulic circuit (not shown) between a master cylinder that pressurizes the working fluid through the pedal force of the brake pedal 42a and a known friction braking device containing wheel cylinders installed on each wheel. The brake actuator 44 adjusts the hydraulic pressure supplied to the wheel cylinders, thereby adjusting the braking force of the vehicle VA.

[0090] The brake ECU 40 determines a "target acceleration that is negative" based on the brake pedal operation amount BP. The brake ECU 40 drives the brake actuator 44 in a manner that makes the actual acceleration of the vehicle VA match the target acceleration.

[0091] The EPB ECU 50 is connected to the parking brake actuator 52. The parking brake actuator 52 is an actuator used to press the brake pads against the brake disc. Therefore, the EPB ECU 50 can use the parking brake actuator 52 to apply parking braking force to the wheels, keeping the vehicle VA in a stopped state. Hereinafter, the braking of the vehicle VA by actuating the parking brake actuator 52 will be referred to as "EPB".

[0092] This control device 10 includes a display 60 and a speaker 70. The display 60 and speaker 70 are connected to the VCECU 20 in a data-exchanging manner.

[0093] The display 60 is positioned in a designated location within the passenger compartment of vehicle VA, within the driver's field of vision. A speaker 70 is located within the passenger compartment of vehicle VA and emits an alarm sound.

[0094] (A summary of the action)

[0095] At predetermined intervals, the VCECU 20 acquires a driver's seat image from the driver's seat camera device 24. Based on the driver's seat image, the VCECU 20 determines whether the driver is in a state of inattention. An inattention state is a state in which the driver's attention becomes scattered regarding driving. As examples of inattention states, there are the following five states.

[0096] Distracted state: The state in which the driver is not looking straight ahead.

[0097] • Closed-eyes state: The driver's eyes are closed.

[0098] • Posture distortion state: The state of the driver's posture distortion

[0099] • Head Disappearance Status: The state in which the driver's head is not detected in the driver's seat image.

[0100] • Drowsy state: The state in which the driver feels drowsy.

[0101] When the driver is in a state of inattention (hereinafter referred to as "inattention state") for a predetermined determination time (hereinafter sometimes referred to as "first time"), and this inattention condition is met, the VCECU 20 performs acceleration suppression control to suppress the acceleration of the vehicle VA. In acceleration suppression control, the VCECU 20 controls the engine actuator 36 via the engine ECU 30 to ensure that the forward and backward acceleration G of the vehicle VA is not greater than "0". Furthermore, regarding acceleration G, the forward acceleration Gx of the vehicle VA is considered a positive value.

[0102] If, after the moment the drowsy condition is established (i.e., after the start of acceleration suppression control), the VCECU 20 determines, based on the driver's seat image, that the drowsy state has persisted for a predetermined abnormal determination time (hereinafter sometimes referred to as the "third determination time"), and thus determines that the driver is no longer in a drowsy state but has entered an abnormal state in which the vehicle VA is unable to drive. In other words, if the drowsy state persists for a second time longer than the aforementioned first time, it determines that the driver has entered an abnormal state. In this case, the VCECU 20 executes deceleration control to slow down and stop the vehicle VA.

[0103] Acceleration suppression control is implemented during the period when the driver is in a distracted state, prior to being determined to be in an abnormal state, followed by deceleration control. Therefore, since the vehicle VA does not accelerate before deceleration control is implemented, the possibility of a sudden decrease in the distance between the vehicle VA and the following vehicle after deceleration control is implemented is reduced, even if there is a vehicle behind the vehicle VA. Furthermore, the possibility of driver anxiety caused by acceleration of the vehicle VA during the period when the driver is in a distracted state is reduced. Additionally, since acceleration suppression control is implemented before deceleration control begins, the possibility of driver anxiety caused by sudden changes in vehicle acceleration due to deceleration control is also reduced.

[0104] (Action Example 1)

[0105] use Figure 2 This describes an example of the operation of the control device 10 when it is determined that the driver has not recovered from a relaxed state to a normal state but has fallen into an abnormal state.

[0106] In this embodiment, VCECU 20 determines whether the aforementioned sluggish conditions are met when ACC (Adaptive Cruise Control) is executed. ACC includes two types of control: constant speed control and follow-up control (hereinafter sometimes referred to as "vehicle distance maintenance control").

[0107] Cruise control is performed when there are no vehicles traveling in front of vehicle VA. It is a control that maintains vehicle speed Vs at a set vehicle speed Vset while driving vehicle VA. In detail, VCECU 20 drives vehicle VA in a manner that matches the acceleration G of vehicle VA with the "target acceleration used to make vehicle speed Vs match the set vehicle speed Vset".

[0108] Follow control is performed in the presence of a preceding vehicle. It involves controlling vehicle VA to move while maintaining a set distance D between it and the preceding vehicle at a predetermined distance Dset. Specifically, the VCECU 20 moves vehicle VA in a manner that matches the acceleration G to the target acceleration used to maintain the distance D at the predetermined distance Dset. In other words, the VCECU 20 causes vehicle VA to move in a manner that follows the preceding vehicle.

[0109] The target acceleration obtained in constant speed control or follow-up control is sometimes referred to as "ACC target acceleration Gacc".

[0110] In either cruise control or follow control, the vehicle VA can move without the driver operating the accelerator pedal 32a and the brake pedal 42a.

[0111] <Time t0>

[0112] At time t0, VCECU 20 detected that the driver was in a relaxed state.

[0113] <Time t1>

[0114] Assume that VCECU 20 continuously determines that the driver is in a distracted state during the first determination time Td1 starting from time t0. At time t1, after the first determination time Td1 has elapsed from time t0, VCECU 20 issues a "first attention-awakening notification to improve the driver's attention" in order to restore the driver from the distracted state to a normal state. Specifically, VCECU 20 displays on display 60. Figure 3A The first attention-awakening screen 300 shown emits a warning sound from the speaker 70 according to the first attention sound mode.

[0115] like Figure 3A As shown, in the first attention-awakening screen 300, attention marker 310 and message 315 are displayed within a designated frame 305. Attention marker 310 is a yellow image. Message 315 is a message used to enhance the driver's attention; specifically, it is the message "Please pay attention to your surroundings."

[0116] The first attention sound mode is a sound mode that emits a warning sound at 800Hz in a single shot.

[0117] <Time t2>

[0118] Assume that VCECU 20 continuously determines that the driver is in a state of inattention during the second determination time Td2 starting from time t1. At time t2, after the second determination time Td2 has elapsed from time t1, VCECU 20 determines that the inattention condition has been met and performs acceleration suppression control and a second attention-awakening notification. In the second attention-awakening notification, VCECU 20 displays on display 60... Figure 3B The second attention-awakening screen 350 shown emits a warning sound from the speaker 70 according to the second attention sound mode.

[0119] like Figure 3B As shown, in the second attention-awakening screen 350, attention marker 310 and message 315 are displayed within a designated frame 355. Compared to frame 305 in the first attention-awakening screen 300, frame 355 in the second attention-awakening screen 350 is emphasized. For example, frame 305 is white, while frame 355 is yellow. Therefore, the warning level of the second attention-awakening screen 350 for the driver is higher than that of the first attention-awakening screen 300.

[0120] The second attention sound mode is a sound pattern that repeatedly emits an 800Hz warning tone at a period of 0.7 seconds. Because the warning tone is emitted repeatedly in the second attention sound mode, the warning intensity of the second attention sound mode is higher than that of the first attention sound mode.

[0121] <Time t3>

[0122] Assume that VCECU 20 continuously determines that the driver is in a distracted state during the anomaly determination time Tad starting from time t2. At time t3, after the anomaly determination time Tad has elapsed from time t2, VCECU 20 determines that the driver has entered an abnormal state, initiates deceleration control, and issues the first warning.

[0123] In deceleration control, VCECU 20 performs the following three control functions in stages.

[0124] • Gradual deceleration control: Control that decelerates the vehicle VA with a specified negative first acceleration (i.e., first deceleration) within a specified control time Ts.

[0125] • Deceleration and Stop Control: Control that causes vehicle VA to decelerate at a specified negative second acceleration (i.e., second deceleration) until vehicle VA comes to a stop.

[0126] • Stop and Hold Control: From the moment the vehicle VA comes to a stop, the EPB is activated to lock the wheels, thereby maintaining the vehicle VA in a stationary state.

[0127] The first acceleration is greater than the second acceleration. That is, in slow deceleration control, the vehicle decelerates more slowly (VA) compared to deceleration-to-stop control.

[0128] At time t3, VCECU 20 begins slow deceleration control.

[0129] In the first warning, VCECU 20 displays on display 60. Figure 4A The first warning screen 400 shown emits a warning sound from the speaker 70 according to the first warning sound mode.

[0130] like Figure 4A As shown, the first warning screen 400 displays a hold indicator 405 and an operation stop message 410.

[0131] The "Keep Indicator Mark 405" is an image used to encourage the driver to keep (grip) the steering wheel SW; it is a red image.

[0132] The abort operation message 410 is used to prompt the driver to perform an operation to abort the slow deceleration control (i.e., to hold the steering wheel SW) and to notify the driver that deceleration stop control (parking assist function) is about to begin.

[0133] Because indicator mark 405 is kept red, Figure 3A and Figure 3B The attention marker 310 shown is yellow, therefore the warning level of the first warning screen 400 is higher than that of the first attention-awakening screen 300 and the second attention-awakening screen 350.

[0134] The first warning tone mode is a sound mode that repeatedly emits a 1600Hz warning tone with a period of 0.4s. Because the frequency of the warning tone in the first warning tone mode is higher than that in the second attention tone mode, and the period of the first warning tone mode is shorter than that of the second attention tone mode, the warning intensity of the first warning tone mode is higher than that of the second attention tone mode.

[0135] <Time t4>

[0136] At time t4, a control time Ts has elapsed since time t3. At time t4, VCECU 20 initiates the aforementioned deceleration stop control and issues a second warning. In the second warning, VCECU 20 displays on display 60... Figure 4B The second warning screen 420 shown emits a warning sound from the speaker 70 in accordance with the second warning sound mode.

[0137] like Figure 4B As shown, the second warning screen 420 displays "the same hold indicator 405 as the first warning screen 400" and an operation stop message 425.

[0138] The stop operation message 425 is used to notify the driver that the parking assistance function is in operation and that the parking assistance function will be stopped if the stop switch 26 is operated.

[0139] In addition, parking assist functions include deceleration and stop control as well as stop-and-hold control.

[0140] The second warning tone mode is a sound mode that repeatedly emits a 2400Hz warning tone with a period of 0.2s. Because the frequency of the warning tone in the second warning tone mode is higher than that in the first warning tone mode, and the period of the second warning tone mode is shorter than that of the first warning tone mode, the warning intensity of the second warning tone mode is higher than that of the first warning tone mode.

[0141] <Time t5>

[0142] At time t5, the vehicle VA comes to a stop via deceleration stop control (i.e., the vehicle speed Vs becomes "0 km / h"). Therefore, at time t5, VCECU 20 initiates the aforementioned stop-and-hold control (part of the parking assist function) and issues a third warning. In the third warning, VCECU 20 displays on display 60... Figure 4C The third warning screen 430 shown emits a warning sound from the speaker 70 in accordance with the second warning sound mode.

[0143] like Figure 4C As shown, the third warning screen 430 displays "the same hold indicator 405 as the first warning screen 400" and an operation stop message 435.

[0144] The stop operation message 435 is used to notify the driver that the parking assist function is in operation, to switch the gear position to the parking gear (P gear), and to stop the parking assist function if the stop switch 26 is operated.

[0145] As described above, even if the first attention-awakening notification is issued and the driver remains in a distracted state during the second determination time Td2, acceleration suppression control and a second attention-awakening notification are applied. This allows for the suppression of vehicle acceleration (VA) before the driver is determined to be in an abnormal state. Furthermore, since the warning level of the second attention-awakening notification is higher than that of the first attention-awakening notification, the likelihood of the driver returning to a normal state is increased.

[0146] (Action Example 2)

[0147] use Figure 5 This describes an example of the operation of the control device 10 when the driver returns to a normal state from a relaxed state during acceleration suppression control.

[0148] Figure 5The times t0, t1, and t2 shown are the same as those in Figure 4. Similar to the example shown in Figure 4, in... Figure 5 At time t2, VCECU 20 begins acceleration suppression control and issues a second attention alert.

[0149] exist Figure 5 In the example shown, at time t6, before the anomaly determination time Tad from time t2, VCECU20 determines, based on the driver's seat image, that the driver is no longer in a distracted state (i.e., the driver has returned to a normal state). In this case, at time t6, VCECU20 begins accelerometer limiting control and ends the second attention alert notification.

[0150] Acceleration limiting control is a control that prohibits (limits) the acceleration, which is the time derivative of the acceleration G of the vehicle VA, from becoming greater than a specified value. In detail, in acceleration limiting control, VCECU 20 makes the acceleration G of the vehicle VA consistent with "acceleration Gjr, which gradually increases from '0' as time elapses from the start of acceleration limiting control".

[0151] During the period from time t2 to time t6, due to acceleration suppression control, the acceleration G of the vehicle VA will not exceed 0. At time t6, when the driver returns to a normal state, if the acceleration G were to match the ACC target acceleration Gacc obtained through cruise control or follow control, it could lead to rapid acceleration. This rapid acceleration could cause driver anxiety. Since acceleration limiting control begins at time t6, rapid acceleration immediately following time t6 can be prevented, reducing the likelihood of driver anxiety.

[0152] At time t7, the acceleration G is consistent with the ACC target acceleration Gacc. At time t7, VCECU 20 ends the acceleration limiting control. After time t7, VCECU 20 drives the vehicle VA in a manner that makes the acceleration G consistent with the ACC target acceleration Gacc (i.e., VCECU 20 drives the vehicle VA through cruise control or follow control).

[0153] (Specific actions)

[0154] <First Attention Arousal Notification Routine>

[0155] The CPU of VCECU 20 (hereinafter, unless otherwise specified, "CPU" refers to the CPU of VCECU 20) executes at predetermined intervals. Figure 6 The flowchart shows the first attention notification routine.

[0156] Therefore, when the specified time is reached, the CPU starts from... Figure 6 The process begins at step 600 and proceeds to step 605. In step 605, the CPU determines whether the value of the ACC flag Xacc is "1".

[0157] The ACC flag Xacc is set to "1" when the specified ACC start condition is met, and set to "0" when the specified ACC end condition is met. Additionally, the ACC flag Xacc is also set to "0" in the initial routine. The initial routine is executed by the CPU when the ignition key / switch (not shown) on the vehicle's VA changes from the off position to the on position.

[0158] The ACC start condition is the condition that is met when the ACC start switch (not shown) is operated.

[0159] The ACC termination condition is the condition that is met when the ACC termination switch (not shown) is operated, and when the stop switch 26 is operated after the driver is in an abnormal state.

[0160] If the value of the ACC identifier Xacc is "0", the CPU determines "no" in step 605, proceeds to step 695, and temporarily terminates this routine.

[0161] On the other hand, if the value of the ACC identifier Xacc is "1", the CPU determines "yes" in step 605 and proceeds to step 608.

[0162] In step 608, the CPU determines whether the value of any one of the first warning flag Xab1, the second warning flag Xab2, and the third warning flag Xab3 is "0".

[0163] The value of the first warning indicator Xab1 is set to "1" when the driver is determined to be in an abnormal state, and set to "0" when the driver performs a prescribed stop operation (holding the steering wheel SW). Additionally, the value of the first warning indicator Xab1 is set to "0" in the initial routine.

[0164] The value of the second warning indicator Xab2 is set to "1" if a control time Ts has elapsed since the moment the driver is determined to be in an abnormal state, and is set to "0" if the driver performs a prescribed abort operation (operation of abort switch 26). Additionally, the value of the second warning indicator Xab2 is set to "0" in the initial routine.

[0165] The value of the third warning indicator Xab3 is set to "1" when the vehicle speed Vs reaches "0 km / h" through deceleration and stop control (when the vehicle VA has stopped), and to "0" when the driver performs a prescribed stop operation (operation of stop switch 26 or operation of shifting the gear to P). In addition, the value of the third warning indicator Xab3 is set to "0" in the initial routine.

[0166] If any one of the first warning flag Xab1, the second warning flag Xab2, and the third warning flag Xab3 has a value of "1", the CPU determines "No" in step 608, proceeds to step 695, and temporarily terminates this routine.

[0167] If the value of any one of the first warning indicator Xab1, the second warning indicator Xab2, and the third warning indicator Xab3 is "0", the CPU determines "yes" in step 608 and proceeds to step 610.

[0168] In step 610, the CPU determines whether the value of the first attention-awakening flag Xsa1 is "0".

[0169] The value of the first attention-aware flag Xsa1 is set to "1" if the driver's inattentive state persists for a first determination time Td1, and is set to "0" when the driver returns to a normal state. Additionally, the value of the first attention-aware flag Xsa1 is set to "0" in the initial routine.

[0170] If the value of the first attention-awakening flag Xsa1 is “0”, the CPU determines “yes” in step 610 and executes steps 615 and 620 in sequence.

[0171] Step 615: The CPU acquires the driver's seat image from the driver's seat camera device 24.

[0172] Step 620: Based on the driver's seat image, the CPU determines whether the driver's inattentive state, which meets at least one of the above-mentioned distracted state, closed-eye state, distorted posture state, head disappearance state, and drowsy state (i.e., the driver is in an inattentive state), has lasted for the first determination time Td1.

[0173] If the driver is not in a state of inattention or the state of inattention does not last for the first determination time Td1, the CPU determines "no" in step 620, proceeds to step 695, and temporarily ends this routine.

[0174] On the other hand, if the scattered state continues for the first determination time Td1, the CPU determines "yes" in step 620 and executes steps 625 and 630 in sequence.

[0175] Step 625: The CPU sets the value of the first attention-awakening flag Xsa1 to "1".

[0176] Step 630: The CPU sets the value of the second decision timer TMsa2 to "0".

[0177] The second determination timer TMsa2 is a timer used to count the time elapsed since the moment when the driver is determined to be in a state of inattention for the first determination time Td1 (the moment when it is determined to be "yes" in step 620).

[0178] After this, the CPU proceeds to step 695, temporarily terminating this routine.

[0179] After the value of the first attention-awakening flag Xsa1 is set to "1", the CPU executes this routine and enters step 610. In step 610, the CPU determines "no" and enters step 635.

[0180] In step 635, the CPU determines whether the value of the second attention-awakening flag Xsa2 is "0".

[0181] The value of the second attention-engaging flag Xsa2 is set to "1" when the inattentive state continues for a second determination time Td2 from the moment the inattentive state lasts for the first determination time Td1, thus fulfilling the inattentive condition; and is set to "0" when the driver returns to a normal state. Additionally, the value of the second attention-engaging flag Xsa2 is set to "0" in the initial routine.

[0182] If the value of the second attention flag Xsa2 is “0”, the CPU determines “yes” in step 635 and executes steps 640 and 645 in sequence.

[0183] Step 640: The CPU increments the second decision timer TMsa2 by "1".

[0184] Step 645: The CPU determines whether the value of the second determination timer TMsa2 is less than the second determination threshold T2th.

[0185] The second determination threshold T2th is set to the following value: when the value of the second determination timer TMsa2 becomes greater than or equal to the second determination threshold T2th, the second determination time Td2 has elapsed since the moment when "the diffuse state has lasted for the first determination time Td1".

[0186] If the value of the second determination timer TMsa2 is less than the second determination threshold T2th, the CPU determines "yes" in step 645 and executes steps 650 and 655 in sequence.

[0187] Step 650: The CPU acquires the driver's seat image from the driver's seat camera device 24.

[0188] Step 655: The CPU determines whether the driver has returned to a normal state based on the driver's seat image.

[0189] In detail, based on the driver's seat image, the CPU determines that the driver has returned to a normal state if the driver does not meet any of the above-mentioned distracted state, closed-eye state, distorted posture state, head disappearance state, or drowsy state.

[0190] If the driver has not returned to normal, the CPU determines "no" in step 655 and executes steps 660 and 665 in sequence.

[0191] Step 660: The CPU displays the first attention-awakening screen 300 on the display 60.

[0192] Step 665: The CPU emits a warning sound from speaker 70 according to the first attention sound mode.

[0193] After this, the CPU proceeds to step 695, temporarily terminating this routine.

[0194] On the other hand, if the driver returns to a normal state when the CPU enters step 655, the CPU determines "yes" in step 655 and proceeds to step 670. In step 670, the CPU sets the value of the first attention-awakening flag Xsa1 to "0". After this, the CPU proceeds to step 695, temporarily ending this routine.

[0195] On the other hand, if the value of the second determination timer TMsa2 is above the second determination threshold T2th when the CPU enters step 645, the CPU determines "no" in step 645 and executes steps 675 and 680 in sequence.

[0196] Step 675: The CPU sets the value of the second attention flag Xsa2 to "1".

[0197] Step 680: The CPU sets the value of the exception determination timer TMad to "0".

[0198] The anomaly determination timer TMad is a timer used to count the time elapsed since the moment the diffuse condition is met (the moment it is determined to be "no" in step 645).

[0199] After this, the CPU proceeds to step 695, temporarily terminating this routine.

[0200] <Second Attention Arousal Notification Routine>

[0201] The CPU executes at regular intervals. Figure 7 The flowchart shows the second attention notification routine.

[0202] Therefore, when the specified time is reached, the CPU starts from... Figure 7 The process begins at step 700 and proceeds to step 705. In step 705, the CPU determines whether the value of the ACC flag Xacc is "1".

[0203] If the value of the ACC identifier Xacc is "0", the CPU determines "no" in step 705, proceeds to step 795, and temporarily terminates this routine.

[0204] On the other hand, if the value of the ACC identifier Xacc is "1", the CPU determines "yes" in step 705 and proceeds to step 708.

[0205] In step 708, the CPU determines whether the value of any one of the first warning flag Xab1, the second warning flag Xab2, and the third warning flag Xab3 is "0".

[0206] If any one of the first warning flag Xab1, the second warning flag Xab2, and the third warning flag Xab3 has a value of "1", the CPU determines "No" in step 708, proceeds to step 795, and temporarily terminates this routine.

[0207] If the value of any one of the first warning indicator Xab1, the second warning indicator Xab2, and the third warning indicator Xab3 is "0", the CPU determines "yes" in step 708 and proceeds to step 710.

[0208] In step 710, the CPU determines whether the value of the second attention-awakening flag Xsa2 is "1".

[0209] If the value of the second attention flag Xsa2 is “0”, the CPU determines “no” in step 710, proceeds to step 795, and temporarily terminates this routine.

[0210] On the other hand, if the value of the second attention-provoking flag Xsa2 is "1", the CPU determines "yes" in step 710 and executes steps 715 and 720 in sequence.

[0211] Step 715: The CPU increments the exception determination timer TMad by "1".

[0212] Step 720: The CPU determines whether the value of the exception determination timer TMad is less than the exception determination threshold Tadth.

[0213] The anomaly determination threshold Tadth is set to the following value: when the value of the anomaly determination timer TMad becomes above the anomaly determination threshold Tadth, the anomaly determination time Tad has elapsed since the moment the diffuse condition is met.

[0214] If the value of the anomaly determination timer TMad is less than the anomaly determination threshold Tadth, the CPU determines "yes" in step 720 and executes steps 725 and 730 in sequence.

[0215] Step 725: The CPU acquires the driver's seat image from the driver's seat camera device 24.

[0216] Step 730: The CPU determines whether the driver has returned to a normal state based on the driver's seat image.

[0217] If the driver has not returned to normal, the CPU determines "no" in step 730 and executes steps 735 and 740 in sequence.

[0218] Step 735: The CPU displays the second attention-awakening screen 350 on the display 60.

[0219] Step 740: The CPU emits a warning sound from speaker 70 according to the second attention sound mode.

[0220] After this, the CPU proceeds to step 795, temporarily terminating this routine.

[0221] On the other hand, when the driver returns to normal, the CPU determines "yes" in step 730 and executes steps 745 to 755 in sequence.

[0222] Step 745: The CPU sets the values ​​of the first attention-awakening flag Xsa1 and the second attention-awakening flag Xsa2 to "0".

[0223] Step 750: The CPU sets the value of the accelerometer limit control flag Xjr to "1".

[0224] The jerk limitation control flag Xjr is set to "1" when jerk limitation control begins and to "0" when acceleration suppression control ends. Additionally, the jerk limitation control flag Xjr is set to "0" in the initial routine.

[0225] Step 755: The CPU sets the value of the limit timer TMjr to "0".

[0226] The limit timer TMjr is a timer used to count the time elapsed since the start of accelerometer limit control.

[0227] After this, the CPU proceeds to step 795, temporarily terminating this routine.

[0228] On the other hand, if the value of the anomaly determination timer TMad is above the anomaly determination threshold Tadth when the CPU enters step 720, the CPU determines that the driver is in an abnormal state. In this case, the CPU determines "no" in step 720 and executes steps 760 to 765 sequentially.

[0229] Step 760: The CPU sets the value of the first warning flag Xab1 to "1".

[0230] Step 765: The CPU sets the value of the slow deceleration timer TMs to "0".

[0231] Slow deceleration timers (TMs) are timers used to count the time elapsed since the moment when the driver is determined to be in an abnormal state (i.e., the start time of slow deceleration control).

[0232] After this, the CPU proceeds to step 795, temporarily terminating this routine.

[0233] <First Warning Routine>

[0234] The CPU executes at regular intervals. Figure 8 The flowchart shows the first warning routine.

[0235] Therefore, when the specified time is reached, the CPU starts from... Figure 8 The process begins at step 800 and proceeds to step 810. In step 810, the CPU determines whether the value of the first warning flag Xab1 is "1".

[0236] If the value of the first warning flag Xab1 is "0", the CPU determines "No" in step 810, proceeds to step 895, and temporarily terminates this routine.

[0237] On the other hand, if the value of the first warning flag Xab1 is "1", the CPU determines "yes" in step 810 and executes steps 815 and 820 in sequence.

[0238] Step 815: The CPU increments the slow deceleration timer TMs by "1".

[0239] Step 820: The CPU determines whether the value of the slow deceleration timer TMs is less than the control threshold Tsth.

[0240] The control threshold Tsth is set to the following value: when the value of the slow deceleration timer TMs becomes above the control threshold Tsth, the control time Ts has elapsed since the moment when the driver is determined to be in an abnormal state.

[0241] If the value of the slow deceleration timer TMs is less than the control threshold Tsth, the CPU determines "yes" in step 820 and executes steps 823 and 825 in sequence.

[0242] Step 823: The CPU obtains the steering torque Tr based on the detection signal from the steering torque sensor 25.

[0243] Step 825: The CPU determines whether the steering torque Tr is less than the threshold torque Trth.

[0244] If the steering torque Tr is less than the threshold torque Trth, the CPU determines that the driver is not holding the steering wheel SW. In this case, the CPU determines "yes" in step 825 and executes steps 830 and 835 in sequence.

[0245] Step 830: The CPU displays the first warning screen 400 on the monitor 60.

[0246] Step 835: The CPU emits a warning sound from speaker 70 according to the first warning sound mode.

[0247] After this, the CPU proceeds to step 895, temporarily ending this routine.

[0248] On the other hand, if the steering torque Tr is above the threshold torque Trth, the CPU determines "No" in step 825 and proceeds to step 840. In step 840, the CPU sets the values ​​of the ACC flag, the first attention-awakening flag Xsa1, the second attention-awakening flag Xsa2, and the first warning flag Xab1 to "0". After this, the CPU proceeds to step 895, temporarily ending this routine.

[0249] On the other hand, if the value of the slow deceleration timer TMs is above the control threshold Tsth when the CPU enters step 820, the CPU determines "No" in step 820 and proceeds to step 850. In step 850, the CPU sets the value of the second warning flag Xab2 to "1" and the value of the first warning flag Xab1 to "0". After this, the CPU proceeds to step 895, temporarily ending this routine.

[0250] <Second Warning Routine>

[0251] The CPU executes at regular intervals. Figure 9 The second warning routine is shown in the flowchart.

[0252] Therefore, when the specified time is reached, the CPU starts from... Figure 9The process begins at step 900 and proceeds to step 910. In step 910, the CPU determines whether the value of the second warning flag Xab2 is "1".

[0253] If the value of the second warning flag Xab2 is “0”, the CPU determines “No” in step 910, proceeds to step 995, and temporarily terminates this routine.

[0254] On the other hand, if the value of the second warning flag Xab2 is "1", the CPU determines "yes" in step 910 and proceeds to step 915.

[0255] In step 915, the CPU determines whether the vehicle speed Vs is "0 km / h".

[0256] If the vehicle speed Vs is not "0 km / h", the CPU determines "No" in step 915 and proceeds to step 920. In step 920, the CPU determines whether the stop switch 26 has been activated.

[0257] If the stop switch 26 is not operated, the CPU determines "no" in step 920 and executes steps 925 and 930 in sequence.

[0258] Step 925: The CPU displays a second warning screen 420 on monitor 60.

[0259] Step 930: The CPU emits a warning sound from speaker 70 according to the second warning sound mode.

[0260] After this, the CPU enters step 995, temporarily ending this routine.

[0261] On the other hand, if the stop switch 26 has been activated, the CPU determines "yes" in step 920 and proceeds to step 935. In step 935, the CPU sets the values ​​of the ACC flag Xacc, the first attention flag Xsa1, the second attention flag Xsa2, and the second warning flag Xab2 to "0". After this, the CPU proceeds to step 995, temporarily ending the current routine.

[0262] On the other hand, if the vehicle speed Vs is "0 km / h" when the CPU enters step 915, the CPU determines "yes" in step 915 and proceeds to step 945. In step 945, the CPU sets the value of the third warning flag Xab3 to "1" and the value of the second warning flag Xab2 to "0". After this, the CPU proceeds to step 995, temporarily ending this routine.

[0263] <Third Warning Routine>

[0264] The CPU executes at regular intervals. Figure 10 The third warning routine is shown in the flowchart.

[0265] Therefore, when the specified time is reached, the CPU starts from... Figure 10 The process begins at step 1000 and proceeds to step 1010. In step 1010, the CPU determines whether the value of the third warning flag Xab3 is "1".

[0266] If the value of the third warning flag Xab3 is "0", the CPU determines "No" in step 1010, proceeds to step 1095, and temporarily terminates this routine.

[0267] On the other hand, if the value of the third warning flag Xab3 is "1", the CPU determines "yes" in step 1010 and proceeds to step 1015. In step 1015, the CPU determines whether the stop switch 26 has been activated.

[0268] If the stop switch 26 is not operated, the CPU determines "No" in step 1015 and proceeds to step 1020. In step 1020, the CPU determines whether the gear has been switched to P gear.

[0269] If the gear is not switched to P gear, the CPU determines "no" in step 1020 and executes steps 1025 and 1030 in sequence.

[0270] Step 1025: The CPU displays the third warning screen 430 on the monitor 60.

[0271] Step 1030: The CPU emits a warning sound from speaker 70 according to the second warning sound mode.

[0272] After this, the CPU proceeds to step 1095, temporarily terminating this routine.

[0273] If the stop switch 26 has already been activated when the CPU enters step 1015, the CPU determines "yes" in step 1015 and proceeds to step 1035. In step 1035, the CPU sets the values ​​of the ACC flag Xacc, the first attention flag Xsa1, the second attention flag Xsa2, and the third warning flag Xab3 to "0". After this, the CPU proceeds to step 1095, temporarily ending this routine.

[0274] If the gear has been switched to P gear when the CPU enters step 1020, the CPU determines "yes" in step 1020, executes step 1035, and enters step 1095, temporarily ending this routine.

[0275] <ACC Routine>

[0276] The CPU executes at regular intervals. Figure 11 The flowchart shows the ACC routine.

[0277] Therefore, when the specified time is reached, the CPU starts from... Figure 11 The process begins at step 1100 and proceeds to step 1105. In step 1105, the CPU determines whether the value of the ACC flag Xacc is "1".

[0278] If the value of the ACC identifier Xacc is “0”, the CPU determines “No” in step 1105, proceeds to step 1195, and temporarily terminates this routine.

[0279] On the other hand, if the value of the ACC identifier Xacc is "1", the CPU determines "yes" in step 1105 and executes steps 1110 to 1120 in sequence.

[0280] Step 1110: The CPU obtains camera object information from the camera device 22.

[0281] Step 1115: The CPU obtains radar object information from the millimeter-wave radar device 23.

[0282] Step 1120: The CPU determines whether there is a moving vehicle based on the camera object information and radar object information.

[0283] If there is a vehicle moving forward, the CPU determines "yes" in step 1120 and executes steps 1125 to 1135 in sequence.

[0284] Step 1125: The CPU obtains the vehicle deviation ΔD1 by subtracting the set vehicle distance Dset from the vehicle distance D between the preceding vehicle and vehicle VA.

[0285] Step 1130: The CPU obtains the relative speed Vr of the moving vehicle relative to vehicle VA based on the relative speed contained in the radar object information.

[0286] Step 1135: The CPU obtains the ACC target acceleration Gacc by applying the workshop deviation ΔD1 and the relative velocity Vr to the following equation (1).

[0287] Gacc=ka1・(k1・ΔD1+k2・Vr)…(1)

[0288] In the above formula (1), ka1, k1 and k2 are the specified positive gains (coefficients).

[0289] After this, the CPU proceeds to step 1195, temporarily terminating this routine.

[0290] On the other hand, if there is no vehicle moving forward when the CPU enters step 1120, the CPU determines "no" in step 1120 and executes steps 1140 and 1145 in sequence.

[0291] Step 1140: The CPU obtains the vehicle speed deviation ΔVs by subtracting the vehicle speed Vs from the set vehicle speed Vset.

[0292] Step 1145: The CPU obtains the ACC target acceleration Gacc by applying the vehicle speed deviation ΔVs to the following equation (2).

[0293] Gacc=k3×ΔVs…(2)

[0294] In equation (2) above, k3 is the specified gain (coefficient).

[0295] After this, the CPU proceeds to step 1195, temporarily terminating this routine.

[0296] <ACC Acceleration Setting Routine>

[0297] The CPU executes at regular intervals. Figure 12 The flowchart shows the ACC acceleration setting routine.

[0298] Therefore, when the specified time is reached, the CPU starts from... Figure 12 The process begins at step 1200 and proceeds to step 1205. In step 1205, the CPU determines whether the value of the ACC flag Xacc is "1".

[0299] If the value of the ACC identifier Xacc is "0", the CPU determines "no" in step 1205, proceeds to step 1295, and temporarily terminates this routine.

[0300] On the other hand, if the ACC flag Xacc has a value of "1", the CPU determines "yes" in step 1205 and proceeds to step 1210. In step 1210, the CPU determines whether the driver's acceleration Gdr is greater than the ACC target acceleration Gacc. The driver's acceleration Gdr is the acceleration corresponding to the driver's accelerator pedal operation amount AP.

[0301] If the driver's acceleration Gdr is greater than the ACC target acceleration Gacc, the CPU determines "yes" in step 1210 and proceeds to step 1215. In step 1215, the CPU sets the first target acceleration G1tgt to the driver's acceleration Gdr, proceeds to step 1295, and temporarily terminates this routine.

[0302] On the other hand, if the driver's acceleration Gdr is below the ACC target acceleration Gacc when the CPU enters step 1210, the CPU determines "no" in step 1210 and executes steps 1225 and 1230 in sequence.

[0303] Step 1225: The CPU sets the first target acceleration G1tgt to the ACC target acceleration Gacc.

[0304] Step 1230: The CPU determines whether the value of the second attention-awakening flag Xsa2 is "1".

[0305] If the value of the second attention-awakening flag Xsa2 is "0", the CPU determines "No" in step 1230 and proceeds to step 1235. In step 1235, the CPU determines whether the value of the accelerometer limit control flag Xjr is "1".

[0306] If the value of the accelerometer limit control flag Xjr is “0”, the CPU determines “No” in step 1235, and the CPU proceeds to step 1295, temporarily ending this routine.

[0307] On the other hand, if the value of the second attention-awakening flag Xsa2 is "1" when the CPU enters step 1230, the CPU determines "yes" in step 1230 and executes steps 1240 and 1245 in sequence.

[0308] Step 1240: The CPU sets the acceleration limit Glmt to "0".

[0309] Step 1245: The CPU determines whether the first target acceleration G1tgt (ACC target acceleration Gacc) is greater than the limit acceleration Glmt.

[0310] If the first target acceleration G1tgt is below the limiting acceleration Glmt, the CPU determines "No" in step 1245, proceeds to step 1295, and temporarily terminates this routine.

[0311] On the other hand, if the first target acceleration G1tgt is greater than the limit acceleration Glmt, the CPU determines "yes" in step 1245 and proceeds to step 1250. In step 1250, the CPU sets the first target acceleration G1tgt to the limit acceleration Glmt, proceeds to step 1295, and temporarily terminates this routine.

[0312] On the other hand, if the value of the accelerometer limit control flag Xjr is "1" when the CPU enters step 1235, the CPU determines "yes" in step 1235 and executes steps 1255 to 1265 in sequence.

[0313] Step 1255: The CPU increments the value of the limit timer TMjr by "1".

[0314] Step 1260: The CPU obtains the acceleration Gjr by applying the value of the limit timer TMjr to the map Map1.

[0315] Map1 is stored in the ROM of VCECU 20. In Map1, the relationship between the value of the limit timer TMjr and the acceleration Gjr is defined in a way that prevents the jerk from exceeding a specified threshold and in a way that the acceleration Gjr gradually increases as the value of the limit timer TMjr increases.

[0316] Step 1265: The CPU determines whether the target acceleration Gacc of ACC is equal to the acceleration Gjr.

[0317] If the target acceleration Gacc and the acceleration Gjr are not equal, the CPU determines "No" in step 1265 and proceeds to step 1270. In step 1270, the CPU sets the limiting acceleration Glmt to the acceleration Gjr. After this, the CPU proceeds to step 1245.

[0318] On the other hand, if the ACC target acceleration Gacc is equal to the acceleration Gjr, the CPU determines "yes" in step 1265 and proceeds to step 1275. In step 1275, the CPU sets the value of the jerk limit control flag Xjr to "0". After this, the CPU proceeds to step 1270.

[0319] As described above, when the driver's acceleration Gdr is below the ACC target acceleration Gacc and the value of the second attention-awakening flag Xsa2 is "1", the CPU performs acceleration suppression control. That is, the CPU sets the limiting acceleration Glmt to "0", and when the first target acceleration G1tgt (ACC target acceleration Gacc) is greater than the limiting acceleration Glmt, it sets the first target acceleration G1tgt to the limiting acceleration Glmt. Thus, vehicle VA acceleration is suppressed (prohibited).

[0320] When the driver's acceleration Gdr is below the ACC target acceleration Gacc and the acceleration limit control flag Xjr is set to "1", the CPU performs acceleration limit control. Specifically, the CPU sets the limit acceleration Glmt to an acceleration Gjr that gradually increases over time from the start of acceleration limit control, ensuring that the acceleration does not exceed a threshold. Furthermore, if the first target acceleration G1tgt (ACC target acceleration Gacc) exceeds the limit acceleration Glmt, the CPU sets the first target acceleration G1tgt to the limit acceleration Glmt. This prevents the vehicle's acceleration (VA) from exceeding the threshold.

[0321] <Deceleration Control Routine>

[0322] The CPU executes at regular intervals. Figure 13A The flowchart shows the deceleration control routine.

[0323] Therefore, when the specified time is reached, the CPU starts from... Figure 13A The process begins at step 1300 and proceeds to step 1310. In step 1310, the CPU determines whether the value of the first warning flag Xab1 is "1".

[0324] If the value of the first warning flag Xab1 is "0", the CPU determines "No" in step 1310 and proceeds to step 1315. In step 1315, the CPU determines whether the value of the second warning flag Xab2 is "1".

[0325] If the value of the second warning flag Xab2 is "0", the CPU determines "No" in step 1315 and proceeds to step 1320. In step 1320, the CPU determines whether the value of the third warning flag Xab3 is "1".

[0326] When the value of the third warning flag Xab3 is "0", the CPU determines "No" in step 1320 and proceeds to step 1323. In step 1323, the CPU sets the second target acceleration G2tgt to "infinity" and proceeds to step 1395, temporarily ending the current routine. Therefore, when the values ​​of any one of the first warning flag Xab1, the second warning flag Xab2, and the third warning flag Xab3 are all "0", the second target acceleration G2tgt is set to "infinity" in step 1323. Thus, in Figure 13B In the target acceleration transmission routine shown, the second target acceleration G2tgt will not be sent to the engine ECU 30 and brake ECU 40, while the first target acceleration G1tgt will be sent to the engine ECU 30 and brake ECU 40.

[0327] If the value of the first warning flag Xab1 is "1" when the CPU enters step 1310, the CPU determines "yes" in step 1310 and proceeds to step 1325. In step 1325, the CPU sets the second target acceleration G2tgt to the first acceleration Gab1, proceeds to step 1395, and temporarily terminates this routine.

[0328] If the value of the second warning flag Xab2 is "1" when the CPU enters step 1315, the CPU determines "yes" in step 1315 and proceeds to step 1335. In step 1335, the CPU sets the second target acceleration G2tgt to the second acceleration Gab2, proceeds to step 1395, and temporarily terminates this routine.

[0329] If the value of the third warning flag Xab3 is "1" when the CPU enters step 1320, the CPU determines "yes" in step 1320 and proceeds to step 1340. In step 1340, the CPU activates the EPB and sets the second target acceleration G2tgt to "the third acceleration Gab3, which is set to a specified negative value". After this, the CPU proceeds to step 1395, temporarily ending this routine.

[0330] <Target Acceleration Transmission Routine>

[0331] The CPU executes at regular intervals. Figure 13B The flowchart shows the target acceleration transmission routine.

[0332] Therefore, when the specified time is reached, the CPU starts from... Figure 13B The process begins at step 1400 and proceeds to step 1405. In step 1405, the CPU determines whether the value of the ACC flag Xacc is "1".

[0333] If the value of the ACC identifier Xacc is "0", the CPU determines "no" in step 1405, proceeds to step 1495, and temporarily terminates this routine.

[0334] If the value of the ACC flag Xacc is "1", the CPU determines "yes" in step 1405 and proceeds to step 1410. In step 1410, the CPU determines whether the first target acceleration G1tgt is less than the second target acceleration G2tgt.

[0335] If the first target acceleration G1tgt is less than the second target acceleration G2tgt, the CPU determines "yes" in step 1410 and proceeds to step 1415. In step 1415, the CPU sends the first target acceleration G1tgt to the engine ECU 30 and brake ECU 40. After this, the CPU proceeds to step 1495, temporarily ending the current routine.

[0336] If the first target acceleration G1tgt is greater than or equal to the second target acceleration G2tgt, the CPU determines "No" in step 1410 and proceeds to step 1420. In step 1420, the CPU sends the second target acceleration G2tgt to the engine ECU 30 and brake ECU 40. After this, the CPU proceeds to step 1495, temporarily ending the current routine.

[0337] As described above, when the driver is in a relaxed state, the VCECU 20 does not perform deceleration control, but instead performs acceleration suppression control. This reduces the likelihood of a sudden decrease in the distance to following vehicles. Furthermore, since the vehicle's acceleration (VA) is suppressed during the driver's relaxed state, the possibility of driver anxiety is reduced. Additionally, the possibility of driver anxiety caused by sudden changes in vehicle acceleration due to deceleration control is also reduced.

[0338] The present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

[0339] (First variation)

[0340] According to the VCECU 20 involved in this variation, even from Figure 2 Before the second determination time Td2, starting from the time t1 shown, if the "relationship between the object and the vehicle (positional relationship)" meets the specified conditions, it is also determined that the dispersion condition is met, the second attention-awakening notification is issued, and acceleration suppression control is executed.

[0341] exist Figure 14 At time t8, VCECU 20 determines that there is a preceding vehicle PV and initiates follow control. Additionally, at time t8, after the first determination time Td1 has elapsed since the driver was detected to be in a distracted state, VCECU 20 issues the first attention alert notification.

[0342] At time t9, before the second determination time Td2 from time t8, VCECU 20 cannot detect the preceding vehicle PV. In this case, VCECU 20 switches the ACC control from follow control to cruise control.

[0343] At any point between time t8 and time t9, the driver of the preceding vehicle PV notices the road construction barrier RCF and begins a lane change. The driver of vehicle VA, being in a distracted state, fails to notice the road construction barrier RCF. By switching ACC control to cruise control at time t9, vehicle VA may accelerate. This acceleration could cause vehicle VA to rapidly approach the road construction barrier RCF, potentially causing unease to the driver who is returning to a normal driving state.

[0344] In this variation, when the VCECU 20 does not detect the preceding vehicle PV at time t9, even if the second determination time Td2 has elapsed since time t8, the aforementioned condition is still met. The VCECU 20 determines that the sluggish condition is met, issues a second attention alert notification, and executes acceleration suppression control. This prevents the vehicle VA from accelerating due to the failure to detect the preceding vehicle PV and the switch from follow control to constant speed control, thus reducing the likelihood of the vehicle VA rapidly approaching the road construction fence RCF.

[0345] In this variant, the CPU of VCECU 20 executes [the command] at specified intervals. Figure 15 The first attention-awakening notification routine shown is used instead Figure 6 The first attention-awakening notification routine is shown. Additionally, in Figure 15 In the middle, to conduct with Figure 6 The steps shown are the same as those for processing steps assigned to... Figure 6 The same labels are used, and the descriptions are omitted.

[0346] When the CPU reaches the specified time interval, it starts from... Figure 15 The process begins at step 1500. If the second decision time Td2 has not elapsed since the start of the first attention notification, the CPU... Figure 15 In steps 605 and 608 shown, the determination is "yes". Figure 15 In step 610 shown, the determination is "No". Figure 15 In step 635 shown, the determination is "yes". After this, the CPU executes... Figure 15 Step 640 shown, in Figure 15 If the determination in step 645 is "yes", then steps 1505 to 1515 are executed sequentially.

[0347] Step 1505: The CPU obtains camera object information from the camera device 22.

[0348] Step 1510: The CPU obtains radar object information from the millimeter-wave radar device 23.

[0349] Step 1515: The CPU determines, based on the camera object information and radar object information, whether the state of detecting the preceding vehicle PV (detection state) has changed to the state of not detecting the preceding vehicle PV (non-detection state).

[0350] When the CPU changes from a detection state to a non-detection state, it determines that the scatter condition has been met. In this case, the CPU determines "yes" in step 1515 and executes... Figure 15 The steps 675 and 680 are shown. After this, the CPU proceeds to step 1595, temporarily terminating this routine.

[0351] On the other hand, if there is no change from the detection state to the non-detection state, the CPU determines "no" in step 1515 and proceeds to... Figure 15 Step 650 is shown.

[0352] As described above, even if the second determination time Td2 has elapsed since the start of the first attention-awakening notification, if the VCECU 20 determines that the lapse condition is met and executes acceleration suppression control if the previously detected preceding vehicle PV is no longer detected, it can reduce the likelihood of vehicle VA acceleration caused by switching from follow control to cruise control when the driver is in a lapsed state.

[0353] The conditions specified above are not limited to those described above. Any condition that holds true when the relationship between an object in front of the vehicle VA and the vehicle VA changes, thereby increasing the driver's need for monitoring compared to "before the relationship between the object and the vehicle VA changed," is acceptable. For example, the conditions specified above could also be conditions that hold true when the VCECU 20 changes from a non-detection state to a detection state of the preceding vehicle PV.

[0354] Alternatively, the above-mentioned conditions can also be met when the time to collision (TTC) between the vehicle and the object is below a specified threshold time. The time to collision is obtained by dividing the distance between the vehicle and the object by the relative velocity of the object.

[0355] Alternatively, the aforementioned conditions can also be met when a pedestrian is detected in a specified area in front of the vehicle VA.

[0356] (Second variation)

[0357] In this variation, the VCECU 20 determines whether the inattention condition is met after detecting that the driver is in an inattentive state, regardless of whether ACC is being executed. Specifically, the CPU does not execute the first attention alert notification routine. Figure 6Instead of step 605, the CPU proceeds to step 610. Similarly, the CPU does not execute the second attention notification routine. Figure 7 Instead of step 705, proceed to step 710.

[0358] Furthermore, under the condition of dispersion, VCECU 20 performs acceleration suppression control regardless of whether ACC is being executed. Specifically, in addition to executing... Figure 12 In addition to the ACC acceleration setting routine shown, it also executes Figure 16 The acceleration setting routine is shown.

[0359] <Acceleration Setting Routine>

[0360] The CPU executes at regular intervals. Figure 16 The acceleration setting routine is shown in the flowchart. Additionally, in Figure 16 In the middle, to conduct with Figure 12 The steps shown are the same as those for processing steps assigned to... Figure 12 The same labels are used, and the descriptions are omitted.

[0361] Therefore, when the specified time is reached, the CPU starts from... Figure 16 The process begins at step 1600 and proceeds to step 1605. In step 1605, the CPU determines whether the value of the ACC flag Xacc is "0".

[0362] If the value of the ACC flag Xacc is "0", the CPU determines "yes" in step 1605 and proceeds to step 1610. In step 1610, the CPU sets the first target acceleration G1tgt to the driver's acceleration Gdr and proceeds to... Figure 16 Step 1230 is shown. When the value of the second attention-awakening flag Xsa2 is "0", the CPU... Figure 16 If the result in step 1230 is "No", proceed to step 1695 and temporarily end this routine.

[0363] On the other hand, when the value of the second attention-awakening flag Xsa2 is "1", the CPU... Figure 16 In step 1230 shown, the determination is "yes". Figure 16 In step 1240 shown, the limiting acceleration Glmt is set to "0", and then proceeds to... Figure 16 Step 1245 shows determining whether the first target acceleration G1tgt (driver acceleration Gdr) is greater than the limit acceleration Glmt.

[0364] When the driver's acceleration Gdr is greater than the limit acceleration Glmt, the CPU... Figure 16If the condition in step 1245 is "yes", proceed to... Figure 16 In step 1250, the first target acceleration G1tgt is set to the limiting acceleration Glmt. After this, the process proceeds to step 1695, temporarily ending this routine.

[0365] On the other hand, when the driver's acceleration Gdr is below the limiting acceleration Glmt, the CPU... Figure 16 If the result in step 1245 is "No", proceed to step 1695 and temporarily end this routine.

[0366] On the other hand, if the value of the ACC flag Xacc is "1", the CPU determines "no" in step 1605, proceeds to step 1695, and temporarily terminates this routine.

[0367] Furthermore, in this variant, the CPU in Figure 13B In the target acceleration transmission routine shown, step 1405 is not executed. Instead, step 1410 is entered regardless of the value of the ACC flag Xacc, transmitting the smaller of the first target acceleration G1tgt and the second target acceleration G2tgt, namely, the target acceleration Gtgt. If the value of the ACC flag Xacc is "1", then the first target acceleration G1tgt is... Figure 12 The example shown is configured such that if the value of the ACC flag Xacc is "0", then the first target acceleration G1tgt is... Figure 16 The example shown is configured as follows.

[0368] (Third variation)

[0369] In the above implementation, when the driver's inattentive state lasts for a first determination time Td1, a first attention-awakening notification is initiated. If the inattentive state lasts for a second determination time Td2 from the start of the first attention-awakening notification, the VCECU 20 determines that the inattentive condition is met and performs a second attention-awakening notification and acceleration suppression control.

[0370] In this variation, when the driver's apathy persists for the first determination time Td1, the first attention-awakening notification is not issued. Instead, the apathy condition is determined to be met, and the second attention-awakening notification and acceleration suppression control are issued.

[0371] (Fourth variation)

[0372] exist Figure 8In step 825, if the steering torque Tr is greater than or equal to the threshold torque Trth, the CPU determines that the driver is holding the steering wheel SW. However, the determination of whether the steering wheel SW is being held is not limited to this. For example, the control device 10 includes a contact sensor configured to detect contact between the driver's hand and the steering wheel SW. The CPU can also determine whether the driver is holding the steering wheel SW based on the detection signal from the contact sensor. Alternatively, the CPU can determine whether the driver is holding the steering wheel SW based on the driver's seat image.

[0373] (Fifth variation)

[0374] In the above embodiments, the VCECU 20 determines that the driver is in an abnormal state when the inattentive condition is met and the inattentive state has lasted for an abnormal determination time Tad from the start time of the second attention-awakening notification, but is not limited thereto. In this modified example, the VCECU 20 determines that the driver is in an abnormal state when at least one of the following conditions—other than the inattentive state, the accelerator pedal not being operated, and the steering wheel not being held—has lasted for an abnormal determination time Tad from the start time of the second attention-awakening notification.

[0375] The accelerator pedal is not in operation when the driver does not press the accelerator pedal 32a (i.e., the driver's foot is separated from the accelerator pedal 32a).

[0376] Steering wheel non-holding condition is when the driver does not hold the steering wheel (SW).

[0377] (Sixth variation)

[0378] The control device 10 only needs to have at least one of the camera device 22 and the millimeter-wave radar device 23. Sometimes the "sensor for detecting objects" provided by the control device 10 is also referred to as an "object sensor".

[0379] The millimeter-wave radar device 23 can be any remote sensing device that can detect targets by transmitting wireless media instead of millimeter waves and receiving reflected wireless media.

[0380] (Seventh variation)

[0381] This control device 10 can be applied not only to the aforementioned engine vehicles, but also to hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), fuel cell electric vehicles (FCEV), and electric vehicles (BEV).

[0382] The present invention can also be understood as a computer-readable non-temporary storage medium storing a vehicle control program for implementing the functions of the vehicle control device 10 described above.

[0383] Label Explanation

[0384] 10: Vehicle control unit; 20: Vehicle control ECU; 24: Driver's seat camera unit; 30: Engine ECU; 40: Brake ECU.

Claims

1. A vehicle control device comprising a control unit capable of communicating with a driver's seat camera device and controlling the acceleration and deceleration of a vehicle, the driver's seat camera device being configured to acquire a driver's seat image by photographing the driver seat of the vehicle. The control unit is configured as follows: If the driver's inattentiveness, detected based on the driver's seat image, persists for a predetermined first period of time, acceleration suppression control is executed to inhibit the vehicle's acceleration. If the diffuse state persists for a predetermined second time longer than the first time, deceleration control is executed to slow down and stop the vehicle. If the driver is no longer in the relaxed state after the start time of the acceleration suppression control, and the relaxed state has not continued for a predetermined third determination time, the acceleration suppression control ends, and acceleration limit control of the vehicle is executed in a manner that ensures that the time derivative of the vehicle's acceleration, i.e., the jerk, is not greater than a predetermined threshold.

2. The vehicle control device according to claim 1, wherein, The control unit is configured as follows: If the state of inattentiveness persists for a predetermined first determination time, a first attention-engaging notification is initiated to enhance the attention level. If the state of apathy persists for a predetermined second determination time from the start time of the first attention-providing notification, it is determined that the state of apathy has persisted for the first time, and the acceleration suppression control is initiated.

3. The vehicle control device according to claim 1 or 2, wherein, The control unit is configured as follows: At the start of the acceleration inhibition control, a second arousal attention notification is initiated to enhance the attention level. If the state of apathy persists for a predetermined third determination time from the start time of the second attention-awakening notification, it is determined that the state of apathy has persisted for more than the second time, and the deceleration control is initiated.

4. The vehicle control device according to claim 1, wherein, The control unit is configured as follows: Once the deceleration control is executed, it continues even if the driver is no longer in the relaxed state, until the prescribed operation is performed.

5. The vehicle control device according to claim 1, wherein, It also has an object sensor that detects objects present in front of the vehicle. The control unit is configured as follows: If the relationship between the object and the vehicle detected by the object sensor changes, thereby causing a predetermined condition to be met, the acceleration suppression control is performed even if the diffuse state does not continue for the first time period, wherein the predetermined condition is met when the need for monitoring by the driver of the vehicle increases compared to before the relationship change.

6. The vehicle control device according to claim 5, wherein, The control unit is configured as follows: If the object sensor does not detect a vehicle traveling in front of the vehicle, constant speed control is performed to match the vehicle's acceleration with a target acceleration used to match the vehicle's speed with a set speed. If the object sensor detects the preceding vehicle, then vehicle distance maintenance control is performed to match the vehicle's acceleration with a target acceleration used to maintain the vehicle-to-vehicle distance at a set distance. If the object sensor no longer detects the previously detected forward vehicle, the predetermined condition is met, and the acceleration suppression control is executed.

7. A vehicle equipped with a vehicle control device according to any one of claims 1 to 6.

8. An acceleration / deceleration control method, which controls the acceleration and deceleration of a vehicle based on the state of a driver seated in the driver's seat of the vehicle, the acceleration / deceleration control method comprising: The first step is to perform acceleration suppression control to suppress the acceleration of the vehicle if, based on an image of the driver seat obtained by taking a picture of the driver seat via a driver seat camera device, the driver's inattentiveness to driving has persisted for a predetermined first time. as well as The second step involves, if the diffuse state persists for a predetermined second time longer than the first time, executing deceleration control to slow down and stop the vehicle. If, after the start of the acceleration suppression control, the relaxed state has not continued for a predetermined third determination time and the driver is no longer in the relaxed state, the acceleration suppression control ends, and acceleration limit control of the vehicle is executed in a manner that ensures the time derivative of the vehicle's acceleration, i.e., the jerk, is not greater than a predetermined threshold.

9. A non-temporary storage medium storing a vehicle control program applicable to a vehicle and controlling the acceleration and deceleration of the vehicle based on the state of a driver seated in the vehicle, the vehicle control program causing a computer in the vehicle to perform the following steps: The first step involves performing acceleration suppression control to inhibit the vehicle's acceleration if, based on an image of the driver's seat obtained by capturing the image of the driver seat via a driver's seat camera device, the driver's inattentiveness towards driving persists for a predetermined first time; and... The second step involves, if the diffuse state persists for a predetermined second time longer than the first time, executing deceleration control to slow down and stop the vehicle. in, If the driver is no longer in the relaxed state after the start time of the acceleration suppression control, and the relaxed state has not continued for a predetermined third determination time, the acceleration suppression control ends, and acceleration limit control of the vehicle is executed in a manner that ensures that the time derivative of the vehicle's acceleration, i.e., the jerk, is not greater than a predetermined threshold.

Images