Vehicle control device

Abstract

The invention provides a vehicle control device which ensures safety of automatic driving without compromising convenience of automatic driving. A control device (80) for a vehicle (1) is provided with an automatic driving control unit (90) that performs automatic driving for automatically performing a driving operation of the vehicle (1). The automatic driving control unit (90) is provided with: a holding request unit that requests a driver to hold a steering wheel when a predetermined driving scenario is reached; a holding state determination unit that determines whether the steering wheel holding state is a one-hand holding state or a two-hand holding state; and a gripping completion determination unit that determines, on the basis of the steering wheel gripping state, whether or not the steering wheel is in a gripping completion state in which gripping of the steering wheel is completed. The gripping completion determination unit determines whether to be a gripping completion state or to be a gripping completion state only in the case of a double-hand gripping state, in accordance with a driving scenario change in which the gripping completion state is determined at least in the single-hand gripping state or in the case of a double-hand gripping state.

Description

[0001] This application is a divisional application of the invention patent application with application number 202110792543.1, application date July 14, 2021, and invention name “Vehicle Control Device”. Technical Field

[0002] The invention relates to a control device for a vehicle. Background Art

[0003] As a conventional vehicle control device, Patent Document 1 discloses a control device having a steering wheel holding state determination unit, which determines, based on input information from the driver on the steering wheel, whether the driver's steering wheel holding state is a non-holding state, a first holding state in which the driver's hands are not gripping the steering wheel but are in contact with the steering wheel, or a second holding state in which the steering wheel is held more strongly than in the first holding state.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-116429 Summary of the invention

[0007] In automatic driving, the driver is sometimes required to hold the steering wheel in a predetermined driving scenario. In such a driving scenario, there are cases where the safety of automatic driving can be ensured with one hand instead of both hands. Therefore, if the driver is required to hold the steering wheel with both hands in such a case, the convenience of automatic driving may be impaired.

[0008] The present invention has been made with a view to such problems, and its object is to ensure the safety of autonomous driving without compromising the convenience of autonomous driving.

[0009] In order to solve the above-mentioned problems, a vehicle control device of one embodiment of the present invention is provided with an automatic driving control unit, which implements automatic driving of the vehicle driving operation. The automatic driving control unit includes: a holding request unit, which requires the driver to hold the steering wheel when a predetermined driving scene is reached; a holding state determination unit, which determines whether the steering wheel holding state is a single-hand holding state or a double-hand holding state based on the input information from the driver for the steering wheel; and a holding completion determination unit, which determines whether the holding of the steering wheel is completed based on the steering wheel holding state when the steering wheel is required to be held. The holding completion determination unit determines whether the state is a holding completion state based on whether the driving scene changes to at least a single-hand holding state or a holding completion state only when the state is a double-hand holding state.

[0010] According to the solution of the present invention, whether the control is determined to be completed in a single-handed state or a two-handed state can be changed according to the driving scene, so there is no need to unnecessarily require the driver to control the steering wheel with both hands, and the driver can be required to control the steering wheel with both hands when it is really necessary. Therefore, the safety of automatic driving can be ensured without compromising the convenience of automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the structure of an automatic driving system for a vehicle according to one embodiment of the present invention.

[0012] Figure 2 This is a schematic external view of a vehicle equipped with an automatic driving system according to an embodiment of the present invention.

[0013] Figure 3 This is a schematic internal view of a vehicle equipped with an automatic driving system according to an embodiment of the present invention.

[0014] Figure 4 This is a flowchart illustrating the automatic driving control according to one embodiment of the present invention.

[0015] (Explanation of symbols)

[0016] 1: own vehicle (vehicle); 61: information providing device; 80: electronic control unit (control device). DETAILED DESCRIPTION

[0017] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are given to the same components.

[0018] Figure 1 It is a schematic configuration diagram of an automatic driving system 100 for a vehicle according to one embodiment of the present invention. Figure 2 It is a schematic external view of a host vehicle 1 equipped with the automatic driving system 100 according to the present embodiment. Figure 3 This is a schematic internal view of the host vehicle 1 equipped with the automatic driving system 100 according to the present embodiment.

[0019] like Figure 1 As shown, the automatic driving system 100 of the present embodiment includes a surrounding environment information acquisition device 10, a vehicle information acquisition device 20, a driver information acquisition device 30, a map database 40, a storage device 50, a human-machine interface (Human Machine Interface; hereinafter referred to as "HMI") 60, a navigation device 70 and an electronic control unit 80.

[0020] The surrounding environment information acquisition device 10 is a device for acquiring information related to the surrounding environment state of the host vehicle 1, such as obstacles around the host vehicle (e.g., buildings, such as preceding vehicles, following vehicles, oncoming vehicles, stopped vehicles, curbstones, litter, pedestrians, etc.) and climate (hereinafter referred to as "surrounding environment information"). Figures 1 to 3 As shown, the surrounding environment information acquisition device 10 of the present embodiment includes a LiDAR (Light Detection And Ranging) 11 , a millimeter wave radar sensor 12 , an external camera 13 , and an external information receiving device 14 .

[0021] The laser radar 11 uses laser to detect the roads and obstacles around the vehicle. Figure 2 As shown, in this embodiment, the laser radar 11 is installed on the roof of the vehicle 1. The laser radar 11 sequentially irradiates the entire surrounding of the vehicle 1 with laser light, and measures the distance to the road and obstacles around the vehicle based on the reflected light. Then, the laser radar 11 generates a three-dimensional image of the road and obstacles around the vehicle 1 based on the measurement result, and sends the information of the generated three-dimensional image to the electronic control unit 80.

[0022] In addition, there is no particular limitation on the installation location of the laser radar 11, as long as it is a location that can obtain the information required for generating a three-dimensional image. For example, it can be installed in the grille of the vehicle 1, inside lights such as headlights and brake lights, or in the vehicle body (frame) of the vehicle 1.

[0023] The millimeter wave radar sensor 12 uses radio waves to detect obstacles around the vehicle at a greater distance than the laser radar 11. Figure 2 As shown, in this embodiment, the millimeter wave radar sensor 12 is respectively installed on the front bumper and the rear bumper of the vehicle 1. The millimeter wave radar sensor 12 transmits radio waves to the surroundings of the vehicle 1 (in this embodiment, the front, rear and sides of the vehicle 1), and measures the distance to the obstacle around the vehicle and the relative speed to the obstacle based on the reflected wave. Then, the millimeter wave radar sensor 12 sends its measurement results to the electronic control unit 80 as the surrounding information of the vehicle.

[0024] In addition, there is no particular restriction on the installation location of the millimeter wave radar sensor 12, as long as it can obtain the necessary information about the surroundings of the vehicle. For example, it can be installed inside the grille, headlights, brake lights, etc. of the vehicle 1, or it can be installed on the main body (frame) of the vehicle 1.

[0025] The external camera 13 takes a picture of the front of the vehicle 1. Figure 2As shown, in the present embodiment, the external camera 13 is installed at the center of the front end of the roof of the vehicle 1. The external camera 13 detects road information in front of the vehicle such as obstacle information in front of the vehicle, lane width and road shape of the driving lane, road signs, presence or absence of white lines and the state of traffic lights, driving information of the vehicle 1 such as yaw angle (relative direction of the vehicle to the driving lane) and offset position of the vehicle from the center of the driving lane, and weather information around the vehicle such as rain, snow, and fog by performing image processing of the image captured in front of the vehicle. Then, the external camera 13 sends the detected shooting information to the electronic control unit 80.

[0026] The location where the exterior camera 13 is installed is not particularly limited as long as it can capture images of the front of the vehicle 1. For example, it may be installed at the upper center of the rear surface of the windshield in the vehicle.

[0027] The external information receiving device 14 receives external information such as congestion information, weather information (rain, snow, fog, wind speed, etc.), road construction information, etc., transmitted from an external communication center such as a road traffic information communication system center, and transmits the received external information to the electronic control unit 80 .

[0028] The vehicle information acquisition device 20 is a device for acquiring information related to the state of the vehicle 1 such as the speed and acceleration, posture, and current position of the vehicle 1 (hereinafter referred to as "vehicle information"). Figure 1 As shown, the vehicle information acquisition device 20 of the present embodiment includes a vehicle speed sensor 21 , an acceleration sensor 22 , a yaw rate sensor 23 , and a GPS receiver 24 .

[0029] The vehicle speed sensor 21 is a sensor for detecting the speed of the host vehicle 1. The vehicle speed sensor 21 transmits the detected vehicle speed information of the host vehicle 1 to the electronic control unit 80.

[0030] The acceleration sensor 22 is a sensor for detecting the acceleration of the host vehicle 1 during acceleration or braking. The acceleration sensor 22 transmits the detected acceleration information of the host vehicle 1 to the electronic control unit 80.

[0031] The yaw rate sensor 23 is a sensor for detecting the posture of the host vehicle 1. Specifically, it detects the speed of change of the yaw angle when the host vehicle 1 turns, that is, the rotational angular velocity (yaw rate) of the host vehicle 1 around the vertical axis. The yaw rate sensor 23 sends the detected posture information of the host vehicle 1 to the electronic control unit 80.

[0032] The GPS receiver 24 receives signals from three or more GPS satellites, determines the latitude and longitude of the host vehicle 1 , and detects the current position of the host vehicle 1 . The GPS receiver 24 transmits the detected current position information of the host vehicle 1 to the electronic control unit 80 .

[0033] The driver information acquisition device 30 is a device for acquiring information related to the state of the driver of the vehicle 1 (hereinafter referred to as "driver information"). Figure 1 as well as Figure 3 As shown, the driver information acquisition device 30 of the present embodiment includes a driver monitoring camera 31 and a grip state detection sensor 32 .

[0034] The driver monitoring camera 31 is mounted on the upper surface of the steering column cover and captures the appearance of the driver. The driver monitoring camera 31 processes the captured image of the driver to detect the driver's appearance information such as the driver's expression (the direction of the driver's face, the degree of opening and closing of the eyes, etc.) and posture. Then, the driver monitoring camera 31 transmits the detected driver's appearance information to the electronic control unit 80.

[0035] The gripping state detection sensor 32 is a sensor for detecting input information on the steering wheel from the driver. Specifically, the gripping state detection sensor 32 detects, as input information on the steering wheel from the driver, whether the driver's gripping state of the steering wheel is an ungripped state in which the driver has removed his hands from the steering wheel, a one-handed gripping state in which the steering wheel is gripped with one hand, or a two-handed gripping state in which the steering wheel is gripped with both hands. The gripping state detection sensor 32 sends the input information on the steering wheel detected from the driver, that is, information on whether the driver's gripping state of the steering wheel is an ungripped state, a one-handed gripping state, or a two-handed gripping state, to the electronic control unit 80.

[0036] In the present embodiment, electrostatic capacitance touch sensors separately built into the left and right sides of the steering wheel are used as the grip state detection sensors 32 , thereby being able to detect whether the grip state is one-handed or two-handed.

[0037] The map database 40 is a database related to map information. The map database 40 is stored in, for example, a hard disk drive (HDD) mounted on the vehicle. The map information includes information such as the location of roads, road shape information (such as the types of curves and straight sections, the curvature of curves, etc.), location information of intersections and branch points, and road types.

[0038] The storage device 50 stores a road map dedicated to automatic driving. The electronic control unit 80 creates a road map dedicated to automatic driving based on the three-dimensional image generated by the laser radar 11, and the electronic control unit 80 always updates or periodically updates the road map.

[0039] The HMI 60 is an interface for inputting and outputting information between the driver or vehicle occupant and the automatic driving system 100. The HMI 60 of this embodiment includes: an information providing device 61 for providing various information to the driver; a microphone 62 for recognizing the driver's voice; and an input operator 63 such as a touch panel and an operation button for the driver to perform input operations.

[0040] The information providing device 61 includes a display 611 for displaying text information and image information, and a speaker 612 for emitting sound.

[0041] The navigation device 70 is a device that guides the host vehicle 1 to the destination set by the driver via the HMI 60. The navigation device 70 calculates a travel route to the destination based on the current position information of the host vehicle 1 detected by the GPS receiver 24 and the map information of the map database 40, and sends information related to the calculated travel route to the electronic control unit 80 as navigation information.

[0042] The electronic control unit 80 is a microcomputer including a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), an input port, and an output port which are interconnected via a bidirectional bus.

[0043] The electronic control unit 80 includes an automatic driving control unit 90. When the driver switches from a manual driving mode (a mode in which the driver performs driving operations related to acceleration, steering, and braking) to an automatic driving mode, the automatic driving control unit 90 automatically performs driving operations related to acceleration, steering, and braking to enable the vehicle 1 to drive autonomously.

[0044] The automatic driving control unit 90 creates a driving plan based on obstacle information (preceding vehicle, spilled objects, etc.) in front of the host vehicle, lane width of the road, road information in front of the host vehicle such as road shape and number of lanes, and speed information of the host vehicle 1, and sets a target driving route, target speed, etc. for the host vehicle 1 when driving on the road in front of the host vehicle in the driving plan. The driving plan is represented, for example, as a collection of target positions of the host vehicle 1 at each time after a predetermined time from the current time.

[0045] Then, the automatic driving control unit 90 controls various control parts required for performing driving operations related to acceleration, steering and braking according to the prepared driving plan, based on the surrounding environment information and the vehicle information, and automatically implements the driving operations of the vehicle 1. Moreover, when controlling the various control parts, it is sometimes based on various information such as driver information as needed.

[0046] However, in the autonomous driving after switching to the autonomous driving mode, there is a driving scenario in which, in order to ensure safety in the autonomous driving, it is best to require the driver to hold the steering wheel.

[0047] Such driving scenarios include scenarios where the driver needs to be ready to immediately perform driving operations related to steering (steering wheel operations) when merging into a main road or when a preceding vehicle may approach. Thus, when the driver needs to hold the steering wheel because there is a possibility of performing driving operations related to steering, it is best to hold the steering wheel with both hands.

[0048] On the other hand, as driving scenarios where it is best to hold the steering wheel, in addition to the above driving scenarios, there can also be cited scenarios where the driver needs to be ready to immediately perform driving operations related to braking in order to cope with deterioration of road conditions caused by, for example, rain, snow, ice, etc. (increase in braking distance), or scenarios where the driver's state cannot be grasped due to backlight or failure of the driver monitoring camera, etc., and it is desired to hold the steering wheel. In such scenarios, it is not necessary to hold the steering wheel with both hands, and safety in automatic driving can be ensured by holding it with one hand. Therefore, if it is required to hold the steering wheel with both hands in such driving scenarios, there is a possibility that the convenience of automatic driving will be impaired.

[0049] Therefore, in the present embodiment, the automatic driving control unit 90 is configured to include: a holding request unit 91, which requires the driver to hold the steering wheel when a predetermined driving scenario occurs; a holding state determination unit 92, which determines whether the steering wheel holding state is a one-hand holding state or a two-hand holding state based on input information from the driver regarding the steering wheel; a holding completion determination unit 93, which determines whether the steering wheel holding state is in a holding completion state when the driver is required to hold the steering wheel based on the steering wheel holding state; and a warning unit 94, which provides a predetermined warning to the driver via the information providing device 61.

[0050] When the gripping completion determination unit 93 determines whether the gripping is completed, it changes whether the gripping is completed when at least the gripping is in one-handed state or when the gripping is completed only when both hands are in the same state, depending on the driving scene.

[0051] In this way, by changing whether the control is determined to be completed in a one-handed control state or a two-handed control state according to the driving scene, it is not necessary to unnecessarily require the driver to control the steering wheel with both hands, and it is possible to require the driver to control the steering wheel with both hands when it is really necessary. Therefore, the safety of automatic driving can be ensured without compromising the convenience of automatic driving. The automatic driving control of this embodiment is described below.

[0052] Figure 4 This is a flowchart for explaining the automatic driving control of the present embodiment executed by the electronic control unit 80. The electronic control unit 80 repeatedly executes this routine at a predetermined calculation cycle in the automatic driving mode.

[0053] In step S1, the electronic control unit 80 determines whether it is necessary to request the driver to hold the steering wheel. In this embodiment, the electronic control unit 80 determines whether it is a predetermined driving scene.

[0054] As the predetermined driving scenarios, for example, the following scenarios (1) to (4) can be cited.

[0055] (1) Scenarios that require the driver to prepare for steering operations, such as when merging onto a main road or when there is a possibility that a leading vehicle is approaching.

[0056] (2) Scenarios where attention needs to be paid to driving in order to improve the driver’s risk avoidance capability (the driver’s ability to perform driving operations to avoid danger, etc.), such as when the driver is judged to be drowsy or distracted for a long period of time.

[0057] (3) Scenarios where the driver is required to prepare for braking-related driving operations (i.e., prepare to step on the brake pedal), such as when the braking distance may be extended due to changes in road conditions caused by rain, snow, ice, etc.

[0058] (4) A scenario where the driver's condition cannot be understood due to backlight, a malfunction of the driver monitoring camera 31 , or the like.

[0059] When the current driving scene corresponds to any one of the scenes (1) to (4) above, the electronic control unit 80 determines that it is necessary to request the driver to hold the steering wheel, and enters the process of step S2. On the other hand, if the current driving scene does not correspond to any of the scenes (1) to (4) above, the electronic control unit 80 determines that it is not necessary to request the driver to hold the steering wheel, and ends the current process.

[0060] In step S2, the electronic control unit 80 determines whether the steering wheel holding state is a two-handed holding state based on the input information on the steering wheel from the driver detected by the holding state detection sensor 32. If the steering wheel holding state is a two-handed holding state, the electronic control unit 80 proceeds to the processing of step S3. On the other hand, if the steering wheel holding state is not a two-handed holding state (that is, if it is a non-holding state or a one-handed holding state), the electronic control unit 80 proceeds to the processing of step S4.

[0061] In step S3, the electronic control unit 80 determines that the gripping of the steering wheel is completed. At this time, the driver can also be warned to continue to hold the steering wheel. The warning method is not particularly limited, for example, it can be performed by sound, text, or by visual methods such as flashing or moving an icon. In addition, when the first warning implementation flag F1 described later is set to 1, the electronic control unit 80 returns the flag F1 to the initial value of 0, and also returns the timer described later to the initial value of 0.

[0062] In step S4, the electronic control unit 80 determines whether the steering wheel holding state is a one-hand holding state based on the input information on the steering wheel from the driver detected by the holding state detection sensor 32. If the steering wheel holding state is a one-hand holding state, the electronic control unit 80 proceeds to the process of step S5. On the other hand, if the steering wheel holding state is not a one-hand holding state (that is, if it is a non-holding state), the electronic control unit 80 proceeds to the process of step S11.

[0063] In step S5, the electronic control unit 80 determines whether the current driving scene is a scene where it is best to hold the steering wheel with both hands. In this embodiment, if the current driving scene is the scene (1) or (2) above, the electronic control unit 80 determines that it is a scene where it is best to hold the steering wheel with both hands, and enters the processing of step S6. On the other hand, if the current driving scene is the scene (3) or (4) above, the electronic control unit 80 determines that it is a scene where safety in automatic driving can be ensured by holding the steering wheel with at least one hand, and enters the processing of step S3.

[0064] In step S6, the electronic control unit 80 determines whether the first warning implementation flag F1 is set to 0. In the scenario where it is best to hold the steering wheel with both hands, when the driver holds the steering wheel with one hand and the first warning (hereinafter referred to as the first warning) is issued to make the driver hold the steering wheel with both hands, the first warning implementation flag F1 is set to a flag of 1, and the initial value of the first warning implementation flag F1 is set to 0. If the first warning implementation flag F1 is set to 0, the electronic control unit 80 proceeds to the process of step S7. On the other hand, if the first warning implementation flag F1 is set to 1, the electronic control unit 80 proceeds to the process of step S9.

[0065] In step S7, the electronic control unit 80 issues a first warning to the driver via the information providing device 61 to make the driver hold the steering wheel with both hands. The method of the first warning is not particularly limited, but in this embodiment, the electronic control unit 80 displays appropriate text information such as a request to hold the steering wheel with both hands, a picture (for example, visual information such as an icon or animation) on the display 611, and notifies the driver of the same sound information as the text information through the speaker 612.

[0066] In step S8 , the electronic control unit 80 starts counting of a timer for counting the elapsed time from the issuance of the first warning, and sets the first warning issuance flag F1 to 1.

[0067] In step S9, the electronic control unit 80 determines whether the timer is greater than a predetermined value, that is, whether the elapsed time from the implementation of the first warning is greater than the predetermined time. If the elapsed time from the implementation of the first warning is greater than the predetermined time, the electronic control unit 80 proceeds to the processing of step S10. On the other hand, if the elapsed time from the implementation of the first warning is less than the predetermined time, the electronic control unit 80 ends the current processing.

[0068] In step S10, the electronic control unit 80 issues a second warning whose warning level is stronger than the first warning via the information providing device 61, so that the driver can hold the steering wheel with both hands. The method of the second warning is also not particularly limited, but in the present embodiment, the electronic control unit 80 displays appropriate text information and images (such as visual information such as icons and animations) on the display 611, and notifies the driver of the same sound information as the text information through the speaker 612, so that the driver can hold the steering wheel with both hands.

[0069] In step S11, the electronic control unit 80 issues an appropriate warning to the driver via the information providing device 61 so that the driver can hold the steering wheel. The method of the warning is not particularly limited, but in the present embodiment, the electronic control unit 80 displays appropriate text information on the display 611 and notifies the driver of the same voice information as the text information through the speaker 612 so that the driver can hold the steering wheel with both hands (or one hand).

[0070] The electronic control unit 80 (control device) of the vehicle 1 of the present embodiment described above includes an automatic driving control unit 90 for automatically performing the automatic driving operation of the vehicle 1. The automatic driving control unit 90 includes: a grip request unit 91 that requests the driver to grip the steering wheel when a predetermined driving scene occurs; a grip state determination unit 92 that determines whether the grip state of the steering wheel is a one-hand grip state or a two-hand grip state based on input information from the driver regarding the steering wheel; and a grip completion determination unit 93 that determines whether the grip of the steering wheel is a grip completion state based on the grip state of the steering wheel when the driver is required to grip the steering wheel.

[0071] Furthermore, the holding completion determination unit 93 is configured to change whether the holding state is determined as the holding completion state when the driver is in at least a one-hand holding state or when the driver is in a two-hand holding state, depending on the driving scenario. Specifically, the holding completion determination unit 93 is configured to determine the holding completion state only when the steering wheel holding state is a two-hand holding state when the driving scenario requiring the driver to hold the steering wheel is a scenario requiring the driver to prepare for driving operations related to steering or a scenario requiring the driver to improve the risk avoidance ability, and is configured to determine the holding completion state when the steering wheel holding state is at least a one-hand holding state when the driver is in a driving scenario requiring the driver to hold the steering wheel is a scenario requiring the driver to prepare for driving operations related to braking or a scenario where the driver's state cannot be understood.

[0072] In this way, by changing whether the control is determined to be completed in a one-handed control state or a two-handed control state according to the driving scene, it is not necessary to unnecessarily require the driver to control the steering wheel with both hands, and it is possible to require the driver to control the steering wheel with both hands when it is really necessary. Therefore, the safety of autonomous driving can be ensured without compromising the convenience of autonomous driving.

[0073] In addition, the vehicle 1 of the present embodiment includes an information providing device 61 for providing information to the driver, and the automatic driving control unit 90 of the electronic control unit 80 also includes a warning unit 94. When the driver's steering wheel holding state is in a one-hand holding state when the steering wheel holding state determined as the holding completion state is set to a two-hand holding state, the warning unit 94 implements a first warning to the driver via the information providing device 61 so that the driver holds the steering wheel with both hands. The warning unit 94 is configured to implement a second warning with a stronger warning level than the first warning via the information providing device 61 when the steering wheel holding state is still in a one-hand holding state after a predetermined time has passed since the implementation of the first warning.

[0074] Thus, in the scenario where it is best to hold the steering wheel with both hands, when the driver does not hold the steering wheel with both hands, the driver can be warned in stages to hold the steering wheel with both hands. Therefore, it is possible to prevent the driver from suddenly being given a strong warning and feeling uneasy or unhappy.

[0075] The embodiments of the present invention have been described above, but the above embodiments are only a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific structures of the above embodiments.

[0076] For example, in the above embodiment, if the current driving scene is the scene (2) above, it is determined that the driver has completed the control in the two-handed control state. The reason is based on the following experimental results: after it is determined that the driver is drowsy or distracted for a long time, the driver's risk avoidance ability (the driver's ability to avoid danger by driving operations) tends to be temporarily reduced. By making the driver hold the steering wheel with both hands, the driver's risk avoidance ability can be improved. However, in the scene (2) above, it is speculated that even if the driver holds the steering wheel with one hand, the driver's risk avoidance ability is relatively high. Therefore, it is also possible to determine that the driver has completed the control in the one-handed control state when the current driving scene is the scene (2) above.

Claims

1. A vehicle control device, wherein: The control device of the vehicle includes an automatic driving control unit that performs automatic driving of the driving operation of the vehicle. The automatic driving control unit is composed of: When a current driving scene determined based on at least information collected by sensors in the vehicle becomes a predetermined driving scene, requesting the driver to hold the steering wheel; According to the input information related to the driver, determining whether the steering wheel is held in a single-handed state or a double-handed state; According to determining that the steering wheel holding state is the two-hand holding state when the steering wheel is required to be held, determining that the holding state is the holding completion state in which the holding of the steering wheel is completed; determining, based on the determination that the steering wheel holding state is the one-hand holding state when the steering wheel is required to be held, whether the driving scene corresponds to a first type in which the one-hand holding state is sufficient as a holding completion state, or a second type in which the two-hand holding state is required for the holding completion state; According to the determination that the driving scene corresponds to the first type, determining that the steering wheel holding state is the holding completion state; Based on the determination that the driving scenario corresponds to the second type, a warning is issued.

2. The vehicle control device according to claim 1, wherein: The automatic driving control unit is configured to determine that the driving scene corresponds to the second type when the driving scene is a scene requiring the driver to prepare a driving operation related to steering, and determine that the two-handed gripping completion state is required as the gripping completion state.

3. The vehicle control device according to claim 1 or 2, wherein: The automatic driving control unit is configured to determine that the driving scene corresponds to the second type when the driving scene is a scene that requires improvement of the driver's risk avoidance ability, and determine that the two-handed grasping completion state is required as the grasping completion state.

4. A vehicle control method, which is a method for controlling an autonomous vehicle that automatically performs a driving operation, wherein: When a current driving scene determined based on at least information collected by sensors in the vehicle becomes a predetermined driving scene, requesting the driver to hold the steering wheel; According to the input information related to the driver, determining whether the steering wheel is held in a single-handed state or a double-handed state; According to determining that the steering wheel holding state is the two-hand holding state when the steering wheel is required to be held, determining that the holding state is the holding completion state in which the holding of the steering wheel is completed; determining, based on the determination that the steering wheel holding state is the one-hand holding state when the steering wheel is required to be held, whether the driving scene corresponds to a first type in which the one-hand holding state is sufficient as a holding completion state, or a second type in which the two-hand holding state is required for the holding completion state; According to the determination that the driving scene corresponds to the first type, determining that the steering wheel holding state is the holding completion state; Based on the determination that the driving scenario corresponds to the second type, a warning is issued.

Images