Vehicle control device and program

Abstract

To provide a vehicle control device and a program which can improve a function of supporting operation of a vehicle.SOLUTION: A vehicle control device 10 comprises a control part 12 that executes operation support control including emergency stop control of decelerating and then stopping a vehicle 2 when an abnormality occurs on a driver, on the basis of a first detected value showing a state in a vehicle interior of the vehicle. In a state where the emergency stop control is not executed based on a predetermined condition, when determining that a risk that the vehicle collides with an object is above a predetermined level on the basis of a second detected value showing a state of a vehicle exterior of the vehicle and when determining that an occupant in the vehicle other than the driver is performing emergency operation concerning operation of the vehicle on the basis of the first detected value, the control part forcibly executes the emergency stop control, regardless of an operation state of the emergency stop control.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle control device and a program for assisting driving of a vehicle. [Background technology]

[0002] Patent Document 1 describes a vehicle control device that stops a vehicle when an abnormality occurs in the driver of the vehicle. This vehicle control device includes a monitoring unit that monitors the driver's condition, a detection unit that detects environmental information around the vehicle, and a control unit that supports the driver's driving, and the control unit is configured to execute driving support that stops the vehicle on the shoulder of the road based on the detection result of the detection unit when it is determined that an abnormality has occurred in the driver based on the monitoring result of the monitoring unit.

[0003] Furthermore, the vehicle control device is configured to disable a driving assistance function based on an operation by a driver. When the driving assistance function is disabled, the vehicle control device is configured to forcibly enable the driving assistance function if a determination result of a risk of the vehicle contacting an object is equal to or greater than a predetermined value. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-128249 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the vehicle control device described in Patent Document 1, when the driving assistance function is forcibly enabled from a disabled state, depending on the detection conditions for detecting the outside of the vehicle, there is a possibility that the driving assistance function will not operate reliably.

[0006] The present invention has an object to provide a vehicle control device and a program capable of improving a driving assistance function of a vehicle. [Means for solving the problem]

[0007] One aspect of the present invention is a vehicle control device that includes a control unit that executes driving assistance control including emergency stop control that decelerates and stops the vehicle when an abnormality occurs in the driver based on a first detection value that indicates a state inside the vehicle, and when the control unit determines that a risk of contact between the vehicle and an object is at or above a predetermined level based on a second detection value that indicates a state outside the vehicle in a state where the emergency stop control is not executed based on predetermined conditions, and when the control unit determines that an occupant of the vehicle other than the driver is performing an emergency operation related to the driving of the vehicle based on the first detection value, the control unit forcibly executes the emergency stop control regardless of the operating state of the emergency stop control. Effect of the Invention

[0008] According to the present invention, the driving assistance function of a vehicle can be improved. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration of a vehicle control device according to an embodiment; [Diagram 2] 4 is a flowchart showing a process flow of a vehicle control method. [Diagram 3] 4 is a flowchart showing a process flow of a vehicle control method. [Figure 4] 5 is a flowchart showing a process for determining an emergency operation by an occupant. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1, the vehicle system 1 includes a vehicle 2, a vehicle control device 10 provided in the vehicle 2, and a server device 30 communicatively connected to the vehicle 2 via a network W. The vehicle 2 is, for example, a manually-driven vehicle that travels based on manual driving by a driver. The vehicle 2 may include any driving source installed in an electric vehicle, an internal combustion engine vehicle, a hybrid vehicle, or the like.

[0011] The vehicle control device 10 executes control over the vehicle 2 to assist the driver who drives the vehicle 2. The server device 30 communicates with the vehicle 2 via a communication unit 4 provided in the vehicle 2. The server device 30 may perform distributed processing of part or all of the calculations of the vehicle control device 10, or may execute updates of programs installed in the vehicle control device 10.

[0012] The vehicle 2 is provided with, for example, a detection unit 3 that outputs a detection value related to the vehicle 2. The vehicle 2 is provided with a notification unit 8 that outputs a predetermined notification inside and outside the vehicle. The vehicle 2 is provided with a vehicle control device 10 for driving assistance control that assists the driver.

[0013] The detection unit 3 is provided with, for example, an exterior sensor 3A that detects the state outside the vehicle. The exterior sensor 3A is provided with, for example, a LIDAR device or a radar device that detects objects present outside the vehicle, and an exterior camera that captures the environment outside the vehicle. The LIDAR device detects the distance, position, and shape of an object using laser waves. One or more LIDAR devices may be provided. The radar device detects the distance to an object using radar waves. One or more radar devices may be provided. The exterior camera outputs a captured image of the environment outside the vehicle. One or more exterior cameras may be provided.

[0014] The detection unit 3 is provided with, for example, an in-vehicle camera 3B for capturing images of the state inside the vehicle. The in-vehicle camera 3B captures images of the state of passengers inside the vehicle. The camera is mounted so as to be able to capture images of the driver sitting in the driver's seat, passengers other than the driver sitting in the passenger seat, and passengers sitting in the rear seats. The in-vehicle camera 3B outputs a captured image of the inside of the vehicle. One or more in-vehicle cameras 3B may be provided.

[0015] The detection unit 3 is provided with, for example, an occupant sensor 3C that detects the state of an occupant riding in the vehicle. The occupant sensor 3C is provided with, for example, a seating sensor that detects the seating state of an occupant, and a seat belt sensor that detects whether the seat belt is fastened or detached. The seating sensor is provided on the seat surface of each seat in the vehicle and detects whether an occupant is seated. The seating sensor is used in conjunction with a safety device such as an airbag device. The seat belt sensor is provided on a receiving portion of a buckle of a seat belt provided on each seat. The seat belt sensor detects the fastening or detaching state of the buckle. The seat belt sensor is used in conjunction with a safety device such as a pretensioner mechanism that controls the tension state of the seat belt device.

[0016] The detection unit 3 is provided with, for example, an operation target sensor 3D that detects an operation state of an operation target related to the operation of the vehicle. The operation target sensor 3D includes, for example, an accelerator sensor that detects an accelerator operation amount, a brake sensor that detects a brake operation amount, a steering sensor that detects an operation amount of a steering device, a shift position sensor that detects an operation state of a shift range, and the like.

[0017] The detection unit 3 is provided with, for example, a vehicle state sensor 3E that detects the state of the vehicle 2. The vehicle state sensor 3E includes, for example, an acceleration sensor that detects the acceleration of the vehicle 2, an angle sensor that detects the rotation angle of the vehicle 2, and a position sensor that detects the current position of the vehicle 2. The acceleration sensor detects acceleration in three axial directions based on the vehicle 2. The angle sensor detects angular velocity around three axes based on the vehicle 2. The acceleration sensor and the angle sensor may be configured with a six-axis sensor. The position sensor is configured with, for example, a GPS (Global Positioning System) sensor that detects the coordinates of the current position of the vehicle 2.

[0018] The detection unit 3 is provided with a driving assistance device switch 3F that detects the operation state of a driving assistance device that assists in driving the vehicle 2. The driving assistance device switch 3F includes, for example, an emergency stop control switch 3G for emergency stop control that brings the vehicle to an emergency stop in the event of an abnormality. The emergency stop control is driving assistance control such as an Emergency Driving Stop System (EDSS) that decelerates and stops the vehicle 2 when an abnormality occurs to the driver. The emergency stop control switch 3G is a switch for switching the emergency stop control between an on state and an off state.

[0019] The driving assistance device switch 3F includes, for example, a lane keeping control switch 3H for lane keeping control. The lane keeping control is a driving assistance control such as LTA (Lane Tracing Assist) that keeps the vehicle 2 in the lane it is traveling in. The lane keeping control switch 3H is a switch for switching the lane keeping control to an ON state or an OFF state. The emergency stop control switch 3G and the lane keeping control switch 3H may be realized by a display image displayed on a display unit 8A described later. A detection value based on the state and operation of the vehicle 2 detected by the detection unit 3 is output to the vehicle control device 10.

[0020] The vehicle control device 10 includes a control unit 12 that executes driving assistance control, and a storage unit 14 that stores data and programs. The control unit 12 is configured with at least one hardware processor such as a CPU (Central Processing Unit). The storage unit 14 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a solid state disk (SSD). The storage unit 14 stores computer programs and data required for control. The control unit 12 and the storage unit 14 may be provided integrally with the vehicle control device 10, or may be provided separately.

[0021] When the control unit 12 determines that a predetermined abnormality has occurred in the vehicle 2 or the driver based on the detection value detected by the detection unit 3, it controls the traveling device including the drive unit 5, braking unit 6, steering unit 7, etc. provided in the vehicle 2 to execute driving assistance control. The drive unit 5 is composed of a power unit such as an engine, a gear change device connected to the power unit, etc. The braking unit 6 is composed of a device such as a brake device that decelerates and stops the vehicle 2. The steering unit 7 is composed of a device for controlling the direction of the vehicle 2. When the vehicle 2 is an electric vehicle, the drive unit 5, braking unit 6, and steering unit 7 may be integrated into at least one device.

[0022] When the control unit 12 executes the driving assistance control, it controls the notification unit 8 provided in the vehicle 2 to output a predetermined notification. The notification unit 8 is composed of, for example, a display unit 8A that outputs predetermined information based on a display image, a speaker 8B that outputs the predetermined information based on a sound output, and a lighting device 8C that outputs an emergency flashing light. The display unit 8A is composed of a display device such as a liquid crystal display. The lighting device 8C is composed of a brake lamp, a turn signal lamp, etc.

[0023] The control unit 12 executes driving assistance control including emergency stop control for decelerating and stopping the vehicle when an abnormality occurs to the driver, based on a first detection value indicating the state inside the vehicle 2. When the control unit 12 starts the emergency stop control, it controls the braking unit 6 to decelerate the vehicle 2 and then stop it. In parallel with the control of the braking unit 6, the control unit 12 may control the steering unit 7 to stop the vehicle 2 at a position where safety can be ensured, such as the shoulder of a road, based on the detection value of the outside-vehicle sensor 3A. During the execution of the emergency stop control, the control unit 12 controls the notification unit 8 to notify the inside and outside of the vehicle 2 of the occurrence of an abnormality.

[0024] During the execution of emergency stop control, the control unit 12 causes the display unit 8A to display a display image indicating that emergency stop control is being executed. During the execution of emergency stop control, the control unit 12 causes the speaker to output a predetermined alarm sound. During the execution of emergency stop control, the control unit 12 controls the lighting device 8C to turn on the stop lamps and flash the hazard lamps. During the execution of emergency stop control, the control unit 12 may sound a horn (not shown). During the execution of emergency stop control, the control unit 12 may disable operation of the accelerator pedal. The first detection value includes a detection value related to the state inside the vehicle detected by the detection unit 3.

[0025] The first detection value includes, for example, an image captured by the in-vehicle camera 3B and a detection value of the occupant sensor 3C. When the control unit 12 detects a detection value that causes the emergency stop control switch 3G to be in an on state based on, for example, an operation by an occupant, the control unit 12 executes the emergency stop control. During the execution of the emergency stop control, the control unit 12 may cause the display unit 8A formed of a touch panel to display a display image including a release button for releasing the emergency stop control. The control unit 12 may release the emergency stop control based on the operation of the release button.

[0026] The control unit 12 may monitor the behavior of the driver based on the captured image captured by the in-vehicle camera 3B, and when it is determined that the driver is abnormal, it may automatically turn on the emergency stop control switch 3G and execute emergency stop control. For example, the control unit 12 determines whether or not the driver is abnormal based on the captured image. The control unit 12 is configured to be able to determine the state of the driver captured in the captured image based on supervised machine learning such as deep learning in advance. The control unit 12 monitors the behavior of the driver captured in the captured image, and when it is detected that the driver is not moving, has his eyes closed, has his head down, or is otherwise behaving abnormally, it determines that the driver is abnormal.

[0027] The control unit 12 determines the state of operation of the driving operation objects by the driver based on detection values ​​indicating the operation states of the driving operation objects such as the accelerator pedal, brake pedal, steering wheel, etc. If the control unit 12 detects a state in which the operation state of the driving operation objects by the driver does not change for a predetermined period of time or more, it determines that an abnormality has occurred in the driver. If the control unit 12 determines that an abnormality has occurred in the driver based on the detection values, it executes emergency stop control.

[0028] When the control unit 12 determines that an occupant of the vehicle 2 other than the driver is performing an emergency operation related to the driving of the vehicle 2 based on the captured image of the in-vehicle camera 3B, the detection value of the occupant sensor 3C, and the detection value of the operation target sensor 3D, it determines that an abnormality has occurred in the driver. The emergency operation includes various operations such as steering operation, shift operation, braking operation, and lighting operation that decelerate the vehicle 2 and move it to a predetermined position that reduces the impact on the following traffic.

[0029] For example, the control unit 12 detects a state in which the passenger seat belt is unfastened based on the detection value of the seat belt sensor. The control unit 12 detects a state in which the passenger in the passenger seat is leaning toward the driver from a seated state based on the detection value of the seating sensor. The control unit 12 detects a state in which an operation object such as a steering wheel is being operated based on the detection value of the operation object sensor 3D.

[0030] The control unit 12 determines that an emergency operation is being performed when it detects that the passenger in the passenger seat has continued from a first riding position in which the passenger sits in the seat to a second riding position in which the passenger sits closer to the driver for a predetermined period of time or more based on the detection value of the passenger seat occupancy sensor and the fastening / unfastening detection value of the passenger seat belt.The control unit 12 determines that an emergency operation is being performed when it detects that the passenger in the rear seat has continued from a first riding position in which the passenger sits in the seat to a second riding position in which the passenger sits closer to the driver for a predetermined period of time or more based on the fastening / unfastening detection value of the rear seat belt.

[0031] The control unit 12 determines the seating position and the first riding posture of the occupant based on the seating detection value of the seating sensor, and determines the second riding posture based on the fastening / unfastening detection value of the seat belt. When the control unit 12 detects the above detection value, it determines that the passenger seat occupant is about to perform an emergency operation of the vehicle 2, and determines that an abnormality has occurred in the driver. The control unit 12 may determine that the passenger seat occupant is about to perform an operation of the vehicle 2 based on an image captured by the in-vehicle camera 3B, and may determine that an abnormality has occurred in the driver. When the control unit 12 determines that an abnormality has occurred in the driver based on the above determination result, it forcibly turns on the emergency stop control and executes the emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G.

[0032] When the control unit 12 detects that the lane keeping control switch 3H is on, it executes lane keeping control. In the lane keeping control, the control unit 12 assists and controls the steering unit 7 so that the vehicle 2 travels near the center of the lane. Based on an image of the lane of the road captured by the exterior camera included in the exterior sensor 3A, the control unit 12 determines whether the vehicle 2 is traveling while maintaining the inside area of ​​a pair of lane marks. When the vehicle approaches within a predetermined distance of one of the pair of lane marks, the control unit 12 controls the steering unit 7 to return the vehicle 2 to the center of the lane, thereby preventing the vehicle 2 from deviating from the lane.

[0033] When the control unit 12 detects that the emergency stop control switch 3G is in the on state based on the operation of the driver or passenger while the lane keeping control is being performed, the control unit 12 executes the emergency stop control. While the control unit 12 is performing the emergency stop control, the control unit 12 controls the notification unit 8 to output a predetermined notification. When the control unit 12 determines that an abnormality has occurred in the driver while the lane keeping control is being performed, the control unit 12 forcibly turns on the emergency stop control and executes the emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G.

[0034] In an emergency, the control unit 12 forcibly turns on the emergency stop control and executes the emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G. When the following conditions are satisfied in a state in which the emergency stop control is not executed based on a predetermined condition, the control unit 12 forcibly executes the emergency stop control regardless of the operating state of the emergency stop control. The predetermined conditions include a state in which the emergency stop control switch 3G is turned off by the operation of the driver or passenger, a state in which the lane cannot be detected due to driving conditions such as driving around a sharp curve in lane keeping control, and a state in which the lane keeping control switch 3H is off.

[0035] When the lane cannot be detected in the lane keeping control or when the lane keeping control is off, the vehicle 2 is at risk of contacting an object present in the vicinity. The control unit 12 calculates the risk of contact between the vehicle and the object based on a second detection value indicating a state outside the vehicle. The second detection value includes, for example, a detection value such as an image captured by an exterior camera, a detection value of a LIDAR device, a detection value of a radar device, and a calculation value based on vehicle-to-vehicle communication.

[0036] In a state where emergency stop control is not executed based on a predetermined condition, the control unit 12 determines whether or not the risk of contact between the vehicle and the object is equal to or higher than a predetermined level based on a second detection value indicating a state outside the vehicle. The predetermined level is set based on, for example, the distance between the vehicle 2 and the object. The predetermined level may be determined based on the degree of contact between the vehicle 2 and the object.

[0037] The control unit 12 determines whether or not an occupant of the vehicle other than the driver is performing an emergency operation related to driving of the vehicle based on the first detection value. When the control unit 12 determines that the risk is equal to or higher than a predetermined level and that an occupant of the vehicle other than the driver is performing an emergency operation related to driving of the vehicle, the control unit 12 forcibly turns on the emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G, and executes the lane keeping control and the emergency stop control.

[0038] 2 and 3 show a process flow of a vehicle control method executed in the vehicle control device 10. The vehicle control method is executed based on a program installed in a computer mounted on the vehicle control device 10. The program causes the computer to execute the following processes. When the vehicle 2 is in operation, the control unit 12 determines whether or not driving assistance control including lane keeping control (LTA) and emergency stop control (EDSS) is in an inactive state based on a predetermined condition (step S100). When the control unit 12 determines that the driving assistance control is inactive (step S100: Yes), the control unit 12 determines whether or not the lane can be detected based on a second detection value indicating a state outside the vehicle (step S102).

[0039] If the control unit 12 can detect the lane (step S102: Yes), it determines whether the vehicle 2 will deviate from the lane (step S104). In the determination process, the control unit 12 determines whether the vehicle 2 is approaching within a predetermined distance from one of a pair of lane marks that form the lane. If the control unit 12 determines that the vehicle 2 will not deviate from the lane (step S104: No), it returns the process to step S100.

[0040] When the control unit 12 determines that the vehicle 2 deviates from the lane (step S104: Yes), it determines whether or not the contact risk between the vehicle 2 and an object present in the vicinity is equal to or higher than a predetermined level (step S106). When the control unit 12 determines that the contact risk between the vehicle 2 and an object present in the vicinity is less than the predetermined level (step S106: No), it returns the process to step S100. When the control unit 12 determines that the contact risk between the vehicle 2 and an object present in the vicinity is equal to or higher than a predetermined level (step S106: Yes), it forcibly changes the lane keeping control and the emergency stop control to the on state regardless of the operation state of the emergency stop control (step S108).

[0041] The control unit 12 executes lane keeping control based on the second detection value (step S110). The control unit 12 determines whether or not the driver has operated the operation object based on the detection value of the operation object sensor 3D (step S112). If the driver has operated the operation object (step S112: No), the control unit 12 determines that the driver is in a normal state and that the operation object is possible, and ends the process. If the driver has not operated the operation object (step S112: Yes), the control unit 12 determines whether or not the driver's operation of the operation object has not changed for a predetermined time or more (step S114).

[0042] If the driver's operation on the operation object changes within the predetermined time (step S114: No), the control unit 12 returns the process to step S112. If the driver's operation on the operation object does not change within the predetermined time (step S114: Yes), the control unit 12 executes emergency stop control to decelerate and stop the vehicle 2 (step S116). While executing the emergency stop control, the control unit 12 controls the notification unit 8 to output a predetermined notification.

[0043] If the control unit 12 cannot detect the lane in step S102, the control unit 12 determines whether or not the contact risk between the vehicle 2 and the surrounding object is equal to or higher than a predetermined level based on the second detection value (step S118). If the control unit 12 determines that the contact risk between the vehicle 2 and the surrounding object is less than the predetermined level (step S118: No), the control unit 12 ends the process. If the control unit 12 determines that the contact risk between the vehicle 2 and the surrounding object is equal to or higher than a predetermined level (step S118: Yes), the control unit 12 determines whether or not an occupant of the vehicle other than the driver is performing an emergency operation related to driving the vehicle 2 based on the first detection value indicating the state inside the vehicle (step S120).

[0044] When the control unit 12 determines that an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle 2 (step S120: Yes), the control unit 12 forcibly changes the emergency stop control to an ON state regardless of the operation state of the emergency stop control (step S122). The control unit 12 forcibly executes the emergency stop control to decelerate and stop the vehicle 2 (step S124). While the emergency stop control is being executed, the control unit 12 controls the notification unit 8 to output a predetermined notification. The control unit 12 determines whether or not an operation to release the emergency stop control has been performed based on the operation state of the emergency stop control switch 3G (step S126).

[0045] If the control unit 12 determines that an operation to release the emergency stop control has been performed (step S126: Yes), the control unit 12 ends the process. If the control unit 12 determines that an operation to release the emergency stop control has not been performed (step S126: No), the control unit 12 returns the process to step S124 and continues the emergency stop control.

[0046] When the control unit 12 determines in step S100 that the driving assistance control is not in an inactive state (step S100: No), it determines whether or not the lane can be detected in the lane keeping control (step S128). When the control unit 12 determines that the lane cannot be detected (step S128: No), the process ends because the driver is in an operable state. When the control unit 12 determines that the lane can be detected (step S128: Yes), it executes the lane keeping control (step S130). During the execution of the lane keeping control, the control unit 12 determines whether or not the driver has operated the operation target based on the detection value of the operation target sensor 3D (step S132).

[0047] If the driver has operated the operation target (step S132: No), the control unit 12 determines that the driver is in a normal state and is able to operate the operation target, and ends the process. If the driver has not operated the operation target (step S132: Yes), the control unit 12 executes emergency stop control to decelerate and stop the vehicle 2 (step S134). While executing the emergency stop control, the control unit 12 controls the notification unit 8 to output a predetermined notification.

[0048] FIG. 4 shows a flow of a process of determining an emergency operation by an occupant regarding the driving of the vehicle 2, which is executed in the process of step S120. The control unit 12 determines the seating position of an occupant other than the driver based on the seating detection value included in the first detection value, and determines whether the seat belt has been unfastened based on the fastening / unfastening detection value included in the first detection value (step S140). If the seat belt has been unfastened (step S140: Yes), the control unit 12 determines that the occupant in the passenger seat or the rear seat has moved from the first riding position in which the occupant sits on the seat to the second riding position in which the occupant approaches the driver's side, and determines that the occupant is performing an emergency operation (step S142). If the seat belt has not been unfastened (step S140: No), the control unit 12 determines whether the second riding position in which the occupant moves from the first riding position in which the occupant sits on the seat to the driver's side has continued for a predetermined time or more based on the first detection value (step S144).

[0049] When the control unit 12 detects that the second riding posture has continued for a predetermined time or more (step S144: Yes), it determines that the passenger in the passenger seat is performing an emergency operation (step S142).When the control unit 12 detects that the second riding posture has not continued for a predetermined time or more (step S144: No), it determines that the passenger in the passenger seat is not performing an emergency operation (step S146).

[0050] As described above, the vehicle control device 10 determines an abnormality occurring to the driver based on not only the second detection value indicating the state outside the vehicle but also the first detection value indicating the state inside the vehicle, so that the function of the driving assistance control of the vehicle 2 can be improved. The vehicle control device 10 can improve the function of the driving assistance control of the vehicle 2 by detecting a case where driving assistance control is necessary even in a state where driving assistance control is not executed based on a predetermined condition, thereby making it possible to forcibly execute driving assistance control. The vehicle control device 10 can improve the effectiveness of the execution of forcible driving assistance control by determining emergency operations not only of the driver but also of passengers other than the driver.

[0051] In the above-described embodiment, the computer program executed in each component of the vehicle control device 10 may be provided in a form recorded on a computer-readable portable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0052] 1 vehicle system, 2 vehicle, 3 detection unit, 3A vehicle exterior sensor, 3B in-vehicle camera, 3C occupant sensor, 3D operation target sensor, 3E vehicle state sensor, 3F driving support device switch, 3G emergency stop control switch, 3H lane keeping control switch, 4 communication unit, 5 drive unit, 6 braking unit, 7 steering unit, 8 notification unit, 8A display unit, 8B speaker, 8C lighting device, 10 vehicle control device, 12 control unit, 14 memory unit, 30 server device

Claims

1. a control unit that executes driving assistance control including an emergency stop control for decelerating and stopping the vehicle when an abnormality occurs in a driver, based on a first detection value indicating a state inside the vehicle; The control unit is When the risk of contact between the vehicle and an object is determined to be equal to or higher than a predetermined level based on a second detection value indicating a state outside the vehicle in a state in which the emergency stop control is not executed based on a predetermined condition, and when it is determined that an occupant of the vehicle other than the driver is performing an emergency operation related to driving the vehicle based on the first detection value, The emergency stop control is forcibly executed regardless of the operation state of the emergency stop control. Vehicle control device.

2. The control unit is When it is determined based on the first detection value that the operation of the driver with respect to the driving operation target does not change for a predetermined time or more and the emergency operation is determined, the emergency stop control is forcibly turned on. The vehicle control device according to claim 1.

3. The control unit is when it is detected based on the first detection value that the occupant has continued for a predetermined period of time or more from a first riding posture in which the occupant is seated in a seat to a second riding posture in which the occupant approaches the driver's side, it is determined that the occupant is performing the emergency operation. The vehicle control device according to claim 1.

4. The control unit is determining a seating position of the occupant based on a seating detection value included in the first detection value, and determining the second riding posture based on a seat belt fastening / unfastening detection value included in the first detection value; The vehicle control device according to claim 3.

5. A program for causing a computer mounted on a vehicle to execute driving assistance control including an emergency stop control for decelerating and stopping the vehicle, determining a state inside the vehicle based on a first detection value indicating a state inside the vehicle; determining a level of risk of contact between the vehicle and an object based on a second detection value indicating a state outside the vehicle; When the level of the risk is equal to or higher than a predetermined level and it is determined that an occupant of the vehicle other than the driver of the vehicle is performing an emergency operation related to driving of the vehicle in a state in which the emergency stop control is not executed based on a predetermined condition, the emergency stop control is forcibly executed regardless of an operating state of the emergency stop control. program.

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