Vehicle control device, computer program for vehicle control, and vehicle control method

Abstract

To provide a vehicle control device that can stop a vehicle safely when an abnormality occurs in a driver.SOLUTION: A vehicle control device includes: a determination unit 231 that determines whether there is a control disabled point 60 where automatic control of travel of a vehicle 10 is not allowed within a predetermined range from a current position of the vehicle 10 to the front of a route of the vehicle 10, when it is determined that an abnormality occurs in a driver; and a setting unit 232 that sets a vehicle stop position P at which the vehicle 10 can stop in a further front position than the control disabled point 60, when the determination unit 231 has determined that there is the control disabled point 60.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device, a computer program for controlling a vehicle, and a vehicle control method. [Background technology]

[0002] An automatic control system installed in a vehicle generates a navigation route for the vehicle based on the current position of the vehicle, the destination position of the vehicle, and a navigation map. The automatic control system estimates the current position of the vehicle using map information and controls the vehicle to travel along the navigation route.

[0003] The automatic control system controls the driving of the vehicle so that a safe distance is maintained between the vehicle and other vehicles, and when the automatic control is no longer able to maintain a safe distance between the vehicle and other vehicles, the system changes the driving of the vehicle from automatic control to manual control, transferring control of the vehicle to the driver.

[0004] Furthermore, the automatic control system controls the vehicle to stop if an abnormality occurs in the driver (for example, see Patent Document 1). This is because when the automatic control is no longer able to maintain a safe distance between the vehicle and other vehicles, the control of the vehicle cannot be transferred to the driver. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2015-228090 A Summary of the Invention [Problem to be solved by the invention]

[0006] There are uncontrollable points where the automatic control system is not allowed to control the vehicle. For example, the uncontrollable points include points where there is no high-precision map available for estimating the vehicle's position, and points where the automatic control system cannot safely control the vehicle, such as roads with a small radius of curvature.

[0007] If an abnormality occurs in the driver before the uncontrollable point, and the vehicle ends up stopping at the uncontrollable point, there is a risk that the vehicle cannot be stopped safely.

[0008] An object of the present disclosure is to provide a vehicle control device that can safely stop the vehicle when an abnormality occurs in the driver. [Means for solving the problem]

[0009] According to one embodiment, a vehicle control device is provided, the vehicle control device including: a determination unit that, when it is determined that a driver has an abnormality, determines whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle is not permitted within a predetermined range from the current position of the vehicle toward the front of the path of the vehicle; and, when it is determined by the determination unit that there is the uncontrollable point, a setting unit that sets a vehicle stop position at which the vehicle can be stopped at a position before the uncontrollable point. The present invention is characterized in that it has the following features:

[0010] In addition, in this vehicle control device, when it is determined that there is an abnormality in the driver, it is preferable that the setting unit sets the vehicle stopping position by allowing restrictions on the conditions that arise in the vehicle as it travels from the vehicle's current position to the vehicle stopping position to exceed the restrictions that are permissible when it is determined that there is no abnormality in the driver.

[0011] In addition, in this vehicle control device, it is preferable that the uncontrollable points include curved points having a radius of curvature smaller than a predetermined reference radius of curvature, or points having a gradient larger than a predetermined reference gradient.

[0012] In addition, in this vehicle control device, it is preferable to determine whether or not there is something wrong with the driver based on a monitored image showing the vicinity of the driver's seat of the vehicle.

[0013] According to another embodiment, there is provided a computer program for controlling a vehicle, the computer program for controlling a vehicle being characterized in that it causes a processor to execute a process including, when it is determined that a driver has an abnormality, determining whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle is not permitted within a predetermined range from the current position of the vehicle toward the front of the path of the vehicle, and, when it is determined that there is the uncontrollable point, setting a vehicle stop position where the vehicle can be stopped at a position before the uncontrollable point.

[0014] According to still another embodiment, there is provided a vehicle control method, which is executed by a vehicle control device, and is characterized in that it includes the steps of: determining whether or not there is an uncontrollable point, where automatic control of the traveling of the vehicle is not permitted, within a predetermined range from the current position of the vehicle toward the front of the path of the vehicle when it is determined that there is an abnormality in the driver; and setting a vehicle stop position at which the vehicle can be stopped, at a position before the uncontrollable point, when it is determined that there is the uncontrollable point. Effect of the Invention

[0015] The vehicle control device according to the present disclosure can safely stop the vehicle if an abnormality occurs in the driver. [Brief description of the drawings]

[0016] [Figure 1] 2 is a diagram illustrating an outline of the operation of the vehicle stop device according to the embodiment. FIG. [Diagram 2] 1 is a schematic configuration diagram of a vehicle in which a vehicle control system according to an embodiment of the present invention is implemented. [Diagram 3] 4 is an example of an operational flowchart relating to a vehicle stop planning process of the vehicle stop device of the present embodiment. [Figure 4]5 is an example of an operational flowchart relating to a vehicle stop position setting process of the vehicle stop device of the present embodiment. [Diagram 5] 4A to 4C are diagrams illustrating an example of the operation of the vehicle stop device of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] 1 is a diagram for explaining an outline of the operation of the vehicle stop device 18 of this embodiment. Hereinafter, an outline of the operation related to the vehicle control processing of the vehicle stop device 18 disclosed in this specification will be explained with reference to FIG.

[0018] In the example shown in Fig. 1, a vehicle 10 is traveling on a road 50. The road 50 has two lanes 51, 52, and a shoulder 53. The two lanes 51 and 52 are separated by a lane dividing line 54, and the lane 51 and the shoulder 53 are separated by a lane dividing line 55. The vehicle 10 is traveling on the lane 51 adjacent to the shoulder 53.

[0019] The vehicle 10 has a monitoring device 17 that determines whether or not there is an abnormality in the driver, a vehicle stopping planning device 18 that sets a vehicle stopping position where the vehicle 10 will stop if it is determined that there is an abnormality in the driver, and a driving planning device 15 that generates a driving plan for the vehicle 10.

[0020] In the example shown in FIG. 1, the monitoring device 17 detects an abnormality in the driver at time T102, and after a warning is given to the driver, no behavior related to driving of the driver is detected, so that the monitoring device 17 determines at time T103 that there is an abnormality in the driver.

[0021] The vehicle stop planning device 18 determines whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle 10 is not permitted within a predetermined range from the current position of the vehicle 10 forward on the path of the vehicle 10. The uncontrollable points include points where the vehicle 10 cannot be safely controlled by automatic control due to a small radius of curvature, etc.

[0022] Since there is a curved point with a radius of curvature smaller than a predetermined reference radius of curvature within a predetermined range ahead of the path of the vehicle 10, the vehicle stopping planning device 18 determines that there is an uncontrollable point 60.

[0023] The vehicle stop planning device 18 sets a vehicle stop position P at which the vehicle 10 can be stopped, at a position before the uncontrollable point 60. In the example shown in FIG. 1, the vehicle stop planning device 18 sets the vehicle stop position P on the road shoulder 53 before the uncontrollable point 60.

[0024] Usually, at the uncontrollable point 60, the driving of the vehicle 10 is transferred to the driver, but if the driver has an abnormality, the driving of the vehicle 10 cannot be transferred to the driver. Therefore, the vehicle stop planning device 18 sets a vehicle stop position P at which the vehicle 10 can be stopped, at a position before the uncontrollable point 60, in order to stop the vehicle 10 by automatic control.

[0025] The vehicle stop planning device 18 requests the operation planning device 15 to generate a operation plan so as to stop the vehicle 10 at the vehicle stop position P. The operation planning device 15 generates a operation plan to stop the vehicle 10 at the vehicle stop position P.

[0026] The driving planning device 15 of the vehicle 10 generates a driving plan to move the vehicle 10 to a vehicle stop position P on the road shoulder 53 and stop the vehicle 10, and as a result, the vehicle 10 changes lanes at time T105 and stops at the vehicle stop position P at time T106.

[0027] As described above, the vehicle stop planning device 18 can safely stop the vehicle 10 before the uncontrollable point 60 if an abnormality occurs in the driver.

[0028] 2 is a schematic configuration diagram of a vehicle 10 in which the vehicle control system 1 of the present embodiment is implemented. The vehicle 10 includes a forward camera 2, a monitoring camera 3, a positioning information receiver 4, a navigation device 5, a user interface (UI) 6, a map information storage device 11, a position estimation device 12, an object detection device 13, a driving lane planning device 14, a driving planning device 15, a vehicle control device 16, a monitoring device 17, and a vehicle stop planning device 18. Furthermore, the vehicle 10 may include a distance measurement sensor (not shown) such as a LiDAR sensor for measuring distances to objects around the vehicle 10.

[0029] The forward camera 2, surveillance camera 3, positioning information receiver 4, navigation device 5, UI 6, map information storage device 11, position estimation device 12, object detection device 13, driving lane planning device 14, driving planning device 15, vehicle control device 16, monitoring device 17 and vehicle stop planning device 18 are communicatively connected via an in-vehicle network 19 that complies with a standard such as a controller area network.

[0030] The front camera 2 is an example of an imaging unit provided on the vehicle 10. The front camera 2 is attached to the vehicle 10 so as to face the front of the vehicle 10. The front camera 2 captures a camera image showing the environment of a predetermined area in front of the vehicle 10 at a camera image capture time that is set, for example, at a predetermined cycle. The camera image may show a road included in the predetermined area in front of the vehicle 10 and road features such as lane markings on the road surface. The front camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector.

[0031] Every time the front camera 2 captures a camera image, it outputs the camera image and the time the camera image was captured to the position estimation device 12, object detection device 13, etc. via the in-vehicle network 19. The camera image is used by the position estimation device 12 in a process of estimating the position of the vehicle 10. The camera image is also used by the object detection device 13 in a process of detecting other objects around the vehicle 10.

[0032] The surveillance camera 3 is disposed in the vehicle cabin so as to be able to capture surveillance images including the vicinity of the driver's seat. The surveillance images may include the face of the driver who drives the vehicle 10. The surveillance camera 3 is an example of an imaging device that captures surveillance images including the driver's face. The surveillance camera 3 may be disposed, for example, on a steering column, a room mirror, a meter panel, a meter hood, or the like (not shown).

[0033] The surveillance camera 3 captures a surveillance image at a surveillance image capture time that is set, for example, at a predetermined cycle. The surveillance camera 3 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to infrared rays, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector. Every time the surveillance camera 3 captures a surveillance image, it outputs the surveillance image and the surveillance image capture time to the monitoring device 17, etc., via the in-vehicle network 19.

[0034] The positioning information receiver 4 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 4 may be a GNSS receiver. Every time the positioning information receiver 4 acquires positioning information at a predetermined reception cycle, the positioning information receiver 4 outputs the positioning information and the positioning information acquisition time when the positioning information was acquired to the navigation device 5, the map information storage device 11, etc.

[0035] The navigation device 5 generates a navigation route from the current position of the vehicle 10 to the destination position based on the navigation map information, the destination position of the vehicle 10 input from the UI 6, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 4. The navigation route includes information regarding the positions of right turns, left turns, merging, and branching. The navigation device 5 generates a new navigation route for the vehicle 10 when a new destination position is set or when the current position of the vehicle 10 deviates from the navigation route. Every time the navigation device 5 generates a navigation route, it outputs the navigation route to the position estimation device 12, the driving lane planning device 14, the vehicle stop planning device 18, and the like via the in-vehicle network 19.

[0036] The UI6 is an example of a notification unit. The UI6 is controlled by the navigation device 5, the driving planner 15, the vehicle control device 16, etc., and notifies the driver of the driving information of the vehicle 10 and a warning requesting the driver to participate in driving. The driving information of the vehicle 10 includes information on the current and future routes of the vehicle, such as the current position of the vehicle, lane changes, and navigation routes. The UI6 has a display device 6a such as a liquid crystal display or a touch panel to display the driving information, etc. The UI6 may also have an audio output device (not shown) for notifying the driver of the driving information, etc. The UI6 generates an operation signal according to an operation from the driver to the vehicle 10. Examples of the operation information include a destination position, a waypoint, the speed of the vehicle, and other control information. The UI6 has, for example, a touch panel or an operation button as an input device for inputting operation information from the driver to the vehicle 10. The UI6 outputs the input operation information to the navigation device 5, the driving planner 15, the vehicle control device 16, etc. via the in-vehicle network 19.

[0037] The map information storage device 11 stores map information of a relatively wide area (for example, a range of 10 to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, road speed limits, road curvature radii, road gradients, road features such as lane markings on the road, and information indicating the types and positions of structures. This map information includes information such as the positions of stop lines on the road, the number of lanes, the positions of toll booths on motorways, and the positions of service areas or parking areas on motorways. The map information also includes discrepancy position information of points where the road information included in the map information differs from the actual road information.

[0038] The map information storage device 11 receives wide-area map information from an external server via a base station by wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10, and stores the received map information in the storage device. Every time positioning information is input from the positioning information receiver 4, the map information storage device 11 refers to the stored wide-area map information, and outputs map information of a relatively small area (for example, a range of 100 m square to 10 km square) including the current position represented by the positioning information to the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving planning device 15, the vehicle control device 16, the vehicle stop planning device 18, etc., via the in-vehicle network 19.

[0039] The position estimation device 12 estimates the position of the vehicle 10 at the time the camera image is captured, based on road features around the vehicle 10 shown in the camera image captured by the forward camera 2. For example, the position estimation device 12 compares lane markings identified in the camera image with lane markings shown in the map information input from the map information storage device 11, and determines an estimated position and an estimated azimuth angle of the vehicle 10 at the time the camera image is captured. The position estimation device 12 also estimates the driving lane on the road on which the vehicle 10 is located, based on the lane markings shown in the map information, and the estimated position and estimated azimuth angle of the vehicle 10. Each time the position estimation device 12 determines the estimated position, estimated azimuth angle, and driving lane of the vehicle 10 at the time the camera image is captured, it outputs the information to the object detection device 13, the driving lane planning device 14, the operation planning device 15, the vehicle control device 16, the vehicle stop planning device 18, and the like.

[0040] The object detection device 13 detects other objects and their types (e.g., vehicles) around the vehicle 10 based on the camera image. The other objects include other vehicles traveling around the vehicle 10. The object detection device 13 tracks the detected other objects to obtain the trajectory and speed of the other objects. The object detection device 13 identifies the driving lane in which the other object is traveling based on the lane markings shown in the map information and the position of the other object. In addition, the object detection device 13 outputs object detection information including information indicating the type of the detected other object, information indicating its position and speed, and information indicating the driving lane to the driving lane planning device 14, the operation planning device 15, the vehicle control device 16, the vehicle stop planning device 18, etc.

[0041] The driving lane planning device 14 selects lanes in the road on which the vehicle 10 is traveling in the nearest driving section (for example, 10 km) selected from the navigation route based on the map information, the navigation route and surrounding environment information, and the current position of the vehicle 10 at a driving lane plan generation time set at a predetermined cycle, and generates a driving lane plan representing the planned driving lane on which the vehicle 10 is to travel. The surrounding environment information includes the positions and speeds of other vehicles traveling around the vehicle 10. The driving lane planning device 14 generates a driving lane plan so that the vehicle 10 travels in a lane other than an overtaking lane, for example. The driving lane planning device 14 outputs the driving lane plan to the driving plan device 15 every time it generates a driving lane plan.

[0042] The driving plan device 15 executes a driving plan process to generate a driving plan representing a planned driving trajectory of the vehicle 10 up to a predetermined time (for example, 5 seconds) ahead based on a driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle state information at a driving plan generation time set at a predetermined cycle. The vehicle state information includes the current position, vehicle speed, acceleration, and traveling direction of the vehicle 10. The driving plan is expressed as a set of a target position of the vehicle 10 and a target vehicle speed at the target position at each time from the current time to the predetermined time ahead. The cycle in which the driving plan is generated is preferably shorter than the cycle in which the driving lane plan is generated. When it is determined that there is no abnormality in the driver, the driving plan device 15 generates a driving plan within a range of restrictions on the state occurring in the vehicle 10 due to driving. Examples of the state occurring in the vehicle 10 due to driving include acceleration, deceleration, yaw rate (angular velocity), and angular acceleration. In addition, the driving plan device 15 generates a driving plan so that a distance of a predetermined distance or more can be maintained between the vehicle 10 and other objects (vehicles, etc.). Every time the driving plan device 15 generates a driving plan, the driving plan device 15 outputs the driving plan to the vehicle control device 16.

[0043] The vehicle control device 16 controls each part of the vehicle 10 based on the current position, the vehicle speed, and the yaw rate of the vehicle 10, and the driving plan generated by the driving plan device 15. For example, the vehicle control device 16 obtains the steering angle, acceleration, and angular acceleration of the vehicle 10 according to the driving plan, the vehicle speed, and the yaw rate of the vehicle 10, and sets the steering amount, accelerator opening, or brake amount so as to obtain the steering angle, acceleration, and angular acceleration. Then, the vehicle control device 16 outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls the steered wheels of the vehicle 10 via the in-vehicle network 19. Also, the vehicle control device 16 outputs a control signal corresponding to the set accelerator opening to a drive device (not shown, including an engine or an electric motor) of the vehicle 10 via the in-vehicle network 19. Alternatively, the vehicle control device 16 outputs a control signal corresponding to the set brake amount to a brake (not shown) of the vehicle 10 via the in-vehicle network 19.

[0044] The monitoring device 17 monitors the state of the driver and judges whether or not there is an abnormality in the driver. When the monitoring device 17 judges that there is an abnormality in the driver, it outputs an abnormality signal indicating that there is an abnormality in the driver to the vehicle stop planning device 18, etc. The monitoring device 17 has a touch sensor 171 that detects that the driver is holding the steering wheel, and a torque sensor 172 that detects the torque of the steering wheel.

[0045] The monitoring device 17 judges whether the driver is in a bad posture state based on the monitoring image. The monitoring device 17 has a classifier that has been trained to distinguish postures such as lying face down, looking down, leaning backward, arching back, neck only lying to the side, lying to the side, leaning to the side, etc. The monitoring device 17 inputs the monitoring image to this classifier, thereby distinguishing whether the driver is in a posture such as lying face down, leaning backward, arching back, neck only lying to the side, lying to the side, leaning to the side, etc. If it is distinguished that the driver is in a posture such as lying face down, leaning backward, arching back, neck only lying to the side, lying to the side, leaning to the side, etc., the monitoring device 17 judges that the driver is in a bad posture state. If the driver's bad posture state continues for a predetermined time, the monitoring device 17 judges that the driver's involvement level in driving is low.

[0046] This classifier is, for example, a deep neural network (DNN) with multiple layers connected in series from the input side to the output side. Images including postures such as looking down, leaning back, arching back, leaning sideways with only the head tilted to the side, leaning to the side, and reclining to the side are input to the DNN as training data in advance, and the DNN operates as a classifier that detects types of postures by learning.

[0047] The monitoring device 17 detects the driver's line of sight, the degree of eye opening (hereinafter also referred to as the eye opening degree), and the degree of mouth opening (hereinafter also referred to as the mouth opening degree) based on the monitoring image, and determines the driver's level of involvement in driving based on the detected line of sight, the eye opening degree, and the mouth opening degree. If the line of sight is out of a predetermined range including the front of the vehicle 10, the monitoring device 17 determines that the driver's level of involvement in driving is low. If the eye opening degree is less than a predetermined eye opening degree reference value or the mouth opening degree is equal to or greater than a predetermined eye opening degree reference value, the monitoring device 17 determines that the driver's level of involvement in driving is low. On the other hand, if the line of sight is within a predetermined range including the front of the vehicle 10, the eye opening degree is equal to or greater than a predetermined eye opening degree reference value, or the mouth opening degree is less than a predetermined eye opening degree reference value, the monitoring device 17 determines that the driver's level of involvement in driving is high.

[0048] Furthermore, when the torque sensor 172 does not detect a steering operation by the driver for a predetermined monitoring time, the monitoring device 17 determines that the driver's involvement in driving is low.

[0049] When the monitoring device 17 determines that the driver's level of involvement in driving is low, it issues a warning to the driver via the UI 6, requesting the driver to get involved in driving.

[0050] If the monitoring device 17 determines that the driver is not in a poor posture within a predetermined time after giving a warning to the driver, it determines that the driver is involved in driving.

[0051] In addition, if the monitoring device 17 determines that the driver's level of involvement in driving is high based on the detected gaze direction, eye opening degree, and eye opening degree within a specified time after giving a warning to the driver, it determines that the driver is involved in driving.

[0052] In addition, if the touch sensor 171 detects that the driver is holding the steering wheel or the torque sensor 172 detects that the driver is operating the steering wheel within a predetermined time after giving a warning to the driver, the monitoring device 17 determines that the driver is involved in driving.

[0053] Furthermore, when the monitoring device 17 detects an operation of an accelerator pedal or a brake pedal (not shown) by the driver within a predetermined time after giving a warning to the driver, it determines that the driver is involved in driving.

[0054] On the other hand, if it is determined that the driver is not involved in driving within a predetermined time after the warning is given to the driver, it is determined that the driver has an abnormality. Then, the monitoring device 17 generates an abnormality signal indicating that the driver has an abnormality. Note that the above is an example of generating an abnormality signal, and the monitoring device 17 may determine whether or not to generate an abnormality signal using other methods. In addition, in the above example, a warning is given to the driver once before generating an abnormality signal, but the monitoring device 17 may generate an abnormality signal after issuing a warning multiple times, or may generate an abnormality signal without issuing a warning. The monitoring device 17 outputs the abnormality signal to the vehicle stop planning device 18.

[0055] The vehicle stop planning device 18 executes a determination process and a setting process. To that end, the vehicle stop planning device 18 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the vehicle stop planning device 18 to an in-vehicle network 19.

[0056] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs of applications used in the information processing executed by the processor 23 and various data.

[0057] All or part of the functions of the vehicle stop planning device 18 are functional modules realized by, for example, a computer program running on the processor 23. The processor 23 has a determination unit 231 and a setting unit 232. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 has one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further have other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. The operation of the vehicle stop planning device 18 will be described later.

[0058] The map information storage device 11, the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving planner 15, the vehicle control device 16, the monitoring device 17, and the vehicle stop planning device 18 are, for example, electronic control units (ECUs). In Fig. 2, the map information storage device 11, the position estimation device 12, the object detection device 13, the driving lane planning device 14, the driving planner 15, the vehicle control device 16, the monitoring device 17, and the vehicle stop planning device 18 are described as separate devices, but all or some of these devices may be configured as a single device.

[0059] Fig. 3 is an example of an operation flowchart related to the vehicle stop planning process of the vehicle stop device 18 of this embodiment. The vehicle stop planning process of the vehicle stop device 18 will be described below with reference to Fig. 3. The vehicle control device 16 executes the vehicle stop planning process according to the operation flowchart shown in Fig. 3 at a vehicle stop planning time having a predetermined period.

[0060] First, the determination unit 231 determines whether or not there is something wrong with the driver (step S101). When the determination unit 231 receives an abnormality signal from the monitoring device 17, it determines that there is something wrong with the driver. On the other hand, when the determination unit 231 does not receive an abnormality signal from the monitoring device 17, it determines that there is no abnormality with the driver.

[0061] If there is an abnormality in the driver (step S101-Yes), the determination unit 231 determines whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle 10 is not permitted within a predetermined range from the current position of the vehicle 10 forward on the path of the vehicle 10. The determination unit 231 determines whether or not there is an uncontrollable point within a predetermined range from the current position of the vehicle 10 forward on the path of the vehicle 10 based on the current position of the vehicle 10, the navigation route, and map information.

[0062] Examples of uncontrollable points include curved points with a radius of curvature smaller than a predetermined reference radius of curvature, points with a gradient larger than a predetermined reference gradient, intersections, stop lines, points where the number of lanes decreases, ends of high-precision maps, areas where high-precision maps are not available (exits of expressways, toll booths on motorways, service areas or parking areas on motorways, etc.), etc. Uncontrollable points also include mismatched positions where map information and actual road information differ.

[0063] The operation of the vehicle 10 can be controlled in an automatic control mode, in which the automatic control system 1 takes the lead, or in a manual control mode, in which the driver takes the lead. In the automatic control mode, at least one of steering, acceleration, and braking is controlled mainly by the automatic control system 1. On the other hand, in the manual control mode, all of steering, acceleration, and braking are controlled mainly by the driver. At uncontrollable points, operation of the vehicle 10 in the automatic control mode is not permitted.

[0064] The predetermined range is determined based on a distance that the vehicle 10 is permitted to travel when the vehicle 10 is stopped as quickly as possible in a state where the driver has an abnormality. As the predetermined range, for example, a distance expressed by the product of the most recent average speed of the vehicle 10 and a predetermined time can be used.

[0065] If there is an uncontrollable point (step S102-Yes), the setting unit 232 sets a vehicle stop position where the vehicle 10 can be stopped, at a position before the uncontrollable point, from the current position of the vehicle 10 toward the front of the path of the vehicle 10 (step S103). Details of the vehicle stop position processing by the setting unit 232 will be described later.

[0066] Next, the setting unit 232 notifies the operation plan device 15 of a request to generate an operation plan so as to stop the vehicle 10 at the vehicle stop position (step S104), and ends a series of processes.

[0067] On the other hand, if there is no uncontrollable point (step S102-No), the setting unit 232 sets a vehicle stop position where the vehicle 10 can be stopped within a predetermined reference distance from the current position of the vehicle 10 toward the front of the path of the vehicle 10 (step S103). The predetermined reference distance is determined so as to satisfy the limit on the state that occurs in the vehicle 10 during driving, which is permitted when it is determined that the driver is normal. For example, the reference distance is determined so that the vehicle 10 does not decelerate beyond a reference value. This reference distance can be determined based on, for example, a distance represented by the product of the most recent average speed of the vehicle 10 and a predetermined time, and a deceleration permitted for deceleration of the vehicle 10. This reference distance can be determined so that the deceleration occurring when the vehicle 10 stops at the vehicle stop position does not impose a large burden on the driver.

[0068] Next, the setting unit 232 notifies the operation plan device 15 of a request to generate an operation plan to stop the vehicle 10 at the vehicle stop position (step S104), and ends the series of processes. Also, if there is no abnormality in the driver (step S101-No), the series of processes ends.

[0069] Next, the execution of the vehicle stop position process by the setting unit 232 in the above-mentioned step S103 will be described below with reference to FIG.

[0070] First, the setting unit 232 determines whether or not the vehicle 10 is traveling in a lane adjacent to a road shoulder, based on the current position of the vehicle 10 and the map information (step S201).

[0071] When the vehicle 10 is traveling in a lane adjacent to a road shoulder (step S201-Yes), the setting unit 232 determines whether or not there is a position where the vehicle 10 can be stopped on the road shoulder adjacent to the lane in which the vehicle 10 is traveling (step S202). The setting unit 232 detects a space where the vehicle 10 can be stopped on the road shoulder between the current position of the vehicle 10 and the uncontrollable point based on the object detection information and the map information. When a space where the vehicle 10 can be stopped on the road shoulder is detected, the setting unit 232 determines that there is a position where the vehicle 10 can be stopped on the road shoulder.

[0072] Here, the setting unit 232 detects the space where the vehicle 10 can stop by allowing the limit on the state of the vehicle 10 caused by the travel from the current position of the vehicle 10 to the space where the vehicle 10 can stop to exceed the limit allowed when it is determined that the driver is normal. For example, the setting unit 232 allows the deceleration of the vehicle 10 to exceed the deceleration allowed when it is determined that the driver is normal. This is because the deceleration caused until the vehicle 10 stops at the vehicle stop position is a little burden on the driver, but it is prioritized to stop the vehicle 10 at a position before the uncontrollable point. The deceleration caused until the vehicle 10 stops at the vehicle stop position is estimated based on the distance from the current position of the vehicle 10 to the space where the vehicle 10 can stop and the time required for the vehicle 10 to stop. The setting unit 232 obtains the deceleration caused by changing the time required for the vehicle 10 to stop, and detects the space that satisfies the relaxed deceleration standard. For example, the upper limit for the deceleration may be increased to 1.3 to 1.5 times the deceleration that is permitted when it is determined that the driver has no abnormality.

[0073] On the other hand, if the setting unit 232 cannot detect a space where the vehicle 10 can stop even after relaxing the restrictions on the state that occurs to the vehicle 10 while it is traveling, it determines that there is no position on the road shoulder where the vehicle 10 can stop. Also, if the setting unit 232 cannot detect a space where the vehicle 10 can stop because another vehicle is parked on the road shoulder, etc., it determines that there is no position on the road shoulder where the vehicle 10 can stop.

[0074] If there is a space on the road shoulder where the vehicle 10 can be stopped (step S202-Yes), the setting unit 232 sets a vehicle stopping position in the space on the road shoulder (step S203), and ends the series of processes.

[0075] On the other hand, if there is no space on the road shoulder where the vehicle 10 can be stopped (step S202-No), the setting unit 232 detects a space where the vehicle 10 can be stopped on the driving lane between the current position of the vehicle 10 and the uncontrollable point, sets the vehicle stop position in this space (step S204), and ends the series of processes. Here, too, the setting unit 232 detects a space where the vehicle 10 can be stopped by further allowing restrictions on the state of the vehicle 10 that occurs as the vehicle 10 travels from the current position of the vehicle 10 to the space where the vehicle 10 can be stopped to exceed the restrictions that are allowed when it is determined that there is no abnormality in the driver. For example, this is because stopping the vehicle 10 on the driving lane before the uncontrollable point is prioritized even if the deceleration that occurs until the vehicle 10 stops at the vehicle stop position places a burden on the driver to some extent.

[0076] Next, an example of the operation of the vehicle 10 controlled based on the above-described driving plan will be described below with reference to FIG.

[0077] An example in which vehicle 10 is automatically controlled based on a driving plan to move vehicle 10 to the shoulder and stop it will be described with reference to Fig. 1. First, at time T101, vehicle 10 is traveling on lane 51 of road 50, and monitoring device 17 of vehicle 10 determines that there is nothing abnormal with the driver.

[0078] Next, at time T102, the monitoring device 17 determines that the driver's involvement level in driving is low, and issues a warning to the driver via the UI 6 to request the driver to participate in driving. The monitoring device 17 also outputs a signal indicating that the driver's involvement level in driving is low to the driving planner 15 via the in-vehicle network 19, and in response to this, the driving planner 15 starts deceleration. The driving planner 15 also blinks the emergency blinker when a predetermined condition is satisfied. This notifies the surroundings of the vehicle 10 to pay attention to the behavior of the vehicle 10.

[0079] Next, at time T103, the monitoring device 17 generates an abnormality signal indicating that the driver is abnormal because, within a predetermined time after giving a warning to the driver, the driver's involvement level in driving is not determined to be high, the touch sensor 171 does not detect that the driver is holding the steering wheel, the torque sensor 172 does not detect the driver's operation of the steering wheel, and the driver's operation of the accelerator pedal and the brake pedal is not detected. The monitoring device 17 outputs the abnormality signal to the vehicle stop planning device 18 via the in-vehicle network 19. The vehicle stop planning device 18 determines that the driver is abnormal because the abnormality signal is input from the monitoring device 17.

[0080] Since an uncontrollable point 60 is present within a predetermined range from the current position of the vehicle 10 forward on the path of the vehicle 10, the vehicle stop planning device 18 sets a vehicle stop position P at a position on the road shoulder before the uncontrollable point 60. The driving planning device 15 generates a driving plan for stopping the vehicle while decelerating toward this vehicle stop position P.

[0081] Next, at time T104, when the vehicle 10 reaches a predetermined distance from the vehicle stop position P on the road shoulder 53, the vehicle speed is decelerated to a predetermined speed (for example, 10 km / h). In addition, the vehicle 10 moves to the road shoulder 53 side within the lane 51 in which the vehicle 10 is traveling and travels along the road shoulder 53. For example, the driving plan device 15 generates a driving plan so that the vehicle 10 travels at a position about 30 to 50 cm away from a lane dividing line that divides the lane and the road shoulder. This makes it possible to notify other vehicles around the vehicle 10 that the vehicle 10 will move to the road shoulder. The vehicle 10 travels a predetermined distance along the road shoulder 53 on the lane 51 toward a target position on the road shoulder 53 while blinking the turn signal.

[0082] Next, at time T105, the vehicle 10 starts to move onto the road shoulder 53 toward a vehicle stop position P on the road shoulder 53. The vehicle 10 crosses the lane marking 55 from the lane 51 in which it has been traveling and enters the road shoulder 53.

[0083] Finally, at time T106, the vehicle 10 stops at the vehicle stop position P on the road shoulder 53, and the hazard flasher indicator lights start flashing. Note that the vehicle 10 may be automatically controlled to make an emergency stop if an obstacle is detected on the planned travel path while the vehicle 10 is moving to the vehicle stop position P.

[0084] Next, an example in which the vehicle 10 is automatically controlled based on a driving plan for stopping the vehicle 10 in the lane in which the vehicle 10 is traveling will be described with reference to Fig. 5. The operation of the vehicle 10 at time T201 and time T202, and the operation until an abnormality signal is output from the monitoring device 17 to the vehicle stop planning device 18 at time T203, are the same as the example shown from time T101 to time T103 in Fig. 1.

[0085] At time T203, since an uncontrollable point 60 is present within a predetermined range from the current position of the vehicle 10 toward the front of the path of the vehicle 10, the vehicle stop planning device 18 sets a vehicle stop position P at a position before the uncontrollable point 60. Furthermore, since the lane 51 on which the vehicle 10 is traveling is not adjacent to the road shoulder 53, the vehicle stop planning device 18 sets the vehicle stop position P on the lane 52 on which the vehicle 10 is traveling. The driving planning device 15 generates a driving plan for stopping the vehicle while decelerating toward the vehicle stop position P. The driving planning device 15 generates a driving plan for stopping the vehicle while decelerating toward the vehicle stop position P.

[0086] Next, at times T204 and T205, when the vehicle 10 reaches a predetermined distance from the vehicle stop position P on the lane 51, the vehicle 10 decelerates to a predetermined speed (e.g., 10 km / h) and moves toward the vehicle stop position P on the lane 51.

[0087] Finally, at time T206, the vehicle 10 stops at a vehicle stop position P on the lane 51. In addition, the operation planning device 15 causes the hazard flasher of the vehicle 10 to continue flashing during the period from time T202 to time T206.

[0088] As described above, the vehicle stop planning device 18 can safely stop the vehicle 10 before the uncontrollable point 60 if an abnormality occurs in the driver.

[0089] In the present disclosure, the vehicle control device, the computer program for controlling a vehicle, and the vehicle control method of the above-mentioned embodiments can be appropriately modified without departing from the spirit of the present disclosure. Furthermore, the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions described in the claims and their equivalents. [Explanation of symbols]

[0090] 1 Vehicle Control System 2. Front camera 3. Surveillance Cameras 4 Positioning information receiver 5. Navigation devices 6 User Interface 6a Display device 10 Vehicles 11 Map information storage device 12 Position estimation device 13 Object detection device 14 Traffic lane planning device 15 Operation planning device 16 Vehicle control device 17 Monitoring equipment 171 Touch Sensor 172 Torque Sensor 18 Vehicle stop planning device 21 Communication Interface 22 Memory 23 Processors 231 Judgment section 232 Setting section 19 In-vehicle network

Claims

1. a determination unit that, when it is determined that the driver has an abnormality, determines whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle is not permitted within a predetermined range from the current position of the vehicle toward the front of the path of the vehicle; a setting unit that sets, when the determination unit determines that the uncontrollable point exists, a vehicle stop position at which the vehicle can be stopped in a position before the uncontrollable point; A vehicle control device comprising:

2. 2. The vehicle control device according to claim 1, wherein, when it is determined that the driver has an abnormality, the setting unit sets the vehicle stop position by allowing restrictions on conditions that occur in the vehicle as the vehicle travels from the current position of the vehicle to the vehicle stop position to exceed the restrictions that are permitted when it is determined that the driver has no abnormality.

3. The vehicle control device according to claim 1 , wherein the uncontrollable point includes a curved point having a radius of curvature smaller than a predetermined reference radius of curvature, or a point having a gradient larger than a predetermined reference gradient.

4. 4. The vehicle control device according to claim 1, wherein whether or not there is something wrong with the driver is determined based on a monitored image showing the vicinity of the driver's seat of the vehicle.

5. If it is determined that the driver has an abnormality, it is determined whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle is not permitted within a predetermined range ahead of the path of the vehicle from the current position of the vehicle; when it is determined that the uncontrollable point exists, a vehicle stop position where the vehicle can be stopped is set at a position before the uncontrollable point; A computer program for vehicle control, comprising: causing a processor to execute a process including the steps of:

6. A vehicle control method executed by a vehicle control device, If it is determined that the driver has an abnormality, it is determined whether or not there is an uncontrollable point where automatic control of the traveling of the vehicle is not permitted within a predetermined range ahead of the path of the vehicle from the current position of the vehicle; when it is determined that the uncontrollable point exists, a vehicle stop position where the vehicle can be stopped is set at a position before the uncontrollable point; A vehicle control method comprising:

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