Driving assistance control device, driving assistance method, and computer program

Abstract

To suppress deceleration and stop of one's own vehicle along a travel lane with a low recognition level.SOLUTION: The driving assistance control device 6 of the vehicle 100 is configured to perform driving assistance for stopping the vehicle 100 when it is determined that the driver of the vehicle 100 is in an abnormal state in which it is difficult to continue driving the vehicle 100, and to determine a stop lane in which the vehicle 100 is to be stopped from among the travel lanes on the road based on the recognition level of the travel lanes during the driving assistance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance control device, a driving assistance method, and a computer program. [Background technology]

[0002] Patent Document 1 discloses a conventional vehicle driving control device that is configured to, when it is determined that the driver is in an abnormal state in which he or she has lost the ability to drive the vehicle, perform deceleration and stop control to decelerate the vehicle along the vehicle's driving lane and maintain the vehicle in a stopped state if the section line of the driving lane in which the vehicle is traveling (the vehicle's driving lane) is recognized. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-109559 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even if the lane markings of the vehicle's lane are recognized, the reliability of the recognition results, i.e., the recognition level of the lane markings of the vehicle, may be low. In such cases, if the vehicle is slowed down or stopped along the lane markings of the vehicle, there is a risk that the vehicle will slow down or stop along the lane markings that are incorrectly recognized.

[0005] The present invention has been made with an eye on such problems, and aims to prevent the driver from slowing down and stopping the vehicle along a driving lane with a low level of awareness when the driver determines that the vehicle is in an abnormal state where it is difficult to continue driving. [Means for solving the problem]

[0006] In order to solve the above problem, a driving assistance control device for a vehicle according to one aspect of the present invention is configured to provide driving assistance to stop the vehicle when it is determined that the driver of the vehicle is in an abnormal state that makes it difficult for him or her to continue driving the vehicle, and to determine a stop lane in which to stop the vehicle from among the driving lanes based on the recognition level of the driving lanes on the road during driving assistance.

[0007] In addition, a vehicle driving assistance method according to one aspect of the present invention is implemented by a control device, and when it is determined that the driver of the vehicle is in an abnormal state where it is difficult to continue driving the vehicle, driving assistance is performed to stop the vehicle, and during driving assistance, a stopping lane in which to stop the vehicle from among the driving lanes is determined based on the recognition level of the driving lanes on the road.

[0008] Furthermore, a computer program according to one aspect of the present invention causes a computer to execute a process that provides driving assistance to stop the vehicle when it is determined that the driver of the vehicle is in an abnormal state that makes it difficult for him or her to continue driving the vehicle, and during the driving assistance, determines a stopping lane from among the driving lanes in which to stop the vehicle based on the recognition level of the driving lanes on the road. [Effects of the Invention]

[0009] According to these aspects of the present invention, a stopping lane in which to stop the vehicle is determined from among the driving lanes based on the recognition level of the driving lanes on the road, thereby preventing the vehicle from slowing down and stopping along a driving lane with a low recognition level. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of a vehicle according to a first embodiment of the present invention. [Figure 2] 4 is a flowchart illustrating deceleration and stop control according to the first embodiment of the present invention. [Figure 3] 10 is a flowchart illustrating deceleration and stop control according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

[0012] (First embodiment) FIG. 1 is a schematic diagram of a vehicle 100 according to a first embodiment of the present invention.

[0013] The vehicle 100 includes a surrounding sensor 1, a vehicle sensor 2, a driver sensor 3, an HMI (Human Machine Interface) 4, an actuator 5, and a control device 6. The surrounding sensor 1, the vehicle sensor 2, the driver sensor 3, the HMI 4, the actuator 5, and the control device 6 are communicatively connected to each other via an in-vehicle network 9 that complies with a standard such as a controller area network.

[0014] The surrounding sensor 1 is a sensor for generating surrounding data that represents the situation around the vehicle 100. The vehicle 100 according to this embodiment is equipped with one or more external cameras 11 as the surrounding sensor 1 for capturing images of the surroundings of the vehicle 100. The external cameras 11 capture images of the surroundings of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generate surrounding images that show the surroundings of the vehicle 100. Every time the external cameras 11 generate a surrounding image, they transmit the generated surrounding image to the control device 6 as surrounding data.

[0015] In addition to the external camera 11, a distance measurement sensor that measures the distance to targets such as other vehicles, motorcycles, and pedestrians present around the vehicle 100 may be provided as the surrounding sensor 1. Examples of distance measurement sensors include a LiDAR (Light Detection And Ranging) that emits radar light and measures distance based on the reflected light, and a millimeter wave radar sensor that emits radio waves and measures distance based on the reflected waves.

[0016] The vehicle sensors 2 are sensors for generating vehicle data that represent the state of the vehicle 100. The vehicle 100 according to this embodiment includes, as the vehicle sensors 2, a speed sensor 21 that generates speed data that indicates the traveling speed of the vehicle 100, and a positioning sensor 22 that generates current position data that indicates the current position of the vehicle 100, such as latitude and longitude. However, the vehicle sensors 2 are not limited to these sensors. The data acquired by the sensors 21 and 22 is transmitted to the control device 6 as vehicle data.

[0017] The driver sensor 3 is a sensor for generating driver data that represents the state of the driver. The vehicle 100 according to this embodiment is equipped with a driver monitor camera 31 as the driver sensor 3 for capturing an image of the driver's appearance, including the driver's face. The driver monitor camera 31 captures an image of the driver's appearance at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates an appearance image showing the driver's appearance. Every time the driver monitor camera 31 generates an appearance image of the driver, it transmits the generated appearance image to the control device 6 as driver data.

[0018] The HMI 4 is a user interface for exchanging information between the vehicle 100 and its occupants. The HMI 4 includes an output device 41 for notifying the vehicle occupants through their bodily senses (for example, vision, hearing, and touch), and an input device 42 for the vehicle occupants to perform input operations and response operations. The output device 41 is, for example, a display (for example, a meter display, a center display, a head-up display, etc.) or a speaker. The input device 42 is, for example, a touch panel or a microphone.

[0019] The HMI 4 notifies the vehicle occupant of information corresponding to the output signal received from the control device 6 via the output device 41, and transmits data input by the vehicle occupant to the control device 6 via the input device .

[0020] The HMI 4 may be pre-installed in the vehicle 100, or may be a terminal such as a smartphone owned by a vehicle occupant. In the latter case, for example, information may be exchanged between the vehicle 100 and the vehicle occupant's terminal by short-range wireless communication, or information may be exchanged indirectly via communication between the vehicle occupant's terminal and an external server (not shown).

[0021] The actuator 5 is a device used for driving control of the vehicle 100. The vehicle 100 according to this embodiment includes, as the actuators 5, an acceleration actuator 51 (for example, at least one of an engine and a motor) that controls acceleration of the vehicle 100, a brake actuator 52 (for example, a hydraulic actuator) that controls braking of the vehicle 100, and a steering actuator 53 (for example, a steering motor) that controls steering of the vehicle 100.

[0022] The control device 6 is an ECU (Electronic Control Unit) including a communication unit 61, a storage unit 62, and a processing unit 63.

[0023] The communication unit 61 includes an interface circuit for connecting the control device 6 to the in-vehicle network 9. The communication unit 61 supplies various data received from various sensors, the HMI 4, etc. to the processing unit 63. The communication unit 61 also outputs various signals output from the processing unit 63 to the HMI 4, the actuator 5, etc.

[0024] The storage unit 62 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a semiconductor memory, and stores various computer programs and data used for processing by the processing unit 63.

[0025] The processing unit 63 has one or more CPUs (Central Processing Units) and their peripheral circuits, and executes various computer programs stored in the storage unit 62. The processing unit 63 is, for example, a processor. The processing unit 63 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit. The processing unit 63 executes processing in accordance with the computer programs, thereby functioning as a recognition unit 71, a recognition level setting unit 72, and a driving assistance unit 73, and operates as functional units (modules) that realize predetermined functions. In the following description, when processing is described using each of the functional units 71 to 73 as the subject, it indicates that the processing unit 63 is executing a program that realizes each of the functional units 71 to 73.

[0026] The following describes the specific processing carried out by the control device 6. That is, the details of the functional units 71 to 73 realized by the processing unit 63 executing processing in accordance with a computer program will be described.

[0027] The recognition unit 71 recognizes targets and features around the vehicle 100. For example, the recognition unit 71 sequentially inputs surrounding images received from the external camera 11 into a classifier, thereby recognizing targets in the surrounding images, such as other vehicles, motorcycles, and pedestrians, and features, such as curbs, fences, and other similar structures, and road markings (e.g., lane markings). The classifier may be, for example, a convolutional neural network (CNN) having multiple convolution layers connected in series from the input side to the output side. The recognition unit 71 also calculates the distances from the vehicle to the targets and features and the positions of the targets and features using, for example, standard sizes of the targets and features stored in the memory unit 62 for each type of target and feature and the sizes of the targets and features recognized in the surrounding images. Note that the method for recognizing targets and features is not limited to the above method, and various known methods may be used for recognition.

[0028] The recognition level setting unit 72 sets a reliability level for the recognition results of the left and right dividing lines that define the driving lanes on the road (hereinafter referred to as the "driving lane recognition level"). The driving lanes for which the recognition level setting unit 72 sets the recognition level include the driving lane in which the vehicle 100 is traveling (hereinafter referred to as the "host vehicle driving lane") and driving lanes traveling in the same direction as the vehicle 100 (hereinafter referred to as the "parallel driving lane"). The driving lane recognition level is set to be higher as the recognition accuracy of the left and right dividing lines that define the driving lane increases.

[0029] For example, in this embodiment, if the recognition level setting unit 72 cannot recognize both the left and right dividing lines of the vehicle 100 ahead of the vehicle 100, it sets the recognition level of the host vehicle driving lane to the lowest level of level 0; if it can recognize either the left or right dividing lines of the vehicle 100, it sets the recognition level of the host vehicle driving lane to level 1; and if it can recognize both the left and right dividing lines of the vehicle 100, it sets the recognition level of the host vehicle driving lane to level 2. Similarly, with regard to parallel driving lanes, if the recognition level setting unit 72 cannot recognize both the left and right dividing lines of the parallel driving lane ahead of the vehicle 100 (including cases where there are no parallel driving lanes), it sets the recognition level of the parallel driving lane to the lowest level of level 0; if it can recognize either the left or right dividing line of the parallel driving lane, it sets the recognition level of the parallel driving lane to level 1; and if it can recognize both the left and right dividing lines of the parallel driving lane, it sets the recognition level of the parallel driving lane to level 2. Reasons why section lines cannot be recognized include, for example, faded or broken section lines due to deterioration of the section lines, and the influence of sunlight or the like reflected from the road surface.

[0030] The method for setting the recognition level is not limited to this method, and the recognition level can be set in more detail.

[0031] For example, even if both the left and right lane markings of the vehicle 100 can be recognized, if the difference between the distance in the vehicle width direction from the center of gravity of the vehicle 100 to the recognized right lane marking and the distance in the vehicle width direction from the center of gravity of the vehicle 100 to the left lane marking is equal to or greater than a predetermined value, there is a possibility that one of the lane markings has been erroneously recognized. Therefore, in such a case, the recognition level of the vehicle's driving lane may be lowered, for example, by setting it to 1.5 in the above example. Also, even if one of the left and right lane markings of the vehicle 100 can be recognized, if the distance in the vehicle width direction from the center of gravity of the vehicle 100 to the recognized lane marking is equal to or greater than a predetermined distance, there is a possibility that the lane marking has been erroneously recognized. Therefore, in such a case, the recognition level of the vehicle's driving lane may be lowered, for example, by setting it to 0.5 in the above example. As with the vehicle's own lane, if other vehicles traveling in the parallel lane are recognized and the distance in the vehicle width direction from the other vehicles to the dividing line can be calculated, the recognition level of the parallel lane may be lowered depending on the distance in the vehicle width direction from the other vehicles to the dividing line.

[0032] The driving assistance unit 73 controls the actuators 5 based on the targets and features recognized by the recognition unit 71, and performs driving assistance involving driving control of the vehicle 100. In this embodiment, the driving assistance unit 73 can perform driving assistance involving driving control of the vehicle 100 at a driving control level of Level 3 defined by the Society of Automotive Engineers (SAE), that is, a driving control level that does not require the driver to operate the actuators 51 to 53 or monitor the surroundings. Furthermore, the driving assistance unit 73 can perform driving assistance involving driving control of the vehicle 100 at a driving control level in which the driver is involved in driving the vehicle 100, for example, a driving control level of Level 1 or Level 2 defined by the SAE.

[0033] As one of the driving assistance functions involving driving control of the vehicle 100, the driving assistance unit 73 performs deceleration / stop control to decelerate the vehicle 100 and keep the vehicle 100 in a stopped state when the driver falls into an abnormal state where it is difficult for him to continue driving the vehicle 100, for example, due to a sudden change in his physical condition.

[0034] Here, when performing deceleration and stop control, in order to prevent the occurrence of accidents (such as contact with road users outside the vehicle) resulting from the implementation of deceleration and stop control, it is desirable to decelerate vehicle 100 and keep vehicle 100 in a stopped state so that vehicle 100 does not deviate from the roadway (a portion of the road separated by curbs, fences, or other similar structures or road markings for use by vehicles).

[0035] Therefore, conventionally, when the vehicle's driving lane is recognized, that is, when the vehicle is able to recognize the section lines on the left and right of the vehicle that define the vehicle's driving lane, the vehicle 100 is decelerated along the vehicle's driving lane and kept stopped.

[0036] However, even if the vehicle 100 is able to recognize the left and right section lines defining the vehicle's lane, the reliability of the recognition results, i.e., the recognition level of the vehicle's lane, may be low. In such cases, if a parallel lane exists that has a higher recognition level than the vehicle's lane, the vehicle 100 can be prevented from deviating from the roadway more reliably by changing lanes into the parallel lane and slowing down and stopping the vehicle 100 along the parallel lane.

[0037] Therefore, in this embodiment, when the deceleration and stop control is performed, a driving lane (stop lane) for decelerating and stopping the vehicle 100 is determined based on the recognition level of the driving lane on the road. This allows the vehicle 100 to decelerate and stop along a driving lane with a relatively high recognition level among the driving lanes on the road.

[0038] FIG. 2 is a flowchart illustrating the deceleration and stop control according to this embodiment.

[0039] In step S1, the control device 6 determines whether the driver has fallen into an abnormal state (hereinafter simply referred to as "abnormal state") that makes it difficult for the driver to continue driving. In this embodiment, the control device 6 determines that the driver has fallen into an abnormal state if a predetermined estimated abnormal state continues for a predetermined time T1. If the driver has fallen into an abnormal state, the control device 6 proceeds to processing in step S2. On the other hand, if the driver has not fallen into an abnormal state, the control device 6 ends this processing.

[0040] The estimated abnormal state is a state in which the driver is deemed to be in an abnormal state. For example, an example of the estimated abnormal state is a state in which the driver is not operating the steering wheel when driving assistance involving driving control of the vehicle 100 is being performed at a driving control level of level 2 or lower. Whether or not the driver is operating the steering wheel can be determined, for example, based on the magnitude of the steering torque acting on the steering shaft that rotates integrally with the steering wheel. Furthermore, regardless of the driving control level, it can also be determined whether or not the driver is in an estimated abnormal state based on the driver's appearance, for example, based on an image from a driver monitor camera.

[0041] In this embodiment, when the estimated abnormal state continues for a predetermined time T0 (T0 is a time shorter than T1), a warning is issued to the driver via the HMI. This allows deceleration and stop control to be performed only when the vehicle is in an abnormal state where the driver cannot respond to the warning.

[0042] In step S2, the control device 6 determines whether there is a parallel driving lane with a higher recognition level than the host vehicle driving lane. If there is no parallel driving lane with a higher recognition level than the host vehicle driving lane, the control device 6 proceeds to processing in step S3. On the other hand, if there is a parallel driving lane with a higher recognition level than the host vehicle driving lane, the control device 6 proceeds to processing in step S4.

[0043] In step S3, because there is no parallel driving lane with a higher recognition level than the host vehicle driving lane, the control device 6 decelerates the vehicle 100 along the host vehicle driving lane and stops the vehicle 100 within the host vehicle driving lane. That is, the control device 6 selects the host vehicle driving lane as a driving lane (hereinafter referred to as a "stop lane") in which the vehicle 100 will be decelerated and stopped. Note that in step S3, when the recognition level of the host vehicle driving lane is 0, that is, when neither the host vehicle driving lane nor the parallel driving lane can be recognized, the control device 6 can, for example, decelerate the vehicle 100 while simply moving the vehicle 100 straight, thereby stopping the vehicle 100.

[0044] In step S4, the control device 6 determines whether there are multiple parallel driving lanes with a higher recognition level than the host vehicle lane, i.e., multiple parallel driving lanes that are candidates for stop lanes. If there is only one parallel driving lane with a higher recognition level than the host vehicle lane, the control device 6 proceeds to processing in step S5. On the other hand, if there are multiple parallel driving lanes with a higher recognition level than the host vehicle lane, the control device 6 proceeds to processing in step S6.

[0045] In step S5, the control device 6 changes lanes to the only parallel driving lane that has a higher recognition level than the host vehicle driving lane, decelerates the vehicle 100 along the parallel driving lane, and stops the vehicle 100 in the parallel driving lane. That is, the control device 6 selects the only parallel driving lane that has a higher recognition level than the host vehicle driving lane as the stop lane.

[0046] In step S6, the control device 6 selects a stop lane from among a plurality of parallel driving lanes that have a higher recognition level than the vehicle driving lane.

[0047] For example, the control device 6 can select the parallel driving lane with the highest recognition level as the stop lane. Furthermore, the control device 6 can select the parallel driving lane closest to the vehicle driving lane as the stop lane, among multiple parallel driving lanes with a higher recognition level than the vehicle driving lane, taking into account factors such as ease of lane changes. Furthermore, the control device 6 can select the parallel driving lane closest to the sidewalk (the leftmost lane on Japanese roads) as the stop lane, among multiple parallel driving lanes with a higher recognition level than the vehicle driving lane, taking into account factors such as ease of rescuing the driver after stopping. Furthermore, the control device 6 can select the parallel driving lane farther from the sidewalk (the lane on the right side on Japanese roads) as the stop lane, among multiple parallel driving lanes with a higher recognition level than the vehicle driving lane, in order to prevent accidental contact with road users on the sidewalk or motorcycles passing on the left side of the roadway.

[0048] In step S7, the control device 6 changes lanes from the vehicle's driving lane to the stop lane (parallel driving lane) selected in step S6, decelerates the vehicle 100 along the stop lane, and stops the vehicle 100 within the stop lane.

[0049] The control device 6 (driving assistance control device) of the vehicle 100 according to the present embodiment described above is configured to provide driving assistance to stop the vehicle 100 when it is determined that the driver of the vehicle 100 is in an abnormal state that makes it difficult for him to continue driving the vehicle 100, and to determine a stop lane in which to stop the vehicle from among the driving lanes based on the recognition level of the driving lanes on the road during driving assistance.

[0050] In this way, the stopping lane in which the vehicle is to be stopped is determined based on the recognition level of the driving lane on the road, so it is possible to prevent the vehicle from slowing down and stopping along a driving lane with a low recognition level.

[0051] In particular, in this embodiment, if there is a driving lane on the road that has a higher recognition level than the vehicle driving lane in which the vehicle 100 is driving, the control device 6 is configured to determine that driving lane as the stopping lane.

[0052] As a result, if the driver falls into an abnormal state and is unable to recognize the host vehicle driving lane, the vehicle 100 can be stopped in another driving lane with a higher recognition level than the host vehicle driving lane. Therefore, if the driver falls into an abnormal state and is unable to recognize the host vehicle driving lane, but is able to recognize another driving lane, the vehicle 100 can be decelerated and stopped. Furthermore, since the vehicle 100 can be decelerated and stopped in a driving lane with a higher recognition level than the host vehicle driving lane, deviation of the vehicle 100 from the roadway can be more reliably prevented.

[0053] In addition, in this embodiment, if there is a parallel driving lane on the road that has a higher recognition level than the vehicle driving lane in which the vehicle 100 is driving, the control device 6 is configured to determine the parallel driving lane with the highest recognition level among the parallel driving lanes as the stopping lane.

[0054] This allows the vehicle 100 to be decelerated and stopped along the driving lane with the highest recognition level, thereby more reliably preventing the vehicle 100 from deviating from the roadway.

[0055] In addition, if there is a parallel driving lane on the road that has a higher recognition level than the vehicle's own driving lane in which the vehicle is traveling, the control device 6 can be configured to determine the parallel driving lane that is closest to the vehicle's own driving lane as the stopping lane.

[0056] This reduces the number of lane changes, thereby suppressing the occurrence of accidents associated with lane changes and allowing lane changes to be completed early, thereby shortening the time it takes to stop the vehicle 100.

[0057] In addition, the control device 6 can also be configured to determine, among the driving lanes on the road, a parallel driving lane with a higher recognition level than the lane in which the vehicle 100 is traveling, the parallel driving lane that is closest to the sidewalk as the stopping lane.

[0058] This allows the driver to be rescued easily and safely from the sidewalk after the vehicle 100 has been stopped.

[0059] In addition, the control device 6 can also be configured to determine, among the driving lanes on the road, a parallel driving lane with a higher recognition level than the vehicle driving lane in which the vehicle 100 is driving, the parallel driving lane on the opposite side of the sidewalk as the stopping lane.

[0060] This can prevent accidental contact with road users on the sidewalk or motorcycles passing on the left side of the road.

[0061] In this embodiment, the control device 6 is configured to change lanes from the host vehicle driving lane to the stop lane and stop the vehicle 100 along the stop lane if the stop lane is different from the host vehicle driving lane in which the vehicle 100 is traveling. In this embodiment, the control device 6 is configured to recognize lane markings on the road based on images captured by the external camera 11 (imaging device), and to set a recognition level for the driving lane defined by the lane markings based on the recognition results of the lane markings.

[0062] (Second embodiment) Next, a second embodiment of the present invention will be described. This embodiment differs from the first embodiment in the content of the processing that is performed after the driver falls into an abnormal state that makes it difficult for him to continue driving. The following description will focus on this difference.

[0063] 3 is a flowchart illustrating the deceleration and stop control according to this embodiment. In FIG. 3, the contents of the processes from step S1 to step S7 are the same as those in the first embodiment, so the description thereof will be omitted here.

[0064] In step S21, the control device 6 determines whether the recognition level of the host vehicle's lane is equal to or higher than a predetermined level (e.g., level 1). If the recognition level of the host vehicle's lane is equal to or higher than the predetermined level, the control device 6 proceeds to processing in step S3. On the other hand, if the recognition level of the host vehicle's lane is lower than the predetermined level, the control device 6 proceeds to processing in step S2.

[0065] The control device 6 (driving assistance control device 6) of the vehicle 100 according to the present embodiment described above is configured to determine the host vehicle driving lane as a stop lane when the recognition level of the host vehicle driving lane in which the vehicle 100 is driving is equal to or higher than a predetermined level, and to determine that host vehicle driving lane as a stop lane when the recognition level of the host vehicle driving lane is lower than the predetermined level and there is a driving lane with a higher recognition level than the host vehicle driving lane, and to determine that driving lane or the driving lane with the highest recognition level among them as a stop lane.

[0066] This not only achieves the same effect as the first embodiment described above, but also reduces the processing load on the control device 6, since there is no need to check the recognition level of the parallel driving lane when the recognition level of the vehicle's driving lane is above a predetermined level.

[0067] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments.

[0068] In the above embodiment, the computer program executed by the control device 6 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]

[0069] 6. Control device 11 External camera (imaging device) 100 vehicles

Claims

1. A driving assistance control device for a vehicle, When it is determined that the driver of the vehicle is in an abnormal state in which it is difficult for him or her to continue driving the vehicle, driving assistance is performed to stop the vehicle, and determining a stop lane in which the vehicle is to be stopped from among the driving lanes based on a recognition level of the driving lanes on the road during the driving assistance. Driver assistance control device.

2. If there is a driving lane on a road that has a recognition level higher than that of the vehicle driving lane in which the vehicle is driving, the driving lane is determined to be the stop lane. The driving assistance control device according to claim 1 .

3. If there is a driving lane on a road that has a higher recognition level than the recognition level of the vehicle driving lane in which the vehicle is driving, the driving lane with the highest recognition level among the driving lanes is determined to be the stop lane. The driving assistance control device according to claim 1 .

4. If there is a driving lane on a road that has a higher recognition level than the host vehicle driving lane in which the vehicle is traveling, the driving lane that is closest to the host vehicle driving lane among the driving lanes is determined to be the stop lane. The driving assistance control device according to claim 1 .

5. If there is a driving lane on a road that has a recognition level higher than that of the vehicle driving lane in which the vehicle is driving, the driving lane that is closest to a sidewalk among the driving lanes is determined to be the stop lane. The driving assistance control device according to claim 1 .

6. If there is a driving lane on a road that has a higher recognition level than the recognition level of the vehicle driving lane in which the vehicle is traveling, the driving lane on the opposite side of the sidewalk among the driving lanes is determined to be the stop lane. The driving assistance control device according to claim 1 .

7. When a recognition level of the host vehicle driving lane in which the vehicle is traveling is equal to or higher than a predetermined level, the host vehicle driving lane is determined to be the stop lane. The driving assistance control device according to claim 1 .

8. When the recognition level of the host vehicle driving lane is lower than the predetermined level, if there is a driving lane with a higher recognition level than the host vehicle driving lane, the driving lane is determined to be the stop lane. The driving assistance control device according to claim 7.

9. When the recognition level of the host vehicle driving lane is lower than the predetermined level, if there is a driving lane with a higher recognition level than the host vehicle driving lane, the driving lane with the highest recognition level among the driving lanes is determined to be the stop lane. The driving assistance control device according to claim 7.

10. If the stop lane is different from the host vehicle driving lane in which the vehicle is traveling, the vehicle is changed from the host vehicle driving lane to the stop lane and stopped along the stop lane. The driving assistance control device according to any one of claims 1 to 9.

11. Recognizing lane markings on a road based on an image captured by the imaging device; and setting a recognition level of the driving lane defined by the lane markings based on the recognition result of the lane markings. The driving assistance control device according to any one of claims 1 to 8.

12. A vehicle driving assistance method implemented by a control device, comprising: When it is determined that the driver of the vehicle is in an abnormal state in which it is difficult for him or her to continue driving the vehicle, driving assistance is performed to stop the vehicle, During the driving assistance, a stop lane in which the vehicle is to be stopped is determined from among the driving lanes based on a recognition level of the driving lanes on the road. Driving assistance methods.

13. When it is determined that the driver of the vehicle is in an abnormal state where it is difficult for the driver to continue driving the vehicle, driving assistance is performed to stop the vehicle; During the driving assistance, a stop lane in which the vehicle is to be stopped is determined from among the driving lanes based on a recognition level of the driving lanes on the road. A computer program that causes a computer to perform a process.

Images