Vehicle control system and vehicle control program

Abstract

The present invention provides a vehicle control device that can prevent the vehicle from starting to move if it is unclear whether the brake switch is functioning correctly. [Solution] A vehicle control device according to one embodiment includes a controller. After the vehicle is started, the controller detects that the state of the brake switch, which detects the state of brake operation by the user, is ON, and then transitions the vehicle from a non-running state to a drivable state. If the controller does not detect that the state of the brake switch is ON after the vehicle is started, it notifies the user to perform a brake operation and maintains the vehicle in a non-running state while the vehicle is running until it detects that the state of the brake switch is ON.

Description

[Technical Field]

[0001] The disclosed embodiments relate to a vehicle control device and a vehicle control program. [Background Art]

[0002] There is a control device that determines a failure of a brake switch based on an operation state of the brake switch operated by a vehicle user and an operation state of a brake (see, for example, Patent Document 1). When the control device detects a failure of the brake switch, it turns on a warning light. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2017-149295 [Summary of Invention] [Problem to be Solved by Invention]

[0004] However, the prior art method for detecting a brake switch failure requires detecting that a brake is operated and that the operation has been performed, and it is not easy to perform failure detection and determine that the brake switch is normal during the period from when the vehicle is started to when it starts traveling. Starting the vehicle traveling in a state where it is not known whether the brake switch is normal may impair the drivability of the vehicle.

[0005] One aspect of the embodiments has been made in view of the above, and an object thereof is to provide a vehicle control device capable of preventing the vehicle from starting traveling when it is not known whether a brake switch is normal. [Means for Solving the Problem]

[0006] A vehicle control device according to one embodiment includes a controller. After the vehicle is started, the controller detects that the state of the brake switch, which detects the state of brake operation by the user, is ON, and then transitions the vehicle from a non-running state to a drivable state. If the controller does not detect that the state of the brake switch is ON after the vehicle is started, it notifies the user to perform a brake operation and maintains the vehicle in the non-running state while the vehicle is running until it detects that the state of the brake switch is ON. [Effects of the Invention]

[0007] According to one embodiment, a vehicle control device, after detecting a vehicle start operation, if it does not detect that the brake switch is ON, will not transition the vehicle to a drivable state and will instead notify the user to apply the brakes.

[0008] Subsequently, the control unit, upon detecting that the brake switch is in the "on" state, will switch the vehicle to a drivable state. This prevents the vehicle from starting to move if it is uncertain whether the brake switch is functioning correctly. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an explanatory diagram showing a vehicle control system according to an embodiment. [Figure 2] Figure 2 is a timing chart showing an example of vehicle control during vehicle startup according to the embodiment. [Figure 3] Figure 3 is a timing chart showing an example of vehicle control during vehicle startup according to the embodiment. [Figure 4] Figure 4 is a timing chart showing an example of vehicle control during vehicle startup according to a modified embodiment. [Figure 5] Figure 5 is a flowchart showing an example of the processing performed by the controller according to this embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the vehicle control device and vehicle control program will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments shown below. The vehicle control system 100 according to the embodiment is mounted, for example, on a four-wheeled electric wheelchair (hereinafter referred to as "vehicle"). However, the vehicle control system 100 according to the embodiment may be mounted on any vehicle other than an electric wheelchair.

[0011] Figure 1 is an explanatory diagram showing a vehicle control system 100 according to an embodiment. As shown in Figure 1, the vehicle control system 100 includes a vehicle control device 1, a battery 3, a speedometer 4, a steering angle sensor 5, a brake switch 6, a forward switch 7, and a reverse switch 8. Furthermore, the vehicle control system 100 includes motors 9, 10, inverters 11, 12, electromagnetic brakes 13, 14, and a notification device 15, etc.

[0012] Battery 3 is a power source that supplies power to each electronic component included in the vehicle control system 100. In Figure 1, the power supply lines are shown by solid straight arrows. The dashed straight arrows in Figure 1 indicate the signal transmission lines.

[0013] The speedometer 4 is a speedometer that displays the vehicle's speed (hereinafter sometimes referred to as "vehicle speed"). The speedometer 4 displays the vehicle speed detected by a vehicle speed sensor (not shown) attached to the wheel. The speedometer 4 also outputs information indicating the vehicle speed to the vehicle control device 1.

[0014] The steering angle sensor 5 detects the steering angle of the wheels whose direction is changed by the steering wheel operation of the vehicle, and outputs the detection result to the vehicle control device 1. The brake switch 6 is located on the steering wheel. The brake switch 6 is a switch whose state changes in response to brake operation by the user. In other words, the brake switch 6 is a switch that detects the state of brake operation by the user. The brake switch 6 is mechanically connected to the brake device 61 by means of a wire, for example.

[0015] When a brake operation is performed, the brake SW 6 activates a brake device 61 to brake the vehicle. Further, the brake SW 6 is in an ON state during a period in which the brake operation is being performed. The brake SW 6 is in an OFF state during a period in which the brake operation is not being performed. The brake SW 6 outputs information indicating that the state is ON or OFF to a vehicle control device 1 in accordance with a brake operation performed by a user.

[0016] A forward SW 7 is provided on a steering wheel or a pedal. The forward SW 7 is a switch operated by a user when causing the vehicle to move forward. When operated by the user, the forward SW 7 outputs an operation signal corresponding to the operation to the vehicle control device 1.

[0017] A reverse SW 8 is provided on a steering wheel or a pedal. The reverse SW 8 is a switch operated by a user when causing the vehicle to reverse. When operated by the user, the reverse SW 8 outputs an operation signal corresponding to the operation to the vehicle control device 1.

[0018] A motor 9 is, for example, a rotating electrical machine provided on a left rear wheel of the vehicle and driving the left rear wheel. A motor 10 is, for example, a rotating electrical machine provided on a right rear wheel of the vehicle and driving the right rear wheel. An inverter 11 is a motor controller that adjusts electric power supplied to the motor 9 in accordance with control by the vehicle control device 1. An inverter 12 is a motor controller that adjusts electric power supplied to the motor 10 in accordance with control by the vehicle control device 1.

[0019] An electromagnetic brake 13 is provided, for example, on the left rear wheel of the vehicle. An electromagnetic brake 14 is provided, for example, on the right rear wheel of the vehicle. The electromagnetic brakes 13 and 14 are so-called parking brakes that prohibit rotation of wheels in accordance with control by the vehicle control device 1.

[0020] The notification device 15 is, for example, a liquid crystal display device. The notification device 15 displays and notifies a user of information such as various types of warnings in accordance with control by the vehicle control device 1. The notification device 15 may be a warning lamp that notifies of various warnings.

[0021] The vehicle control device 1 comprises a controller 2. The controller 2 includes a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) and the like, as well as various circuits. The controller 2 comprehensively controls the entire vehicle by causing the CPU to execute a vehicle control program stored in the ROM using the RAM as a work area.

[0022] For example, the controller 2 is activated when an unillustrated vehicle ignition switch (hereinafter referred to as "IG") is operated. The vehicle is in a non-travelable state at the time of activation. The non-travelable state refers to a state where, for example, even if a user operates the forward SW 7 or the reverse SW 8, no control signal for driving the motors 9, 10 is output from the controller 2 to the inverters 11, 12. Further, when the forward SW 7 is operated after activation, the controller 2 controls the inverters 11, 12 to drive the motors 9, 10 so as to move the vehicle forward, with a predetermined speed (for example, 6 km / h) set as the upper limit.

[0023] Further, when the reverse SW 8 is operated after activation, the controller 2 controls the inverters 11, 12 to drive the motors 9, 10 so as to move the vehicle backward, with a predetermined speed (for example, 2 km / h) set as the upper limit. Additionally, the controller 2 individually adjusts the rotational speeds of the motors 9, 10 in accordance with the steering angle detected by the steering angle sensor 5, so that cornering of the vehicle becomes smooth.

[0024] Furthermore, the controller 2 controls the brake device 61 based on the state of the brake switch 6, which changes in state due to the user's brake operation. When the controller 2 detects that the brake switch 6 is ON, it activates the brake device 61 to brake the vehicle. Conversely, when the controller 2 does not detect that the brake switch 6 is ON, that is, when the brake switch 6 is OFF, it releases the brakes.

[0025] Furthermore, in order to ensure the vehicle's drivability, the controller 2 checks whether the brake SW6 operates correctly when the vehicle is started and after it has started. If it confirms that the brake SW6 operates correctly, it transitions the vehicle from a non-drivable state to a drivable state.

[0026] After detecting a vehicle startup operation (for example, turning on the ignition), if controller 2 detects that the brake switch 6 is in the ON position, it transitions the vehicle from a non-running state to a drivable state.

[0027] As mentioned above, the "non-operational" state is a condition in which motors 9 and 10 are not driven even when the forward switch 7 or reverse switch 8 is operated. In contrast, the "operational" state is a condition in which motors 9 and 10 can be driven in response to the operation of the forward switch 7 or reverse switch 8.

[0028] Furthermore, after detecting the vehicle's start operation, if the controller 2 does not detect that the brake switch 6 is ON, it will notify the user to apply the brakes, and while the vehicle is in the start state, it will keep the vehicle in a non-movable state until it detects that the brake switch 6 is ON.

[0029] For example, controller 2 displays the message "Please apply the brakes" on the notification device 15 to prompt the user to apply the brakes. After displaying this notification, if controller 2 detects that the brake switch 6 is ON, it transitions the vehicle to a drivable state.

[0030] Thus, at startup, the controller 2 will only transition the vehicle from a non-operational state to an operational state if it has confirmed that the brakes have been applied by the user and that the brake SW6 is properly turned ON, i.e., that it is not malfunctioning and is not in the OFF position. This prevents the vehicle control device 1 from starting the vehicle if it is unsure whether the brake SW6 is functioning correctly.

[0031] Furthermore, if the vehicle's speed exceeds a threshold after the vehicle has been brought into a drivable state, the controller 2 will notify the user to apply the brakes. If the controller 2 does not detect that the brake switch 6 is on even after the notification, it will determine that the brake switch 6 is malfunctioning and in the off position.

[0032] As a result, if the brake switch 6 is not malfunctioning when the vehicle is started, but malfunctions after the vehicle has been brought into a drivable state, the controller 2 can detect the brake switch 6 malfunction while the vehicle is running.

[0033] At this time, controller 2 starts issuing a notification prompting the driver to apply the brakes if the vehicle's speed remains above a threshold for more than one hour. As a result, controller 2 does not start issuing a notification if the vehicle's speed exceeds the threshold but the measurement time of that state is less than one hour, thus reducing the annoyance caused by frequent notifications prompting the driver to apply the brakes.

[0034] Furthermore, the controller 2 continues to prompt the user to apply the brakes from the time it starts prompting the user to apply the brakes until it detects that the brake switch 6 is turned on. This allows the controller 2 to more reliably prompt the user to apply the brakes while the vehicle is in motion.

[0035] Furthermore, controller 2 determines that brake switch 6 is malfunctioning and in the off position if the duration of the notification prompting brake operation exceeds two hours. In this case, it is possible that the user is unaware of the notification, but if the user notices the notification and applies the brakes but brake switch 6 is malfunctioning and in the off position, it may impair the vehicle's drivability. Therefore, controller 2 can contribute to ensuring the vehicle's drivability by determining that brake switch 6 is malfunctioning and in the off position, taking the above two situations into consideration.

[0036] If controller 2 determines that brake SW6 is malfunctioning and in the off position, it performs a fail-safe procedure to stop the vehicle, then puts the vehicle in a non-movable state and prevents it from resuming operation. This fail-safe procedure involves setting the rotational speed instruction to motors 9 and 10 to 0 (zero), even if the forward SW7 is being operated, to slowly bring the vehicle to a stop, and then activating the electromagnetic brakes 13 and 14. This allows controller 2 to prevent the vehicle from continuing to move if there is a risk that brake SW6 is malfunctioning and in the off position.

[0037] Subsequently, if the controller 2 has prohibited the resumption of driving, it will notify the user to restart the vehicle. For example, the controller 2 will display the message, "The brake switch may be malfunctioning. Please restart the vehicle," on the notification device 15.

[0038] As a result, if the brake switch 6 is not physically faulty but is not turning on due to a control issue, and the brake switch 6 will start working properly after the vehicle is restarted, the controller 2 can resume driving the vehicle after the restart.

[0039] Furthermore, during the period from when the vehicle is started until the vehicle begins to move, the controller 2 will not determine that the brake switch 6 is malfunctioning or off, even if it does not detect that the brake switch 6 is on after issuing a notification prompting the driver to apply the brakes.

[0040] This prevents controller 2 from mistakenly determining that brake switch 6 is malfunctioning when the vehicle has just started up, the vehicle is stopped, brake switch 6 is not malfunctioning and is about to start braking.

[0041] Next, specific examples of vehicle control according to the embodiment will be described with reference to Figures 2 and 3. Figure 2 is a timing chart showing an example of vehicle control during vehicle startup according to the embodiment. Figure 3 is a timing chart showing an example of vehicle control during vehicle startup according to the embodiment.

[0042] As shown in Figure 2, during the period when the IG is off, the drivable state flag, brake SW6, brake SW operation request notification flag, brake SW off failure flag, and fail-safe processing flag are all in the off state.

[0043] When Controller 2 detects that the IG is turned on at time T0, thereby detecting a startup operation, it turns on the brake switch operation request notification flag to notify the user to operate the brakes. Subsequently, when Controller 2 detects that the brake switch 6 is on at time T1, it turns off the brake switch operation request notification flag, and at time T2, it changes the drivable state flag from off to on, transitioning the vehicle from a non-drivable state to a drivable state.

[0044] Subsequently, at time T3, the brake SW6 is turned off, and if the user operates the forward SW7, the vehicle will start moving forward. However, from time T0 to time T1 (strictly speaking, time T2), the vehicle is stopped, and even if the forward SW7 is operated, the vehicle will not start moving until the ready-to-drive flag is turned on at time T2.

[0045] Therefore, even if controller 2 does not detect that brake SW6 is ON between time T0 and time T1 (strictly speaking, time T2), it will not turn on the brake SW6 OFF fault flag. Also, since the vehicle is stopped, controller 2 will not turn on the fail-sale flag.

[0046] Next, an example of control during vehicle startup will be explained with reference to Figure 3. As shown in Figure 3, when the IG is turned on at time T0, the controller 2 detects the startup operation and simultaneously detects that the brake SW6 is on. At time T1, it changes the drivable state flag from off to on, transitioning the vehicle from a non-drivable state to a drivable state.

[0047] Subsequently, when the forward SW7 is operated, the vehicle speed increases. Then, at time T2, when the vehicle speed exceeds the brake SW off fault detection speed (threshold), the controller 2 starts counting up the brake SW warning detection time.

[0048] Subsequently, if the forward SW7 is not operated before the brake SW warning judgment time count reaches the brake operation request start time threshold (1st hour), the vehicle speed decreases. Then, at time T3, if the vehicle speed falls below the brake SW off failure detection speed, the brake SW warning judgment time count-up stops.

[0049] Subsequently, when the brake switch 6 is operated at time T4, the controller 2 resets the brake switch warning judgment time count value. Then, at time T5, when the brake switch 6 is turned from on to off and the forward switch 7 is operated, the vehicle speed increases again.

[0050] Subsequently, at time T6, if the vehicle speed exceeds the brake switch off failure detection speed, controller 2 starts counting up the brake switch warning detection time. Then, at time T7, if the count value of the brake switch warning detection time exceeds the brake operation request start time threshold, controller 2 turns on the brake switch operation request notification flag and starts notifying the user to perform a brake operation.

[0051] Then, controller 2 starts counting up the brake switch off failure detection time from time T7. Subsequently, if the brake switch 6 is operated by the user at time T8 before the count value of the brake switch off failure detection time reaches the brake switch off failure detection threshold (second time), controller 2 detects that the state of brake switch 6 is ON.

[0052] As a result, controller 2 can determine that brake SW6 is not malfunctioning and is operating normally, so at time T8, it turns off the brake SW operation request notification flag and ends the notification prompting brake operation.

[0053] At this time T8, controller 2 resets the count value for the brake switch warning detection time and the count value for the brake switch off failure detection time. Then, at time T9, when the user finishes braking and stops operating the forward switch 7, the vehicle speed decreases. When the user resumes operating the forward switch 7, the vehicle speed increases.

[0054] Subsequently, at time T10, if the vehicle speed exceeds the brake switch off failure detection speed, controller 2 starts counting up the brake switch warning detection time. Then, at time T11, if the count value of the brake switch warning detection time exceeds the brake operation request start time threshold, controller 2 turns on the brake switch operation request notification flag and starts notifying the user to perform a brake operation.

[0055] Then, at time T11, controller 2 starts counting up the brake switch off failure detection time. Subsequently, at T12, if controller 2 does not detect that brake switch 6 is on even when the count value of the brake switch off failure detection time exceeds the brake switch off failure detection threshold (second time), it determines that brake switch 6 is off due to a failure.

[0056] Then, at time T12, controller 2 turns on the brake switch off fault flag and the failsafe processing flag, initiating the failsafe process and gradually decelerating the vehicle to a stop.

[0057] Furthermore, at time T12, controller 2 turns on the fault notification flag to inform the user that brake SW6 is malfunctioning. For example, controller 2 displays the message "The brake switch may be malfunctioning. Please restart the vehicle." on notification device 15.

[0058] Subsequently, at time T13, controller 2 changes the drivable status flag from on to off, transitioning the vehicle from drivable to non-drivable status. In this case, the user may not have noticed the notification prompting them to apply the brakes while driving. In this case, the user may apply the brakes for confirmation after the vehicle has stopped due to the failsafe process.

[0059] Therefore, if controller 2 detects that the brake switch 6 is ON at time T14 after the vehicle has stopped, it turns off the brake switch off fault flag, the fail-safe processing flag, and the fault notification flag.

[0060] Then, when the brake operation is completed at time T15, controller 2, since brake SW6 was not malfunctioning, turns on the ready-to-drive flag at time T16, transitioning the vehicle from a non-operational state to a ready-to-drive state.

[0061] Note that the control example shown in Figure 3 is just one example. Controller 2 can also perform the control shown in Figure 4, for example. Figure 4 is a timing chart showing an example of vehicle control during vehicle startup according to a modified embodiment.

[0062] As shown in Figure 4, the control example related to the modified version differs from the control shown in Figure 3 in terms of the control from time T14 onwards. The control from time T0 to time T14 is the same as the control shown in Figure 3. In the control related to the modified version, even if the controller 2 detects that the brake SW6 is ON when the vehicle is in a non-running state at time T14, it does not turn off the brake SW off failure flag, the fail-safe processing flag, and the failure notification flag.

[0063] Subsequently, when controller 2 detects that the IG is off after the brake SW6 is turned off at time T15, it turns off the brake SW off fault flag, the fail-safe processing flag, and the fault notification flag.

[0064] This allows controller 2 to more strongly prompt the user to restart the vehicle, and subsequently, the vehicle restart can prevent control problems that are not physical failures from occurring in brake SW6.

[0065] Next, the processes executed by the controller 2 will be described with reference to Figure 5. Figure 5 is a flowchart showing an example of the processes executed by the controller 2 according to this embodiment. When the IG is turned on and the vehicle is started, the controller 2 starts the processes shown in Figure 5. At this time, the vehicle is in a non-operational state during startup.

[0066] As shown in Figure 5, when the controller 2 detects a startup operation, it first determines whether the brake SW6 is ON or OFF (step S101). If the controller 2 determines that the brake SW6 is NOT ON (step S101, No), it issues a brake SW operation request notification to prompt the user to operate the brakes (step S102) and proceeds to step S101. Subsequently, if the controller 2 does not detect that the brake SW6 is ON (step S101, No), and the process of issuing the brake SW operation request notification in step S102 is repeated (looped), the process terminates if the power is turned off, such as when the IG is turned off. When the power is then turned on again, the process starts again from step S101 as shown in Figure 5.

[0067] Furthermore, if controller 2 determines that the brake SW6 is ON (step S101, Yes), it puts the vehicle into a drivable state (step S103). Then, controller 2 determines whether the vehicle speed has remained above a threshold for at least 1 hour (step S104).

[0068] If controller 2 determines that the vehicle speed has not been above the threshold for more than 1 hour (step S104, No), it repeats the determination process in step S104. Then, if controller 2 determines that the vehicle speed has been above the threshold for more than 1 hour (step S104, Yes), it issues a brake switch operation request notification to the user prompting them to operate the brakes (step S105).

[0069] Subsequently, controller 2 determines whether the brake SW6 is ON or OFF (step S106). If controller 2 determines that the brake SW6 is ON (step S106, Yes), it terminates the brake SW operation request notification (step S107).

[0070] Next, controller 2 determines whether or not it has detected a vehicle termination operation (step S108). If controller 2 determines that it has not detected a vehicle termination operation (step S108, No), it moves the process to step S104. If controller 2 determines that it has detected a vehicle termination operation (step S108, Yes), it terminates the process.

[0071] Furthermore, if the controller 2 determines in step S106 that the state of brake SW6 is not ON (step S106, No), it determines whether the duration of the brake SW operation request notification is two hours or longer (step S109).

[0072] If controller 2 determines that the duration of the brake switch operation request notification is not two hours or longer (step S109, No), it moves the process to step S106. If controller 2 determines that the duration of the brake switch operation request notification is two hours or longer (step S109, Yes), it determines that brake switch 6 is in an off state (step S110).

[0073] Next, controller 2 performs a fail-safe procedure (step S111) and issues a brake switch off fault notification (step S112) indicating that brake switch 6 may be malfunctioning and that the vehicle needs to be restarted.

[0074] Subsequently, controller 2 determines whether or not it has detected a vehicle termination operation (step S113). If controller 2 does not detect a vehicle termination operation (step S113, No), it repeats the determination process in step S113.

[0075] Furthermore, if controller 2 determines that it has detected the vehicle's termination operation (step S113, Yes), it terminates the fail-safe process and brake switch off fault notification (step S114), and then terminates the process.

[0076] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of Symbols]

[0077] 1. Vehicle control system 2 Controllers 3 Batteries 4 Speedometer 5. Steering angle sensor 6 Brake SW 7 Forward SW 8 Reverse SW 9,10 Motor 11,12 Inverter 13,14 Electromagnetic brakes 15. Notification device 61 Brake system 100 Vehicle control systems

Claims

1. The system includes a controller that, after the vehicle has started, detects that the state of the brake switch, which detects the state of brake operation by the user, is ON, and then transitions the vehicle from a non-drivable state to a drivable state. The aforementioned controller, If, after the vehicle is started, the system does not detect that the brake switch is in the "on" state, it will notify the user to apply the brakes, and while the vehicle is running, it will maintain the vehicle in the "dead zone" state until the system detects that the brake switch is in the "on" state. Vehicle control system.

2. The aforementioned controller, If the vehicle's speed after it has been brought into a drivable state exceeds a threshold, the system will notify the user to perform the brake operation. If the system does not detect that the brake switch is ON even after the notification, it will determine that the brake switch is malfunctioning and in the OFF position. The vehicle control device according to claim 1.

3. The aforementioned controller, If the vehicle's speed remains above a threshold for one hour or longer, the notification prompting the application of the brakes will be initiated. The vehicle control device according to claim 2.

4. The aforementioned controller, The notification prompting brake operation will continue from the time it is initiated until the state of the brake switch is detected as being ON. The vehicle control device according to claim 3.

5. The aforementioned controller, If the duration of the notification prompting brake operation is two hours or longer, it is determined that the brake switch is malfunctioning and in the off position. The vehicle control device according to claim 2.

6. The aforementioned controller, If it is determined that the brake switch is malfunctioning and in the off position, the vehicle will be stopped and then prohibited from resuming driving. The vehicle control device according to claim 2.

7. The aforementioned controller, If the resumption of driving is prohibited, the system will notify the user to restart the vehicle. The vehicle control device according to claim 6.

8. The aforementioned controller, During the period from the start of the vehicle until the vehicle begins to move, even if the state of the brake switch is not detected as ON after the notification prompting the brake operation is given, it will not be determined that the brake switch is malfunctioning and in the OFF position. The vehicle control device according to claim 1.

9. After the vehicle has started, if the brake switch, which detects the state of brake operation by the user, is detected to be ON, the vehicle is transitioned from a non-drivable state to a drivable state. If, after the vehicle is started, the system does not detect that the brake switch is in the "on" state, it will notify the user to apply the brakes, and while the vehicle is running, it will maintain the vehicle in the "dead zone" state until the system detects that the brake switch is in the "on" state. A vehicle control program that is executed by a computer.

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