Driving Support Devices

Abstract

To provide a drive support device which prevents automatic vehicle stop control of a driver abnormality response system in accordance with a plurality of times of intentional operation of a driver and promptly executes abnormality response in a case of an abnormal situation of the driver.SOLUTION: In a vehicle provided with an emergency switch which enables external notification to be made when operated by a passenger, a drive support device comprises: a vehicle stop control section which executes automatic vehicle stop control to decelerate and stop the vehicle; a notification unit which performs first notification inside the vehicle on the basis of operation made to the emergency switch; an external communication unit which performs communication with an outside the vehicle on the basis of the operation made to the emergency switch; and a driver's operation detection section which detects the operation by a driver of the vehicle. The vehicle stop control section executes the automatic vehicle stop control on the basis of a detection result of the driver's operation detection section.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a driving assistance device that suppresses execution of automatic stop control by an action of a driver after an emergency switch equipped in a vehicle is operated. [Background technology]

[0002] Recent vehicles are equipped with an emergency switch that can make an emergency call to the outside when the driver (operator) is in an emergency, and a driver abnormality response system that controls the vehicle based on the operation of the emergency switch. When the emergency switch is operated, for example, a call is made to a medical emergency center, and technology is known that automatically slows down and stops the vehicle on behalf of the driver as an emergency measure. However, a driver may be in an emergency not only when he or she becomes ill, but also when the driver is tailgated by another vehicle and puts the vehicle in a dangerous state, so slowing down and stopping the vehicle is not necessarily the best course of action. On the other hand, if the abnormality response system is mistakenly suppressed when there is a driver abnormality, the system will not be able to provide its original value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-133963 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses a technology that automatically transmits images and audio from inside and outside the vehicle and vehicle position information to an emergency call destination based on the results of voice recognition of voices inside the vehicle, even when the driver is unable to press the emergency switch due to poor physical condition, etc. If there is no mechanism to suppress the driver abnormality response system when the emergency switch is operated or when an emergency is determined by the above-mentioned voice recognition, or if the system suppression procedure is complicated, there is a problem that the vehicle may automatically slow down and stop even when the emergency situation is resolved by tailgating and the emergency situation is resolved, which may disrupt traffic flow. The present invention has been made in consideration of the above-mentioned background, and aims to provide a driving assistance device that suppresses the execution of automatic stopping control by a driver abnormality response system in response to multiple operations intentionally performed by the driver, and quickly responds to an abnormality depending on the driver's situation. [Means for solving the problem]

[0005] One aspect of the present invention is a driving assistance device mounted on a vehicle equipped with an emergency switch that is operated by an occupant to execute a report to the outside, the driving assistance device comprising: a stop control unit that executes automatic stop control to decelerate and stop the vehicle; a driver operation detection unit that detects operation of an operator of the vehicle by the driver of the vehicle; and a stop control suppression unit that suppresses execution of the automatic stop control by the stop control unit when the driver operation detection unit detects that the operator has performed a predetermined operation within a predetermined first period after the emergency switch is operated, the operators include an accelerator pedal and a brake pedal that are operated by the driver to control acceleration and deceleration of the vehicle, and the stop control suppression unit suppresses execution of the automatic stop control by the stop control unit when the driver operation detection unit detects that one of the accelerator pedal or the brake pedal has been operated from a first operation state to a second operation state, and that the other of the accelerator pedal or the brake pedal has been operated to a third operation state within a predetermined period after the second operation state.

[0006] Another aspect of the present invention is a driving assistance device mounted on a vehicle equipped with an emergency switch that can be operated by an occupant to execute a notification to the outside, the driving assistance device comprising: a stop control unit that executes automatic stop control to decelerate and stop the vehicle; an alarm device that issues a first notification, which is an alarm to the inside of the vehicle based on the operation of the emergency switch; a driver operation detection unit that detects operation of an operator of the vehicle by the driver of the vehicle; a stop control suppression unit that suppresses execution of the automatic stop control by the stop control unit when the driver operation detection unit detects that a predetermined operation has been performed on the operator within a predetermined first period after the emergency switch is operated; and a posture detection device that detects the driver's posture, wherein the alarm device issues a second notification, which is an alarm to the occupant after the first period has elapsed, and if the driver's posture meets a predetermined condition, the posture detection device suppresses the second notification to the occupant, and the stop control unit executes the automatic stop control. Effect of the Invention

[0011] According to the driving assistance device, the automatic stop control can be suppressed at an appropriate timing by combining normal driving operations without special switch operations, which allows the driver to smoothly operate the emergency response system. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a configuration diagram of a driving support device. [Diagram 2] FIG. 2 is an explanatory diagram showing a state in which the operator is depressed. [Diagram 3] FIG. 3 is an explanatory diagram showing a state in which the depression of the operator is relaxed. [Figure 4] FIG. 4 is a flowchart showing the operation of the driving assistance device according to the first embodiment. [Diagram 5] FIG. 5 is a flowchart showing the operation of the driving assistance device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [1-1. Configuration of driving assistance device according to first embodiment and automatic stopping control] Hereinafter, an embodiment will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a driving support device 1 according to a first embodiment. The driving support device 1 includes a plurality of devices mounted on a vehicle, an electronic control unit (ECU) that controls the devices, and a stop control device 3 that executes automatic stop control. A communication unit 20 of the stop control device 3 is connected to each ECU via a bus 30 for data communication. The stop control device 3 has the communication unit 20, a storage device 25, and a processing device 5. Hereinafter, the communication unit 20 can be a transceiver that communicates in accordance with the CAN (Control Area Network) standard. Hereinafter, a vehicle that is the target of the automatic stop control performed by the stop control device 3 is also referred to as a host vehicle or a host vehicle.

[0014] The vehicle stopping control device 3 acquires data such as the depression amount (operation amount) of the accelerator pedal 35 from an accelerator control ECU (AC-ECU) 47 that detects the operation of the accelerator pedal 35 performed by the driver, and communicates with a drive control ECU (DC-ECU) 51 that controls the operation of the drive device 43 to control the vehicle driving force generated by the drive device 43. Here, the drive device 43 can be, for example, an electric motor and / or an internal combustion engine that provides a propulsive force to the vehicle. In this embodiment, the driver controls the driving force of the drive device 43 by operating the accelerator pedal 35, but instead of the accelerator pedal 35, an accelerator operation device including any operation unit such as an operation lever can be used. Specifically, the vehicle is provided with an operation element 40 for the driver to perform the operation, and the operation element 40 includes an accelerator pedal 35 that operates acceleration / deceleration and a brake pedal 37.

[0015] The vehicle stopping control device 3 also acquires information on the pressed state of the emergency switch 55 from a switch control ECU (SW-ECU) 79 that detects the pressed state of the emergency switch 55 provided in the vehicle cabin, and acquires the images via a camera control ECU (CAM-ECU) 77 that controls an imaging device 57 that captures images of the inside and outside of the vehicle. Furthermore, the vehicle stopping control device 3 communicates with a steering control ECU (STRG-ECU) 75 that controls the steering device 59, and controls the steering device 59 so that the vehicle travels within a lane in front of the vehicle that is recognized from an image acquired via the CAM-ECU 77, for example.

[0016] The vehicle stopping control device 3 also communicates with a communication control ECU (COM-ECU) 73 that controls the external communication device 61, and for example, calls an emergency rescue center in an emergency to ensure telephone communication between the vehicle occupants and the center. The vehicle stopping control device 3 also communicates with a brake control ECU (BRK-ECU) 49 that controls a brake pedal 37 including a hydraulic brake and an electric parking brake, and controls the hydraulic brake to decelerate the host vehicle at a desired deceleration, and when the vehicle is stopped, drives the electric parking brake to set the host vehicle in a stopped state (parked state).

[0017] The parking control device 3 also communicates with an audio-visual device control ECU (AVC-ECU) 70 to output images to the display device 63, output audio to the speaker 64, and / or receive audio signals from the microphone 67. The display device 63, the speaker 64, and the microphone 67 are each provided in the passenger compartment of the vehicle, and provide image information and audio information to the driver and / or passengers, and acquire audio from the driver and / or passengers.

[0018] Furthermore, the stopping control device 3 receives a speed detection signal from a speed sensor 45 that detects the speed of the host vehicle via a sensor monitoring ECU (SENS-ECU) 53, and determines, for example, whether the host vehicle has stopped.

[0019] The display device 63 may be provided, for example, on an instrument panel at the driver's seat. Specifically, the display device 63 is configured as a so-called multi-information display (MID) incorporated in a meter panel.

[0020] This allows the driver to easily view the image on the display device 63 behind the steering wheel at hand. Instead of using a multi-information display provided on the meter panel as the display device 63, a display device (not shown) of a navigation device or a so-called display audio device provided on the instrument panel can also be used as the display device 63.

[0021] An emergency switch 55 is provided on the steering wheel or roof as, for example, a push button switch. In this embodiment, when the driver finds it difficult to continue driving operations such as braking due to the sudden onset or worsening of symptoms of a disease, the driver may press the emergency switch 55 to convey the intention to stop to the vehicle stopping control device 3. Alternatively, the posture detection unit 9 may detect an abnormality in the driver based on an image of the driver in the vehicle captured by the imaging device 57 and execute automatic vehicle stopping control. Examples of the inability to drive include a state in which the imaging device 57 captures an image of the driver in a posture such as leaning backward, leaning backward, looking down, leaning forward with only the head lying to the side, leaning to the side, or lying to the side.

[0022] The processing device 5 of the vehicle stop control device 3 is a computer having a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) in which a program is written, a RAM (Random Access Memory) for temporary storage of data, etc. The processing device 5 includes a posture detection unit 9 that detects that the driver is in an incapacitated state, a vehicle stop control unit 11 that executes automatic vehicle stop control to decelerate and stop the vehicle based on whether or not the incapacitated state detection unit detects that the driver is in an incapacitated state, a driver operation detection unit 7 that detects the operation state of the operator 40, a steering control unit 13 that controls the steering device 59 to move the vehicle to the side of the road during the automatic vehicle stop control, and an emergency call unit 15 that makes an emergency call. Specifically, the processing device 5, which is a computer, executes a program stored in the storage device 25 to execute the above control.

[0023] The driving assistance device 1 in this embodiment suppresses the execution of the automatic stopping control when the driver operation detection unit 7 detects that the operation state of the operator 40 has changed multiple times during the transition to or execution of the automatic stopping control.

[0024] Each of the above units included in the processing device 5 is realized by the processing device 5 being a computer executing a program, and the computer program can be stored in any computer-readable storage device 25. Alternatively or in addition to this, all or part of each of the above units can be configured by hardware including one or more electronic circuit components.

[0025] The vehicle stop intention detection unit 10 realized by the processing device 5 inquires of the SW-ECU 79 about the pressed state of the emergency switch 55 at a predetermined time interval to acquire information on the pressed state, and when the emergency switch 55 is pressed, outputs a signal (a vehicle stop intention detection signal) notifying that the emergency switch 55 has been pressed to the vehicle stop control unit 11. Alternatively, when the emergency switch 55 is pressed, the SW-ECU 79 may transmit a signal (a SW press signal) indicating that the emergency switch 55 has been pressed to the vehicle stop intention detection unit 10, and the vehicle stop intention detection unit 10 may output the vehicle stop intention detection signal to the vehicle stop control unit 11 in response to receiving the SW press signal. When the emergency switch 55 is pressed, the vehicle stop intention detection unit 10 communicates from the external communication device 61 to the outside of the vehicle using the emergency notification unit 15. Specifically, the external communication device 61 may make an emergency notification to a medical emergency center or the like by automatic voice or the like. At that time, the vehicle position information or the like may be transmitted.

[0026] The driver operation detection unit 7 obtains the operation amount (depression amount) of the accelerator pedal 35 via the AC-ECU 47 at predetermined time intervals. The driver operation detection unit 7 also obtains the operation amount (depression amount) of the brake pedal 37 via the BRK-ECU 49 at predetermined time intervals. When the driver operation detection unit 7 detects an operation performed by the operator 40, for example, when it detects that the depression amount of the accelerator pedal 35 has decreased, it operates a measurement timer for determining whether the automatic stop control has been released from the time when the depression amount has decreased. The suppression operation of the automatic stop control by the driving assistance device 1 will be described in detail with reference to FIG. 4.

[0027] The stopping control unit 11 executes automatic stopping control to control the deceleration of the vehicle to automatically stop it, based on whether or not it has received a stopping intention detection signal from the stopping intention detection unit 10 and / or whether or not it has received an inoperable state detection signal from the posture detection unit 9.

[0028] More specifically, when the stopping control unit 11 receives either a stopping intention detection signal from the stopping intention detection unit 10 or an inoperable state detection signal from the posture detection unit 9, it starts automatic stopping control and controls the braking device (not shown) and drive device 43 via the BRK-ECU 49 and DC-ECU 51 to decelerate the vehicle.

[0029] [1-2. Operation of controls to suppress automatic stop control] Specific examples of operations of the operating device 40 performed by the driver to suppress the automatic stop control will be described with reference to FIGS.

[0030] 2 and 3 are explanatory diagrams showing a state in which the operator 40 is depressed by the driver's leg 110. Possible examples of the operator 40 include the accelerator pedal 35 and the brake pedal 37. First, the operator 40 is considered to be the accelerator pedal 35.

[0031] In FIG. 2, the driver steps on the operating element 40 with the foot 110, and the operating element 40 enters a first operating state in which the angle between the operating element 40 and the floor 120 is, for example, angle θ1.

[0032] 3, the driver releases the pressure of the driver's leg 110, resulting in a second operation state in which the angle between the operator 40 and the floor 120 is, for example, angle θ2. Here, θ2 is an angle larger than θ1, and the pedal pressure is shallow.

[0033] Returning now to Fig. 2, consider the operator 40 as the brake pedal 37. If the driver depresses the brake pedal 37 with the driver's leg 110 within a predetermined period of time after the second operation state (Fig. 2 in which the operator 40 is replaced with the brake pedal 37), the operator 40 enters a third operation state in which the angle between the operator 40 and the floor 120 becomes, for example, angle θ1. Of course, the angle does not strictly need to return to θ1 at this time, as long as the operator 40 is depressed deeply enough to be operated by a certain amount of operation or more.

[0034] As described above, when the driver operation detection unit 7 detects that the accelerator pedal 35 or the brake pedal 37 has shifted from the first operation state in which one of the accelerator pedal 35 or the brake pedal 37 is operated to the second operation state in which the accelerator pedal 35 or the brake pedal 37 is not operated, and then shifted to the third operation state in which the other of the accelerator pedal 35 or the brake pedal 37 is operated within a predetermined period, the driving support device 1 according to this embodiment suppresses the execution of the automatic stop control. Here, the second operation state in which the accelerator pedal 35 or the brake pedal 37 is not operated does not mean that the pedal is not depressed at all, but may mean that the depression of the operator 40 is light. In other words, the first operation state and the third operation state are states in which the pedal is depressed, and the second operation state is a state in which the pedal is not depressed. The predetermined period is, for example, 2 seconds.

[0035] Alternatively, when the driver operation detection unit 7 detects that the vehicle has transitioned from a first operation state in which the brake pedal 37 is operated to a second operation state in which the brake pedal 37 is not operated, and then to a third operation state in which the accelerator pedal 35 is operated within a predetermined period of time, the driving assistance device 1 may suppress the execution of the automatic stop control.

[0036] Here, we have shown an embodiment in which the execution of the automatic stopping control is suppressed by changes in the depression of two pedals, the accelerator pedal 35 and the brake pedal 37. However, for example, the driver operation detection unit 7 may detect only changes in the depression of the brake pedal 37 and suppress the execution of the automatic stopping control.

[0037] [1-3. Operation of driving support device when suppressing automatic stop control] FIG. 4 is a flowchart showing the operation of the driving support device 1 according to the first embodiment. First, the stop intention detection unit 10 detects whether the emergency switch 55 has been operated (step SA1). If it is detected that the emergency switch 55 has been operated (step SA1: YES), the emergency notification unit 15 uses the external communication device 61 to communicate with the outside of the vehicle (step SA2). The driving support device 1 then issues a first notification to the inside of the vehicle to notify that an emergency has occurred (step SA3). The first notification may be transmitted by audio information using the speaker 64, or may be transmitted by visual information by the display unit 66. The notification may be transmitted to the outside of the vehicle at the same time as the notification to the inside of the vehicle. Specifically, the driving support device 1 may perform an automatic operation such as blinking a hazard lamp (not shown) at the same time as the first notification to the inside of the vehicle. If it is not detected that the emergency switch 55 has been operated (step SA1: NO), the process returns to START.

[0038] Next, the driver operation detection unit 7 detects and determines whether the operator 40 has been operated in a predetermined manner (step SA4). The predetermined operation being performed may mean, for example, a case in which the driver operation detection unit 7 detects that the vehicle has transitioned from a first operation state in which either the accelerator pedal 35 or the brake pedal 37 is operated to a second operation state in which neither the accelerator pedal 35 nor the brake pedal 37 is operated, and then transitioned within a predetermined period of time to a third operation state in which the other of the accelerator pedal 35 or the brake pedal 37 is operated.

[0039] When the driver operation detection unit 7 detects that the operator 40 has been operated in a predetermined manner (step SA4: YES), the driving support device 1 suppresses notification (step SA10). Then, the stop control suppression unit 12 of the driving support device 1 suppresses the execution of automatic stop control by the stop control unit 11 (step SA11).

[0040] When the driver operation detection unit 7 detects that the operator 40 has not been operated in a predetermined manner (step SA4: NO), the driving support device 1 determines whether a predetermined first period has elapsed since the first notification was made (step SA5). The first period is, for example, five seconds.

[0041] If the first period has not elapsed since the first notification was made, the process returns to step SA4 (step SA5: NO). If it is determined that the first period has elapsed since the first notification was made (step SA5: YES), the notification device 63 makes a second notification to the inside of the vehicle (step SA6). The second notification may be transmitted as audio information using the speaker 64, as with the first notification, or may be transmitted as visual information by the display unit 66.

[0042] After the second notification, if the driver operation detection unit 7 detects that the operator 40 has been operated in a predetermined manner (step SA7: YES), the driving support device 1 suppresses the notification (step SA10). Then, the stop control suppression unit 12 of the driving support device 1 suppresses the execution of the automatic stop control by the stop control unit 11 (step SA11).

[0043] When the driver operation detection unit 7 detects that the operator 40 has not been operated in a predetermined manner (step SA7: NO), the driving support device 1 determines whether a predetermined second period has elapsed since the second notification was made (step SA8). The second period is, for example, 3 seconds. It is desirable to set the second period shorter than the first period.

[0044] If the second period has not elapsed since the second notification was made, the process returns to step SA7 (step SA8: NO). If it is determined that the second period has elapsed since the second notification was made (step SA8: YES), the driving support device 1 executes automatic stopping control to decelerate and stop the vehicle (step SA9).

[0045] [2-1. Configuration of the driving support device according to the second embodiment and operation of the operation element] The second embodiment will be described below with reference to the drawings.

[0046] The configuration of the driving support device 1 according to the second embodiment is similar to that of the driving support device 1 according to the first embodiment, and therefore a description thereof will be omitted.

[0047] [2-2. Operation of controls to suppress automatic stop control] The operation of the operator according to the second embodiment is similar to the operation of the operator for suppressing the automatic stop control in the driving assistance device 1 according to the first embodiment, and therefore a description thereof will be omitted.

[0048] [2-3. Operation of driving support device when suppressing automatic stop control] FIG. 5 is a flowchart showing the operation of the driving support device 1 according to the second embodiment. First, the stop intention detection unit 10 detects whether the emergency switch 55 has been operated (step SB1). If it is detected that the emergency switch 55 has been operated (step SB1: YES), the emergency notification unit 15 uses the external communication device 61 to communicate with the outside of the vehicle (step SB2). The driving support device 1 then issues a first notification to the inside of the vehicle to notify that an emergency has occurred (step SB3). The first notification may be transmitted by audio information using the speaker 64, or may be transmitted by visual information by the display unit 66. The notification may be transmitted to the outside of the vehicle at the same time as the notification to the inside of the vehicle. Specifically, the driving support device 1 may perform an automatic operation such as blinking a hazard lamp (not shown) at the same time as the first notification to the inside of the vehicle. If it is not detected that the emergency switch 55 has been operated (step SB1: NO), the process returns to START.

[0049] Next, the driver operation detection unit 7 detects and determines whether the operator 40 has been operated in a predetermined manner (step SB4). The predetermined operation may mean, for example, that the driver operation detection unit 7 detects that the operation state has shifted from a first operation state in which either the accelerator pedal 35 or the brake pedal 37 is operated to a second operation state in which neither the accelerator pedal 35 nor the brake pedal 37 is operated, and then, within a predetermined period of time, to a third operation state in which the other of the accelerator pedal 35 or the brake pedal 37 is operated.

[0050] When the driver operation detection unit 7 detects that the operator 40 has been operated in a predetermined manner (step SB4: YES), the driving support device 1 suppresses notification (step SB11). Then, the stop control suppression unit 12 of the driving support device 1 suppresses the execution of automatic stop control by the stop control unit 11 (step SB12).

[0051] When the driver operation detection unit 7 detects that the operator 40 has not been operated in a predetermined manner (step SB4: NO), the driving support device 1 determines whether a predetermined first period has elapsed since the first notification was made (step SB5). The first period is, for example, five seconds.

[0052] If the first period has not elapsed since the first notification was made, the process returns to step SB4 (step SB5: NO). If it is determined that the first period has elapsed since the first notification was made (step SB5: YES), the posture detection unit 9 detects the driver's posture and determines whether the driver's posture meets a predetermined condition (step SB6). Specifically, the imaging device 57 captures an image of the driver's posture, and the posture detection unit 9 estimates the driver's state by image recognition. Examples of the predetermined condition include a condition in which the driver is in a posture that indicates an inability to drive, such as leaning backward, bowing, leaning forward, with only the head tilted to the side, leaning to the side, or tilting to the side.

[0053] If the posture detection unit 9 detects the driver's posture and determines that the driver's posture meets a predetermined condition (step SB6: YES), the driving assistance device 1 uses the stopping control unit 11 to execute automatic stopping control (step SB10).

[0054] When the posture detection unit 9 detects the posture of the driver and determines that the posture of the driver does not meet a predetermined condition (step SB6: NO), the notification device 63 issues a second notification to the inside of the vehicle (step SB7). The second notification may be transmitted as audio information using the speaker 64, as in the case of the first notification, or may be transmitted as visual information by the display unit 66.

[0055] After the second notification, if the driver operation detection unit 7 detects that the operator 40 has been operated in a predetermined manner (step SB8: YES), the driving support device 1 suppresses the notification (step SB11). Then, the stop control suppression unit 12 of the driving support device 1 suppresses the execution of the automatic stop control by the stop control unit 11 (step SB12).

[0056] When the driver operation detection unit 7 detects that the operator 40 has not been operated in a predetermined manner (step SB8: NO), the driving support device 1 determines whether a predetermined second period has elapsed since the second notification was made (step SB9). The second period is, for example, 3 seconds. It is desirable to set the second period shorter than the first period.

[0057] If the second period has not elapsed since the second notification was made, the process returns to step SB8 (step SB9: NO). If it is determined that the second period has elapsed since the second notification was made (step SB9: YES), the driving support device 1 executes automatic stopping control to decelerate and stop the vehicle (step SB10).

[0058] 3. Other embodiments In the above embodiment, the accelerator pedal 35 or the brake pedal 37 is operated as the operator 40 for suppressing the execution of the automatic stop control, but the present invention can use other devices as the operator. Specifically, the operator 40 is a turn signal, and when the driver operation detection unit 7 detects that the turn signal has been operated to indicate one direction and then operated to indicate the other direction opposite to the one direction, it can be considered that the execution of the automatic stop control is suppressed. It can also be considered that the steering device 59 is used as the operator 40.

[0059] In the above embodiment, when the stopping intention detection unit 10 detects that the emergency switch 55 has been operated, the flow is described in which the emergency notification unit 15 communicates with the outside of the vehicle using the external communication device 61 and issues a first notification to the inside of the vehicle. In another embodiment, when the posture detection unit 9 detects the driver's posture and determines that the driver's posture does not match a predetermined condition, communication may be made to the outside of the vehicle and a first notification may be issued to the inside of the vehicle. Of course, detection by the stopping intention detection unit 10 and detection by the posture detection unit 9 may be performed simultaneously, and communication may be made to the outside and a first notification may be issued to the inside of the vehicle if either or both of them satisfy the condition as a result.

[0060] [4. Configuration supported by the above embodiment] The above embodiment supports the following configurations.

[0061] (Configuration 1) A driving assistance device comprising: a stopping control unit 11 that executes automatic stopping control to decelerate and stop the vehicle in a vehicle provided with an emergency switch 55 that is operated by an occupant to execute a notification to the outside; an alarm device 63 that issues a first notification, which is a notification to the inside of the vehicle, based on the operation of the emergency switch 55; an external communication device 61 that communicates to the outside of the vehicle based on the operation of the emergency switch 55; and a driver operation detection unit 7 that detects operation by the driver of the vehicle, and the stopping control unit 11 executes the automatic stopping control based on the detection result of the driver operation detection unit 7. According to the driving support device 1 of the configuration 1, it is possible to detect the state of the vehicle occupants, particularly the driver of the vehicle, and distinguish between cases where automatic stopping control is necessary and cases where it is not necessary. For example, when the driver is unable to drive due to poor physical condition, the automatic stopping control is executed, and when the driver judges that it is dangerous to continue driving due to tailgating by other vehicles, the driver can select to only make an emergency call and not to execute the automatic stopping control.

[0062] (Configuration 2) The driving assistance device described in Configuration 1, characterized in that the vehicle is provided with an operator 40 for steering or accelerating / decelerating the vehicle, and has a stop control suppression unit 12 that suppresses the execution of the automatic stop control by the stop control unit 11 when the driver operation detection unit 7 detects that a predetermined operation of the operator 40 has been performed within a predetermined first period after the emergency switch 55 is operated. In an emergency, it may be difficult for the driver to suppress the automatic stop control by operating a specially prepared device such as the emergency switch 55. In that case, if the automatic stop control is always executed, it may be contrary to the intention of the occupants and disrupt traffic flow. According to the driving assistance device 1 of configuration 2, the driver's intention can be transmitted to the driving assistance device 1 using the operation device 40 that the driver can always operate while driving, and when the driver wants to suppress the automatic stop control, the driver can easily transmit the intention to the driving assistance device 1.

[0063] (Configuration 3) The driving assistance device described in Configuration 2, characterized in that the notification device 63 issues a second notification to the occupant after the first period has elapsed, and if the driver operation detection unit 7 detects that the operator 40 has not performed a predetermined operation within a predetermined second period from the second notification, the stopping control unit 11 executes the automatic stopping control. If the automatic stop control is executed against the driver's intention, it may cause a traffic disruption. According to the driving support device 1 of the configuration 3, the driving support that accurately reflects the driver's intention is possible by confirming with the driver multiple times whether or not to execute the automatic stop control.

[0064] (Configuration 4) The operating elements 40 include an accelerator pedal 35 and a brake pedal 37 that are operated by the driver to control acceleration and deceleration of the vehicle, and when the driver operation detection unit 7 detects that one of the accelerator pedal 35 or the brake pedal 37 is operated to change from a first operation state to a second operation state, and the other of the accelerator pedal 35 or the brake pedal 37 is operated to a third operation state within a predetermined period of time after the second state is reached, the stopping control suppression unit 12 suppresses the execution of the automatic stopping control by the stopping control unit 11, in the driving assistance device described in Configuration 3. When the body becomes stiff due to a convulsion or the like, it is conceivable that the pedal, which is an operating device, may continue to be depressed. If the automatic stop control were to be suppressed simply by the pedal being depressed deeply, it would be difficult for the stopping control device 3 to perform the automatic stop control when the driver is in poor physical condition. According to the driving support device of configuration 4, the criterion for determining whether to suppress the automatic driving control is whether or not a continuous operation that a driver in a normal state can naturally be performed is performed, making it possible to provide driving support that accurately captures the driver's intentions.

[0065] (Configuration 5) The driving assistance device described in Configuration 3 or 4, characterized in that the vehicle is equipped with a posture detection device that detects the posture of the driver, and when the posture of the driver meets a predetermined condition, the posture detection device suppresses the second notification to the occupants, and the stopping control unit executes the automatic stopping control. If the driver's posture is out of whack, it may be due to the driver's habit. According to configuration 5, after the emergency switch 55 is operated, the driver's state is detected for the first time and a warning is issued, but if the driver's posture is detected after that and it is highly likely that he or she is unable to drive, automatic vehicle stop control can be performed early.

[0066] (Configuration 6) The driving support device according to any one of configurations 3 to 5, wherein the second period is set shorter than the first period. According to the driving assistance device of configuration 5, early automatic stopping control that takes into account the driver's intention in an emergency situation of the driver becomes possible.

[0067] As described above, the embodiments have been described as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to these, and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made. In addition, it is also possible to combine the components described in the above embodiments to create new embodiments.

[0068] For example, the step units of the control operation shown in Figures 4 and 5 are divided according to the main processing contents in order to facilitate understanding of the operation of each part of the driving support device 1, and the present invention is not limited by the manner in which the processing units are divided or the names thereof. The processing units may be further divided into more step units according to the processing contents. Furthermore, one step unit may be further divided so as to include more processing. Furthermore, the order of the steps may be appropriately changed within a range that does not impede the purpose of the present invention. [Explanation of symbols]

[0069] 1 Driving assistance devices 3. Stop control device 5 Processing equipment 7 Driver operation detection unit 9. Attitude detection section 10. Stopping intent detection unit 11 Stop control unit 12 Stop control suppression unit 13 Steering control unit 15 Emergency Call Department 20 Communications Department 25 Storage device 30 Bus 35 Accelerator pedal 37 Brake pedal 40 Controls 43 Drive unit 45 Speed ​​Sensor 47 AC-ECU 49 BRK-ECU 51 DC-ECU 53 SENS-ECU 55 Emergency Switch 57 Imaging Device 59 Steering Gear 61 Telephone equipment 63 Alarm device 64 Speakers 65 Mike 66 Display section 70 AVC-ECU 73 COM-ECU 75 STRG-ECU 77 CAM-ECU 79 SW-ECU 110 Driver's legs 120th Floor 130 Driver's legs

Claims

1. A driving assistance device mounted on a vehicle having an emergency switch that is operated by an occupant to execute a report to the outside, a vehicle stop control unit that executes automatic vehicle stop control to decelerate and stop the vehicle; A driver operation detection unit that detects an operation of an operator of the vehicle by a driver of the vehicle; a vehicle stop control suppression unit that suppresses execution of the automatic vehicle stop control by the vehicle stop control unit when the driver operation detection unit detects that a predetermined operation of the operating element is performed within a first predetermined period after the emergency switch is operated; Equipped with The operation elements include an accelerator pedal and a brake pedal that are operated by the driver to control acceleration and deceleration of the vehicle, The stop control suppression unit suppresses execution of the automatic stop control by the stop control unit when the driver operation detection unit detects that one of the accelerator pedal or the brake pedal is operated to change from a first operation state to a second operation state, and the other of the accelerator pedal or the brake pedal is operated to a third operation state within a predetermined period after the second operation state. A driving assistance device comprising:

2. A driving assistance device mounted on a vehicle having an emergency switch that can be operated by a vehicle occupant to execute an external notification, a vehicle stop control unit that executes automatic vehicle stop control to decelerate and stop the vehicle; an alarm device that issues a first alarm to an inside of the vehicle based on the operation of the emergency switch; A driver operation detection unit that detects an operation of an operator of the vehicle by a driver of the vehicle; a vehicle stop control suppression unit that suppresses execution of the automatic vehicle stop control by the vehicle stop control unit when the driver operation detection unit detects that a predetermined operation of the operating element is performed within a first predetermined period after the emergency switch is operated; A posture detection device that detects the posture of the driver; Equipped with the notification device performs a second notification to the occupant after the first period has elapsed, When the driver's posture meets a predetermined condition, The attitude detection device suppresses the second notification to the occupant, and The vehicle stop control unit executes the automatic vehicle stop control. A driving assistance device comprising:

3. The vehicle stop control unit executes the automatic vehicle stop control when the driver operation detection unit detects that the operator has not performed a predetermined operation within a second predetermined period from the second notification. The driving assistance device according to claim 2 .

4. 4. The driving support device according to claim 3, wherein the second period is set to be shorter than the first period.

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