Vehicle control device

Abstract

To provide a vehicle control device which can avoid stopping of abnormality addressing control in a situation where stopping of the abnormality handling control is inappropriate.SOLUTION: A vehicle control device 10 performs drive assistance control for assisting a driver in driving an own vehicle 100. If a prescribed operator 49, 451 of the own vehicle is operated, the vehicle control device stops the drive assistance control which is in execution. If the driver has fallen into an abnormal state that hinders the driver from driving the own vehicle, the vehicle control device performs abnormality handling control for securing the safe traveling of the own vehicle as drive assistance control. When the prescribed apparatus is operated, the vehicle control device stops the drive assistance control when the abnormality handling control is being not performed, and does not stop the drive assistance control including the abnormality handling control when the abnormality handing control is being performed.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] There is known a vehicle control device that executes abnormality response driving control (deadman control) that starts following driving of the host vehicle to follow a preceding vehicle when the driver falls into an abnormal state (a state in which the driver is unable to drive the host vehicle due to loss of consciousness, etc.) while driving the host vehicle, and ends following driving when the host vehicle is stopped due to the preceding vehicle stopping as a result of the following driving (see, for example, Patent Document 1). This allows the host vehicle to be stopped safely even if the driver falls into an abnormal state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5919150 specification Summary of the Invention

[0004] If it is confirmed that the driver is in a normal state after the start of the abnormality response cruise control, it is preferable to stop the abnormality response cruise control at that point. Therefore, for example, when it is detected that an operating device such as a switch for activating a vehicle stop maintaining device such as an electric parking brake has been operated after the start of the abnormality response cruise control, it can be considered that the driver is determined to be in a normal state and the abnormality response cruise control can be stopped.

[0005] However, passengers other than the driver (e.g., a passenger in the front passenger seat) can relatively easily operate the operation device for activating the vehicle stop maintenance device. Therefore, even if the operation device for activating the vehicle stop maintenance device is operated, the driver may still be in an abnormal state. Therefore, if the operation device for activating the vehicle stop maintenance device is detected to have been operated and the abnormality response driving control is stopped, the vehicle cannot be stopped safely.

[0006] An object of the present invention is to provide a vehicle control device that can avoid stopping abnormality response control in a situation in which stopping abnormality response control is inappropriate.

[0007] The vehicle control device according to the present invention executes driving assistance control for assisting a driver in driving the vehicle. The vehicle control device according to the present invention is also configured to stop the driving assistance control being executed when a predetermined operating device of the vehicle is operated. Furthermore, the vehicle control device according to the present invention executes, as the driving assistance control, abnormality response control for ensuring safe driving of the vehicle when the vehicle falls into an abnormal state that hinders the driver from driving the vehicle, When the driver falls into the abnormal state while the driving assistance control different from the abnormality response control is being executed, the abnormality response control is executed without stopping the driving assistance control different from the abnormality response control being executed, and when the driving assistance control different from the abnormality response control is being executed, When the predetermined operating device is operated In When the abnormality response control is not being executed, The abnormality response control is different from the abnormality response control. Stop the driving assistance control, When the predetermined operating device is operated while the driving assistance control different from the abnormality response control and the abnormality response control are being executed, Driving assistance control Also, the abnormality response control currently being executed It is configured to never stop.

[0008] According to the vehicle control device of the present invention, even if a passenger other than the driver operates the operating device when the driver is in an abnormal state, the abnormality response control is not performed. And it is different from the abnormality response control The driving assistance control is not stopped, and therefore it is possible to avoid stopping the abnormality response control in a situation in which stopping the abnormality response control is inappropriate.

[0009] In the vehicle control device according to the present invention, the predetermined operating device is, for example, an operating device for activating a vehicle stop maintaining device for maintaining the host vehicle in a stopped state.

[0010] An example of an operating device that is likely to be operated by a passenger other than the driver when the driver falls into an abnormal state is an operating device for activating a vehicle stop maintaining device. According to the vehicle control device of the present invention, even if an operating device that is likely to be operated when the driver falls into an abnormal state is operated, it is possible to avoid stopping the abnormality response control.

[0011] In the vehicle control device according to the present invention, the abnormality response control includes, for example, an abnormality response driving control for decelerating and stopping the host vehicle.

[0012] According to the vehicle control device of the present invention, even if an operating device is operated when abnormality response driving control is being executed as abnormality response control, it is possible to avoid the abnormality response driving control being stopped.

[0013] In the vehicle control device according to the present invention, the abnormality response control includes, for example, an abnormality notification control for notifying a person outside the host vehicle that the driver is in the abnormal state.

[0014] According to the vehicle control device of the present invention, even if the operating device is operated while abnormality notification control is being executed as abnormality response control, it is possible to avoid stopping the abnormality notification control.

[0015] In addition, in the vehicle control device according to the present invention, This is different from the abnormality response control The driving assistance control includes, for example, a following running control that automatically accelerates and decelerates the host vehicle so that the host vehicle runs following a preceding vehicle.

[0016] According to the vehicle control device of the present invention, even if the operating device is operated when follow-up cruise control is being executed in conjunction with abnormality response control, it is possible to avoid the follow-up cruise control being stopped.

[0017] In addition, in the vehicle control device according to the present invention, This is different from the abnormality response control The driving assistance control includes, for example, lane keeping control that assists the driver in steering the host vehicle so that the host vehicle travels within a lane.

[0018] According to the vehicle control device of the present invention, even if the operating device is operated when lane keeping control is being executed in conjunction with abnormality response control, it is possible to avoid stopping the lane keeping control.

[0019] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing a vehicle control device according to an embodiment of the present invention and a vehicle (host vehicle) equipped with the vehicle control device. [Diagram 2] (A) of Figure 2 is a diagram showing a situation in which the vehicle is driving in the center of the lane due to steering assistance provided by lane keeping control, (B) of Figure 2 is a diagram showing a situation in which the vehicle moves to the right of the center of the lane while lane keeping control is being executed, and (C) of Figure 2 is a diagram showing a situation in which the vehicle moves to the left of the center of the lane while lane keeping control is being executed. [Diagram 3] Figure 3(A) is a diagram showing the distance (inter-vehicle distance) between the vehicle itself and the preceding vehicle, Figure 3(B) is a diagram showing a situation in which the inter-vehicle distance is longer than the target inter-vehicle distance in follow-up cruise control, and Figure 3(C) is a diagram showing a situation in which the inter-vehicle distance is shorter than the target inter-vehicle distance in follow-up cruise control. [Figure 4] FIG. 4 is a diagram showing a host vehicle being driven under abnormality response control when the driver of the host vehicle falls into an abnormal state. [Diagram 5]FIG. 5 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. [Figure 14] FIG. 14 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a vehicle control device 10 according to an embodiment of the present invention is mounted on a vehicle (host vehicle 100).

[0022] The vehicle control device 10 includes an ECU 90. The ECU 90 includes a microcomputer as a main part. The ECU 90 includes a CPU, a ROM, a RAM, a non-volatile memory, and an interface. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM.

[0023] <Vehicle driving device> The host vehicle 100 is equipped with a vehicle driving device 20. The vehicle driving device 20 is a device that drives, brakes, steers, and changes gears of the host vehicle 100, and in this example, includes a drive device 21, a braking device 22, a steering device 23, and a transmission device 24.

[0024] <Drive unit> The drive device 21 is a device that outputs a driving force provided to the host vehicle 100 to make the host vehicle 100 run, and is, for example, an internal combustion engine and / or a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the driving force output from the drive device 21 by controlling the operation of the drive device 21.

[0025] <Brake device> The braking device 22 is a device that outputs a braking force to be applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0026] <Steering system> The steering device 23 is a device that outputs a steering force applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0027] <Transmission device> The transmission device 24 is a device that switches whether or not the driving force output from the drive device 21 is transmitted to the driving wheels of the host vehicle 100, and switches whether the driving force is transmitted to the driving wheels so as to move the host vehicle 100 forward or to the driving wheels so as to move the host vehicle 100 backward. Furthermore, the transmission device 24 is also a device that holds the host vehicle 100 in a stopped state by locking the gear so as not to rotate by engaging a claw-shaped part (parking lock pole) on the gear of the transmission device 24. Therefore, the transmission device 24 also functions as a stop holding device that holds the host vehicle 100 in a stopped state.

[0028] The transmission device 24 operates in one of the following states: a state in which the driving force is transmitted to the drive wheels to move the vehicle 100 forward (drive range state SD), a state in which the driving force is transmitted to the drive wheels to move the vehicle 100 backward (rearrangement state SR), a state in which the driving force is not transmitted to the drive wheels of the vehicle 100 (neutral range state SN), and a state in which the vehicle 100 is kept stopped (parking range state SP).

[0029] The transmission device 24 is electrically connected to the ECU 90. The ECU 90 controls the operation of the transmission device 24 to set the transmission device 24 to any one of a drive range state SD, a rearrange state SR, a neutral range state SN, and a parking range state SP.

[0030] <Stopping holding device> The host vehicle 100 is also equipped with a stop-holding device 30. The stop-holding device 30 is a device that holds the host vehicle 100 in a stopped state, and is, for example, an electric parking brake device. The electric parking brake device is a device that can apply a braking force to the wheels of the host vehicle 100. In particular, the electric parking brake device is a device that can apply a braking force to the wheels of the host vehicle 100 by pressing brake pads against brake discs provided on the wheels of the host vehicle 100. The stop-holding device 30 is electrically connected to the ECU 90. The ECU 90 can operate the stop-holding device 30 to hold the host vehicle 100 in a stopped state when it is stopped, or to decelerate the host vehicle 100 when it is moving.

[0031] <Blinker> The vehicle 100 is also equipped with turn signals 31. The turn signals 31 are devices that mainly indicate to people outside the vehicle 100 the direction in which the vehicle 100 is turning. The turn signals 31 are provided at the front right corner, the front left corner, the rear right corner, and the rear left corner of the vehicle 100. The turn signals 31 are electrically connected to the ECU 90. The ECU 90 activates the turn signals 31 in response to an operation of a turn signal lever 47, which will be described later.

[0032] <Stop lamp> The vehicle 100 is also equipped with stop lamps 32. The stop lamps 32 are devices that mainly indicate to a person that the brake pedal has been operated in accordance with the steering angle θ of the vehicle 100. The stop lamps 32 are provided adjacent to the turn signals 31 provided at the right rear corner portion and the left rear corner portion of the vehicle 100. The stop lamps 32 are electrically connected to the ECU 90. For example, when the brake pedal is operated by the driver DR, the ECU 90 turns on the stop lamps 32.

[0033] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal operation amount sensor 41, a brake pedal operation amount sensor 42, a steering angle sensor 43, a steering torque sensor 44, a shift sensor 452, a vehicle speed detection device 46, a turn signal lever 47, a driving assistance selection operation device 48, a vehicle stop maintenance request operation device 49, a driver information acquisition device 50 and a surrounding information detection device 60.

[0034] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 41 is a sensor that detects the amount of operation of the accelerator pedal of the host vehicle 100. The accelerator pedal operation amount sensor 41 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 41 transmits information on the detected accelerator pedal operation amount to the ECU 90. The ECU 90 obtains the accelerator pedal operation amount as the accelerator pedal operation amount AP based on that information.

[0035] Except when executing following running control and abnormality response running control described later, the ECU 90 calculates a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the running speed (host vehicle speed) of the host vehicle 100. The ECU 90 controls the operation of the drive device 21 so that the required driving force is output. Furthermore, when executing following running control and abnormality response running control described later, the ECU 90 determines the driving force required to run the host vehicle 100 as desired by the following running control and abnormality response running control, and controls the operation of the drive device 21 so that the driving force is output.

[0036] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 42 is a sensor that detects the operation amount of the brake pedal of the host vehicle 100. The brake pedal operation amount sensor 42 is electrically connected to the ECU 90. The brake pedal operation amount sensor 42 transmits information on the detected brake pedal operation amount to the ECU 90. The ECU 90 obtains the brake pedal operation amount as the brake pedal operation amount BP based on the information.

[0037] Except when executing follow-up running control and abnormality response running control, which will be described later, the ECU 90 calculates and obtains a required braking force (required braking torque) from the brake pedal operation amount BP. The ECU 90 controls the operation of the braking device 22 so that the required braking force is output. When executing follow-up running control and abnormality response running control, which will be described later, the ECU 90 determines a braking force required for causing the host vehicle 100 to run as desired by the follow-up running control and abnormality response running control, and controls the operation of the braking device 22 so that the braking force is output.

[0038] <Steering angle sensor> The steering angle sensor 43 is a sensor that detects the rotation angle of the steering shaft of the host vehicle 100 with respect to a neutral position. The steering angle sensor 43 is electrically connected to the ECU 90. The steering angle sensor 43 transmits information on the detected rotation angle of the steering shaft to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft as the steering angle θ based on the information.

[0039] <Steering torque sensor> The steering torque sensor 44 is a sensor that detects the torque input to the steering shaft by the driver DR of the vehicle 100 via the steering wheel of the vehicle 100. The steering torque sensor 44 is electrically connected to the ECU 90. The steering torque sensor 44 transmits information related to the detected torque to the ECU 90. Based on the information, the ECU 90 acquires the torque input to the steering shaft by the driver DR via the steering wheel (driver input steering torque TQdriver).

[0040] Except when executing lane keeping control and abnormality response travel control, which will be described later, the ECU 90 obtains a required steering force (required steering torque) based on the steering angle θ, the driver input torque, and the traveling speed (host vehicle speed) of the host vehicle 100, and controls the operation of the steering device 23 so that the required steering torque is output from the steering device 23. Furthermore, when executing lane keeping control and abnormality response travel control, which will be described later, the ECU 90 determines a steering force required to drive the host vehicle 100 as desired by the lane keeping control and abnormality response travel control, and controls the operation of the steering device 23 so that the steering force is output.

[0041] <Shift sensor> The shift sensor 452 is a sensor that detects the setting position of a shift lever 451 serving as a shift operation device of the vehicle 100. The shift lever 451 is a device operated by the driver DR of the vehicle 100, and the setting positions of the shift lever 451 that the driver DR can set are a forward position (drive range), a reverse position (rearrange), a neutral position (neutral range), and a parking position (parking range). The shift sensor 452 is electrically connected to the ECU 90. The shift sensor 452 transmits a signal indicating the detected setting position of the shift lever 451 to the ECU 90.

[0042] When the shift lever 451 is set to the drive range, the shift sensor 452 transmits a signal indicating that the set position of the shift lever 451 is the drive range to the ECU 90. Upon receiving the signal, the ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the drive range state SD.

[0043] Furthermore, when the shift lever 451 is set to the rearrangement, the shift sensor 452 transmits a signal indicating that the set position of the shift lever 451 is the rearrangement to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the rearrangement state SR.

[0044] Furthermore, when the shift lever 451 is set to the neutral range, the shift sensor 452 transmits a signal indicating that the set position of the shift lever 451 is the neutral range to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the neutral range state SN.

[0045] Furthermore, when the shift lever 451 is set to the parking range, the shift sensor 452 transmits a signal indicating that the set position of the shift lever 451 is the parking range to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the parking range state SP.

[0046] In addition, when executing the following driving control and abnormality response driving control, the ECU 90 controls the operation of the transmission device 24 (performs shift changes) as necessary to cause the vehicle 100 to travel as desired using the following driving control and abnormality response driving control, as described below.

[0047] <Vehicle speed detection device> The vehicle speed detection device 46 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 46 is electrically connected to the ECU 90. The vehicle speed detection device 46 transmits information on the detected traveling speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 (host vehicle speed V100) based on the information.

[0048] <Winker lever> The turn signal lever 47 is a device operated by the driver DR to activate the turn signal 31. The turn signal lever 47 is electrically connected to the ECU 90. When the turn signal lever 47 is operated clockwise, the ECU 90 causes the turn signals 31 provided at the right front corner portion and the right rear corner portion to flash. On the other hand, when the turn signal lever 47 is operated counterclockwise, the ECU 90 causes the turn signals 31 provided at the left front corner portion and the left rear corner portion to flash. Furthermore, the ECU 90 can also flash all the turn signals 31 at a predetermined time interval. Hereinafter, the flashing of all the turn signals 31 at a predetermined time interval is referred to as "hazard flashing."

[0049] <Driving assistance selection control device> The driving assistance selection operation device 48 is a device operated by the driver DR to execute lane keeping control (to be described later), to execute following driving control (to be described later), and to set a predetermined inter-vehicle distance Dset and a predetermined vehicle speed Vset in following driving control, and is, for example, a driving assistance selection switch. The driving assistance selection operation device 48 is electrically connected to the ECU 90. When an operation for executing lane keeping control is applied to the driving assistance selection operation device 48, the ECU 90 determines that execution of lane keeping control is requested. Also, when an operation for executing following driving control is applied to the driving assistance selection operation device 48, the ECU 90 determines that execution of following driving control is requested.

[0050] <Stopping hold request controller> The stop-maintenance request operation device 49 is a device operated by the driver DR to activate the stop-maintenance device 30, and is, for example, a stop-maintenance request switch or the like. The stop-maintenance request operation device 49 is electrically connected to the ECU 90. When an operation to activate the stop-maintenance device 30 is applied to the stop-maintenance request operation device 49, the ECU 90 activates the stop-maintenance device 30 so that the host vehicle 100 is maintained in a stopped state when the host vehicle 100 is stopped, and activates the stop-maintenance device 30 so that the host vehicle 100 decelerates at an appropriate deceleration and stops when the host vehicle 100 is traveling.

[0051] <Driver information acquisition device> The driver information acquisition device 50 is a device that acquires information about the driver DR, and in this example, includes a driver monitor camera 51 and a heart rate sensor 52.

[0052] <Driver monitor camera> The driver monitor camera 51 is a device that captures an image of the driver DR. The driver monitor camera 51 is electrically connected to the ECU 90. The driver monitor camera 51 transmits information about the captured image of the driver DR to the ECU 90. The ECU 90 acquires information about the state of the driver DR (driver information ID) based on the information (driver image information). The ECU 90 can determine whether the driver DR is in an abnormal state based on the driver information ID. In this example, an abnormal state is a state in which the driver DR is unable to drive the vehicle 100 due to reasons such as being unconscious.

[0053] <Heart rate sensor> The heart rate sensor 52 is a sensor that detects the heart rate of the driver DR of the vehicle 100. The heart rate sensor 52 is electrically connected to the ECU 90. The heart rate sensor 52 transmits information related to the detected heart rate to the ECU 90. The ECU 90 acquires the heart rate of the driver DR based on the information (heart rate information). The ECU 90 acquires information related to the state of the driver DR (driver information ID) based on the acquired heart rate of the driver DR. The ECU 90 can determine whether or not the driver DR is in an abnormal state based on the driver information ID.

[0054] <Peripheral information detection device> The surrounding information detection device 60 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 61 and an image sensor 62.

[0055] <Radio wave sensor> The radio wave sensor 61 is a sensor that detects information about an object present in the vicinity of the vehicle 100 using radio waves, and is, for example, at least one of a radar sensor (such as a millimeter wave radar), a sonic sensor such as an ultrasonic sensor (clearance sonar), and an optical sensor such as a laser radar (LiDAR). The radio wave sensor 61 is electrically connected to the ECU 90. The radio wave sensor 61 transmits radio waves and receives radio waves (reflected waves) reflected by an object. The radio wave sensor 61 transmits information related to the transmitted radio waves and the received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 61 detects an object present in the vicinity of the vehicle 100 and transmits information related to the detected object to the ECU 90. The ECU 90 can obtain information (periphery detection information IS) related to an object present in the vicinity of the vehicle 100 based on the information (radio wave information IR or radio wave data). Objects detected using the radio wave sensor 61 are, for example, vehicles, walls, bicycles, people, and the like.

[0056] <Image sensor> The image sensor 62 is a sensor, such as a camera, that captures an image of the surroundings of the vehicle 100. The image sensor 62 is electrically connected to the ECU 90. The image sensor 62 captures an image of the surroundings of the vehicle 100 and transmits information related to the captured image to the ECU 90. The ECU 90 can acquire information about the surroundings of the vehicle 100 (surrounding information IS) based on the information (image information IC or image data).

[0057] <Notification device> The notification device 70 is a device that issues various notifications to the driver DR, and in this example, includes an audio device 71 and a display device 72.

[0058] <Sound equipment> The acoustic device 71 is a device that outputs sound into the interior of the vehicle 100, such as a buzzer or a speaker. The acoustic device 71 is electrically connected to the ECU 90. The ECU 90 can output various sounds and voices into the interior of the vehicle 100 via the acoustic device 71.

[0059] <Display device> The display device 72 is a device that displays an image, such as a display. The display device 72 is installed in the interior of the vehicle 100 so that the driver DR can view the display device 72. The display device 72 is electrically connected to the ECU 90. The ECU 90 can cause the display device 72 to display various images.

[0060] <Alarm device> The notification device 80 is a device that issues various notifications to people outside the vehicle 100, and in this example, includes a horn 81.

[0061] <horn> The horn 81 is a device that outputs sound to the outside of the host vehicle 100. The horn 81 is electrically connected to the ECU 90. The ECU 90 can output sound from the horn 81.

[0062] <Overview of operation> Next, an overview of the operation of the vehicle control device 10 will be described. When a predetermined condition is satisfied, the vehicle control device 10 executes driving assistance control according to the predetermined condition. In this example, the driving assistance control includes lane keeping control, following driving control, and abnormality response control.

[0063] <Lane keeping control> The vehicle control device 10 executes lane keeping control when execution of lane keeping control is requested by operation of the driving assistance selection operation device 48. The lane keeping control is a control that assists the driver DR in steering the host vehicle 100 so that the host vehicle 100 travels between the white lines on the left and right of the host vehicle 100 (i.e., the host vehicle lane LN1). More specifically, the lane keeping control is a control that controls the operation of the steering device 23 so that the host vehicle 100 travels in the center of the host vehicle lane LN1.

[0064] In addition, the reference symbol LN2 in the drawing is a lane adjacent to the own lane LN1, and is a lane in which oncoming vehicles are traveling.

[0065] When starting lane keeping control, the vehicle control device 10 acquires the center line (lane center line LC) of the host vehicle 100 (see FIG. 2A). The vehicle control device 10 acquires the lane center line LC based on the periphery detection information IS.

[0066] Furthermore, the vehicle control device 10 acquires the deviation amount dW between the center line of the host vehicle 100 (host vehicle center line VC) and the lane center line LC (see Fig. 2B and Fig. 2C). The host vehicle center line VC is a line that extends in the front-rear direction through the center of the host vehicle 100 in the width direction.

[0067] When the deviation amount dW becomes larger than zero, the vehicle control device 10 steers the host vehicle 100 by controlling the operation of the steering device 23 so that the deviation amount dW becomes zero. As shown in FIG. 2B, when the host vehicle 100 deviates from the center of the host lane LN1 to the right and the deviation amount dW becomes larger than zero, the vehicle control device 10 controls the operation of the steering device 23 to turn the host vehicle 100 to the left. On the other hand, as shown in FIG. 2C, when the host vehicle 100 deviates from the center of the host lane LN1 to the left and the deviation amount dW becomes larger than zero, the vehicle control device 10 controls the operation of the steering device 23 to turn the host vehicle 100 to the right. This allows the host vehicle 100 to travel in the center of the host lane LN1.

[0068] <Advance driving control> Furthermore, the vehicle control device 10 executes the following running control when execution of the following running control is requested by operation of the driving assistance selection operation device 48. The following running control is a control for automatically accelerating and decelerating the host vehicle 100 by controlling the operation of the drive device 21 and the brake device 22 so that the host vehicle 100 runs following a vehicle (preceding vehicle 200) running ahead of the host vehicle 100.

[0069] When starting the following cruise control, the vehicle control device 10 acquires the distance (inter-vehicle distance D) between the host vehicle 100 and the preceding vehicle 200 (see FIG. 3A). The vehicle control device 10 acquires the inter-vehicle distance D based on the surrounding detection information IS.

[0070] Furthermore, the vehicle control device 10 acquires the difference (relative speed dV) between the vehicle speed (host vehicle speed V100) of the host vehicle 100 and the vehicle speed (preceding vehicle speed V200) of the preceding vehicle 200. The vehicle control device 10 acquires the relative speed dV based on the surrounding detection information IS.

[0071] Then, the vehicle control device 10 sets the inter-vehicle distance D, which is obtained by dividing the time (predicted arrival time TTC) by the relative speed dV at that time to a predetermined time (predetermined predicted arrival time TTCref), as the target inter-vehicle distance Dtgt. That is, the vehicle control device 10 sets the inter-vehicle distance D, which satisfies the relationship between the relative speed dV at that time, the predetermined predicted arrival time TTCref, and the inter-vehicle distance D, as expressed by the following formula 1, as the target inter-vehicle distance Dtgt.

[0072] TTCref = D / dV … (1)

[0073] The following running control is a control for making the host vehicle 100 follow the preceding vehicle 200 by controlling the operation of the drive device 21 and the brake device 22 so that the inter-vehicle distance D coincides with the target inter-vehicle distance Dtgt.

[0074] As shown in Fig. 3B, when the inter-vehicle distance D becomes longer than the target inter-vehicle distance Dtgt, the vehicle control device 10 controls the operation of the drive device 21 to accelerate the host vehicle 100. On the other hand, as shown in Fig. 3C, when the inter-vehicle distance D becomes shorter than the target inter-vehicle distance Dtgt, the vehicle control device 10 controls the operation of the drive device 21 and / or the brake device 22 to decelerate the host vehicle 100. This allows the host vehicle 100 to travel following the preceding vehicle 200.

[0075] When there is no preceding vehicle 200, the vehicle control device 10 executes constant speed traveling control. The constant speed traveling control is a control for automatically accelerating and decelerating the host vehicle 100 by controlling the operation of the drive device 21 and / or the brake device 22 so that the host vehicle speed V100 coincides with a predetermined vehicle speed Vset. The predetermined vehicle speed Vset is a vehicle speed that is set by the driver DR operating the driving assistance selection operation device 48.

[0076] <Anomaly response control> Furthermore, if the driver DR is in an abnormal state while the vehicle control device 10 is executing the lane keeping control and the adaptive cruise control, the vehicle control device 10 executes abnormality response control (so-called deadman control).

[0077] The abnormality response control includes abnormality notification control, abnormality response driving control, and abnormality notification control.

[0078] The abnormality notification control is a control for attracting the attention of the driver DR, or for automatically stopping the vehicle 100 due to an abnormality occurring in the driver DR, or for notifying the occupants of the vehicle 100 that the vehicle 100 has been stopped.

[0079] The abnormality response travel control is a control for decelerating and stopping the host vehicle 100. More specifically, the abnormality response travel control is a control for automatically decelerating and stopping the host vehicle 100 by controlling the operation of the drive device 21 and the brake device 22 so that the host vehicle 100 safely stops.

[0080] The abnormality notification control is a control for notifying people outside the vehicle 100 that the driver DR is in an abnormal state. In particular, in this example, the abnormality notification control is a control for notifying people outside the vehicle 100 that the vehicle 100 is to be stopped or that the vehicle 100 has been stopped because the driver DR has entered an abnormal state.

[0081] While the host vehicle 100 is traveling, the vehicle control device 10 monitors the state of the driver DR based on the driver information ID, and continuously determines whether or not an abnormality condition CD indicating that the driver DR is in an abnormal state is established.

[0082] For example, when the vehicle control device 10 determines that the abnormal condition CD is satisfied while the vehicle 100 is traveling at the point indicated by the symbol P1 in FIG. 4, the vehicle control device 10 determines whether the time during which it has been determined that the abnormal condition CD is satisfied (first duration time T1) has reached a predetermined time (first judgment time T1th).

[0083] For example, when the first duration time T1 reaches the first judgment time T1th when the vehicle 100 travels to the point indicated by symbol P2 in FIG. 4, the vehicle control device 10 starts abnormality notification control while continuing the lane keeping control and the following driving control.

[0084] At this time, the vehicle control device 10 starts a steering wheel hold request display process and a first warning sound output process as abnormality notification control processes. The steering wheel hold request display process is a process for displaying an image requesting the driver DR to hold the steering wheel on the display device 72. The first warning sound output process is a process for outputting a sound of a predetermined volume (first volume V1) from the audio device 71 intermittently at a predetermined time interval (first time interval Tiv1).

[0085] Thereafter, the vehicle control device 10 determines whether the time (second duration T2) during which it has been determined that the abnormal condition CD is satisfied since the first duration T1 reached the first judgment time T1th has reached a predetermined time (second judgment time T2th).

[0086] For example, when the second duration T2 reaches the second judgment time T2th when the vehicle 100 travels to the point indicated by symbol P3 in Figure 4, the vehicle control device 10 starts abnormality response driving control and abnormality notification control while continuing lane keeping control, following driving control, and abnormality notification control.

[0087] At this time, the vehicle control device 10 starts a gradual deceleration process as a process of abnormality response running control. The gradual deceleration process is a process for decelerating the host vehicle 100 at a relatively small deceleration (first deceleration GD1) by controlling the operation of the drive device 21 or the brake device 22. However, the vehicle control device 10 compares the deceleration in this gradual deceleration process (first deceleration GD1) with the deceleration set in the following running control (following deceleration), and if the first deceleration GD1 is greater than the following deceleration, the host vehicle 100 is decelerated at the first deceleration GD1, and if the following deceleration is greater than the first deceleration GD1, the host vehicle 100 is decelerated at the following deceleration.

[0088] At this time, the vehicle control device 10 starts a steering wheel hold request display process, an automatic stop notice display process, and a second warning sound output process as abnormality notification control processes. As described above, the steering wheel hold request display process is a process for displaying an image on the display device 72 requesting the driver DR to hold the steering wheel. The automatic stop notice display process is a process for displaying an image on the display device 72 notifying the passengers of the vehicle 100 that the vehicle 100 will be automatically stopped. The second warning sound output process is a process for outputting a sound of a predetermined volume (second volume V2) from the audio device 71 intermittently at a predetermined time interval (second time interval Tiv2). The second volume V2 is set to a volume higher than the first volume V1, and the second time interval Tiv2 is set to an interval shorter than the first time interval Tiv1.

[0089] At this time, the vehicle control device 10 starts a hazard flashing process as an abnormality notification control process. The hazard flashing process is a process for turning on the turn indicators 31 as hazard lights.

[0090] Thereafter, the vehicle control device 10 determines whether the time (third duration T3) during which it has been determined that the abnormal condition CD is satisfied since the second duration T2 reached the second judgment time T2th has reached a predetermined time (third judgment time T3th).

[0091] For example, when the vehicle 100 travels to a point indicated by reference symbol P4 in Fig. 4 and the third duration time T3 reaches the third determination time T3th, the vehicle control device 10 switches the abnormality response travel control process from the gradual deceleration process to the stop deceleration process while continuing the lane keeping control, the abnormality notification control, and the abnormality alert control. The stop deceleration process is a process for decelerating and stopping the vehicle 100 at a relatively large deceleration (second deceleration GD2) by controlling the operation of the braking device 22. The second deceleration GD2 is set to a value larger than the first deceleration GD1.

[0092] At this time, the vehicle control device 10 switches the abnormality notification control process from the steering wheel hold request display process, the automatic stop notice display process, and the second warning sound output process to the automatic stop execution display process and the third warning sound output process. The automatic stop execution display process is a process for displaying on the display device 72 an image for notifying the passengers of the vehicle 100 that control for automatically stopping the vehicle 100 is being performed. The third warning sound output process is a control for outputting a sound of a predetermined volume (third volume V3) from the audio device 71 intermittently at a predetermined time interval (third time interval Tiv3). The third volume V3 is set to a volume higher than the second volume V2, and the third time interval Tiv3 is set to an interval shorter than the second time interval Tiv2.

[0093] At this time, the vehicle control device 10 starts a horn blowing process and a stop lamp lighting process as an abnormality notification control process while continuing a hazard light blinking process. The horn blowing process is a process for outputting a sound from the horn 81. The stop lamp lighting process is a process for lighting the stop lamp 32.

[0094] 4, the vehicle control device 10 stops the vehicle 100 at a point indicated by symbol P5, and stops the lane keeping control while continuing the abnormality notification control and the abnormality reporting control, and switches the abnormality response driving control process from the stop deceleration process to the stop maintenance process. The stop maintenance process is a process for maintaining the vehicle 100 in a stopped state by controlling the operation of the braking device 22 and the stop maintenance device 30.

[0095] At this time, the vehicle control device 10 switches the abnormality notification control process from the automatic stop execution display process and the third warning sound output process to the automatic stop completion display process and the fourth warning sound output process. The automatic stop completion process is a process of displaying on the display device 72 an image that notifies the passengers of the vehicle 100 that the vehicle 100 has stopped. The fourth warning sound output process is a process of outputting a sound of a predetermined volume (fourth volume V4) from the audio device 71 intermittently at a predetermined time interval (fourth time interval Tiv4). The fourth volume V4 is set to a volume higher than the third volume V3, and the fourth time interval Tiv4 is set to an interval shorter than the third time interval Tiv3.

[0096] At this time, the vehicle control device 10 continues the hazard light flashing process, the horn sounding process, and the stop lamp lighting process as the abnormality notification control process.

[0097] <Stopping driving assistance control> Incidentally, when a specified condition is met, it is preferable to stop driving assistance control in accordance with the met condition, so when a specified condition is met, the vehicle control device 10 is configured to stop driving assistance control in accordance with the met condition.

[0098] Specifically, the vehicle control device 10 stops the lane keeping control when any one of the first lane keeping stop condition CLs1 to the fourth lane keeping stop condition CLs4 is satisfied during the execution of the lane keeping control. The first lane keeping stop condition CLs1 is a condition that the end of the lane keeping control is requested by an operation on the driving assistance selection operation device 48. The second lane keeping stop condition CLs2 is a condition that the driver input steering torque TQdriver is equal to or greater than a predetermined steering torque TQdriver_th. The third lane keeping stop condition CLs3 is a condition that the vehicle stop maintenance request operation device 49 is operated and the abnormality response control is not being executed. The fourth lane keeping stop condition CLs4 is a condition that the shift lever 451 is operated to set the parking range and the abnormality response control is not being executed.

[0099] In addition, the vehicle control device 10 stops the following running control when any one of the first following running stop condition CAs1 to the fifth following running stop condition CAs5 is satisfied during the execution of the following running control. The first following running stop condition CAs1 is a condition that the end of the following running control is requested by the operation of the driving support selection operation device 48. The second following running stop condition CAs2 is a condition that the accelerator pedal operation amount AP becomes equal to or greater than a predetermined accelerator pedal operation amount threshold APth. The third following running stop condition CAs3 is a condition that the brake pedal operation amount BP becomes equal to or greater than a predetermined brake pedal operation amount threshold BPth. In addition, the fourth following running stop condition CAs4 is a condition that the stop maintenance request operation device 49 is operated and the abnormality response control is not being executed. In addition, the fifth following running stop condition CAs5 is a condition that the shift lever 451 is operated to set the parking range and the abnormality response control is not being executed.

[0100] In addition, if any one of the first abnormality response stop condition CDs1 to the fifth abnormality response stop condition CDs5 is satisfied while the abnormality response control is being executed, the vehicle control device 10 determines that the driver DR is no longer in an abnormal state (i.e., the driver DR is in a normal state) and stops the abnormality response control.

[0101] The first abnormality response stop condition CDs1 is a condition that an operation has been performed on the steering wheel. When the vehicle control device 10 detects a driver input steering torque TQdriver that is equal to or greater than a predetermined steering torque threshold TQth, the vehicle control device 10 determines that an operation has been performed on the steering wheel.

[0102] The second abnormality response stop condition CDs2 is a condition that the accelerator pedal is operated. When the vehicle control device 10 detects an accelerator pedal operation amount AP that is equal to or greater than a predetermined accelerator pedal operation amount threshold APth, the vehicle control device 10 determines that the accelerator pedal has been operated.

[0103] The third abnormality response stop condition CDs3 is a condition that the brake pedal is operated. When the vehicle control device 10 detects a brake pedal operation amount BP that is equal to or greater than a predetermined brake pedal operation amount threshold value BPth, the vehicle control device 10 determines that the brake pedal is operated.

[0104] The fourth abnormality response stop condition CDs4 is a condition that the driving assistance selection operation device 48 has been operated.

[0105] The fifth abnormality response stop condition CDs5 is a condition that it can be determined that the driver DR is not in an abnormal state. After starting the abnormality response control, the vehicle control device 10 determines whether the driver DR is in an abnormal state based on the driver information ID.

[0106] Incidentally, when the vehicle control device 10 is executing the abnormality response control, if the vehicle stop-maintenance request operation device 49 or the shift lever 451 is operated, the vehicle control device 10 does not stop the abnormality response control. Of course, as described above, in this case, the vehicle control device 10 does not stop the lane keeping control and the adaptive cruise control either.

[0107] <Effects> When it is detected that the stop-maintenance request operation device 49 or the shift lever 451 has been operated, it may be determined that the driver DR is in a normal state and the abnormality response control may be stopped. However, a passenger other than the driver DR (e.g., a passenger in the passenger seat) can relatively easily operate the stop-maintenance request operation device 49 or the shift lever 451, and when the passenger learns that the driver DR has fallen into an abnormal state due to the abnormality response control, there is a possibility that the passenger will operate the stop-maintenance request operation device 49 or the shift lever 451 to try to stop the host vehicle 100. For this reason, it is not preferable to stop the abnormality response control when the stop-maintenance request operation device 49 or the shift lever 451 has been operated.

[0108] According to the vehicle control device 10, even if it detects that the vehicle stop-maintenance request operation device 49 or the shift lever 451 has been operated, the abnormality response control is not stopped, and the lane keeping control and the following cruise control are not stopped either. Therefore, it is possible to avoid stopping the abnormality response control in a situation in which stopping the abnormality response control is inappropriate.

[0109] <Specific operation> Next, there will be described a specific operation of the vehicle control device 10. The CPU of the ECU 90 of the vehicle control device 10 is configured to execute the routine shown in Fig. 5 at a predetermined calculation cycle.

[0110] 5, and proceeds to step 505 to determine whether or not the value of the lane keeping control in progress flag X1 is "0." The lane keeping control in progress flag X1 is a flag that indicates whether or not the lane keeping control is being executed, and its value is set to "1" when the lane keeping control is being executed, and its value is set to "0" when the lane keeping control is not being executed.

[0111] If the CPU determines "Yes" in step 505, it proceeds to step 510 and determines whether or not execution of lane keeping control has been requested.

[0112] If the CPU determines "Yes" in step 510, the process proceeds to step 515 and executes the routine shown in Fig. 6. Therefore, when the CPU proceeds to step 515, the process starts from step 600 in Fig. 6, and proceeds to step 605 to determine whether the deviation amount dW is greater than zero. In this example, when the host vehicle center line VC is deviated to the right from the lane center line LC, the deviation amount dW becomes greater than zero.

[0113] If the CPU determines "Yes" in step 605, the process proceeds to step 610, where it calculates the steering angle θ for turning the host vehicle 100 to the left and making the deviation amount dW zero, as the target steering angle θtgt. Next, the CPU proceeds to step 615, where it controls the operation of the steering device 23 so as to realize the target steering angle θtgt obtained in step 610. As a result, the host vehicle 100 is steered to turn to the left.

[0114] 5 via step 695, and sets the value of the lane keeping execution flag X1 to "1." Next, the CPU proceeds to step 595, and temporarily ends this routine.

[0115] On the other hand, if the CPU determines "No" in step 605 in Fig. 6, the CPU proceeds to step 620 and determines whether the deviation amount dW is smaller than zero. In this example, when the host vehicle center line VC deviates to the left from the lane center line LC, the deviation amount dW is smaller than zero.

[0116] If the CPU determines "Yes" in step 620, the process proceeds to step 625, where it calculates the steering angle θ for turning the host vehicle 100 to the right and making the deviation amount dW zero, as the target steering angle θtgt. Next, the CPU proceeds to step 630, where it controls the operation of the steering device 23 so as to realize the target steering angle θtgt obtained in step 625. As a result, the host vehicle 100 is steered to turn to the right.

[0117] 5 via step 695, and sets the value of the lane keeping execution flag X1 to "1." Next, the CPU proceeds to step 595, and temporarily ends this routine.

[0118] On the other hand, if the CPU determines "No" in step 620 in Fig. 6, the CPU proceeds directly to step 520 in Fig. 5 via step 695 and sets the value of the lane keeping execution flag X1 to "1." Next, the CPU proceeds to step 595 and temporarily ends this routine.

[0119] Moreover, if the CPU determines "No" in step 510 of FIG. 5, it proceeds directly to step 595 and temporarily ends this routine.

[0120] If the CPU determines "No" in step 505, the CPU proceeds to step 525 and determines whether any one of the first lane keeping stop condition CLs1 to the fourth lane keeping stop condition CLs4 is satisfied.

[0121] If the CPU determines "Yes" in step 525, the process proceeds to step 530, where it stops the lane keeping control. Then, the CPU proceeds to step 535, where it sets the value of the lane keeping execution flag X1 to "0." Then, the CPU proceeds to step 595, where it temporarily ends this routine.

[0122] On the other hand, if the CPU determines "No" in step 525, the process proceeds to step 515, and executes the routine shown in Fig. 6 as described above. Next, the CPU proceeds to step 520, and sets the value of the lane keeping execution flag X1 to "1". Next, the CPU proceeds to step 595, and temporarily ends this routine.

[0123] Furthermore, the CPU executes the routine shown in FIG. 7 at a predetermined calculation cycle.

[0124] 7, and proceeds to step 705 to determine whether the value of the following driving execution flag X2 is "0." The following driving execution flag X2 is a flag that indicates whether following driving control is being executed, and its value is set to "1" when following driving control is being executed, and is set to "0" when following driving control is not being executed.

[0125] If the CPU judges "Yes" in step 705, the process proceeds to step 710, where it determines whether or not the execution of follow-up cruise control has been requested.

[0126] If the CPU determines "Yes" in step 710, the process proceeds to step 715, where it executes the routine shown in Fig. 8. Therefore, when the CPU proceeds to step 715, it starts the process from step 800 in Fig. 8, and proceeds to step 805, where it determines whether the inter-vehicle distance D is greater than the target inter-vehicle distance Dtgt.

[0127] If the CPU determines "Yes" in step 805, the process proceeds to step 810, where it calculates and obtains, as a target acceleration GAtgt, the acceleration GA of the host vehicle 100 for increasing the host vehicle speed V100 and making the inter-vehicle distance D coincide with the target inter-vehicle distance Dtgt. Next, the CPU proceeds to step 815, where it controls the operation of the drive device 21 so as to realize the target acceleration GAtgt obtained in step 810. As a result, the host vehicle 100 is accelerated.

[0128] 7 via step 895, and sets the value of the following-traveling execution flag X2 to 1. Next, the CPU proceeds to step 795, and temporarily ends this routine.

[0129] On the other hand, if the CPU determines "No" in step 805 of FIG. 8, the process proceeds to step 820, where it determines whether the inter-vehicle distance D is smaller than the target inter-vehicle distance Dtgt.

[0130] If the CPU determines "Yes" in step 820, the process proceeds to step 825, where it calculates the deceleration GD of the host vehicle 100 as a target deceleration GDtgt in order to reduce the host vehicle speed V100 and make the inter-vehicle distance D equal to the target inter-vehicle distance Dtgt. Next, the CPU proceeds to step 830, where it controls the operation of the drive device 21 or the brake device 22 so as to realize the target deceleration GDtgt obtained in step 825. As a result, the host vehicle 100 is decelerated.

[0131] 7 via step 895, and sets the value of the following-traveling execution flag X2 to 1. Next, the CPU proceeds to step 795, and temporarily ends this routine.

[0132] On the other hand, if the CPU determines "No" in step 820 in Fig. 8, it proceeds directly to step 720 in Fig. 7 via step 895 and sets the value of the following travel execution flag X2 to "1." Next, the CPU proceeds to step 795 and temporarily ends this routine.

[0133] Moreover, if the CPU determines "No" in step 710 of FIG. 7, it proceeds directly to step 795 and temporarily ends this routine.

[0134] If the CPU determines "No" in step 705, the process proceeds to step 725, where it determines whether any one of the first following-traveling stop condition CAs1 to the fifth following-traveling stop condition CAs5 is satisfied.

[0135] If the CPU determines "Yes" in step 725, the process proceeds to step 730, where it stops the following driving control. Next, the CPU proceeds to step 735, where it sets the value of the following driving in progress flag X2 to "0." Next, the CPU proceeds to step 795, where it temporarily ends this routine.

[0136] On the other hand, if the CPU determines "No" in step 725, the process proceeds to step 715, and executes the routine shown in Fig. 8 as described above. Next, the CPU proceeds to step 720, and sets the value of the following travel execution flag X2 to "1". Next, the CPU proceeds to step 795, and temporarily ends this routine.

[0137] Furthermore, the CPU executes the routine shown in FIG. 9 at a predetermined calculation cycle.

[0138] 9, and proceeds to step 905 to determine whether or not the value of the abnormality response execution flag X3 is "0." The abnormality response execution flag X3 is a flag that indicates whether or not abnormality response control is being executed, and its value is set to "1" when abnormality response control is being executed, and is set to "0" when abnormality response control is not being executed.

[0139] If the CPU judges "Yes" in step 905, the process proceeds to step 910, where it judges whether or not the abnormal condition CD is satisfied.

[0140] If the CPU determines "Yes" in step 910, it proceeds to step 915 and determines whether the values ​​of the lane keeping execution flag X1 and the following driving execution flag X2 are "1".

[0141] If the CPU determines "Yes" in step 915, the process proceeds to step 920, where it executes the routine shown in Fig. 10. Therefore, when the CPU proceeds to step 920, it starts the process from step 1000 in Fig. 10, and proceeds to step 1005 to determine whether or not the host vehicle 100 has stopped.

[0142] If the CPU determines "Yes" in step 1005, the process proceeds to step 1010 and executes the routine shown in Fig. 11. Therefore, when the CPU proceeds to step 1010, the process starts from step 1100 in Fig. 11, and proceeds to step 1105 to execute abnormality notification control. Specifically, the CPU executes automatic stop completion display processing and fourth warning sound output processing as the abnormality notification control processing. Next, the CPU proceeds to step 1110 and executes abnormality notification control. Specifically, the CPU executes hazard flashing processing, horn blowing processing, and stop lamp lighting processing as the abnormality notification control processing.

[0143] Next, the CPU advances the process to step 1115 and stops the lane keeping control. Next, the CPU advances the process to step 1120 and executes the abnormality response cruise control. Specifically, the CPU executes a vehicle stop maintenance process as the abnormality response cruise control process.

[0144] 9 via step 1195 and step 1095 in Fig. 10, and sets the value of the abnormality response in progress flag X3 to "1." Next, the CPU proceeds to step 995, and temporarily ends this routine.

[0145] On the other hand, if the CPU determines "No" in step 1005 of FIG. 10, the process proceeds to step 1015, where it determines whether the third duration time T3 is equal to or greater than the third determination time T3th.

[0146] If the CPU determines "Yes" in step 1015, the process proceeds to step 1020 and executes the routine shown in Fig. 12. Therefore, when the CPU proceeds to step 1020, the process starts from step 1200 in Fig. 12, and proceeds to step 1205 to execute abnormality notification control. Specifically, the CPU executes automatic stop implementation display processing and third warning sound output processing as the abnormality notification control processing. Next, the CPU proceeds to step 1210 and executes abnormality notification control. Specifically, the CPU executes hazard flashing processing, horn blowing processing, and stop lamp lighting processing as the abnormality notification control processing.

[0147] Next, the CPU proceeds to step 1215 to execute the abnormality response cruise control. Specifically, the CPU executes a vehicle stop deceleration process as the abnormality response cruise control process.

[0148] 9 via step 1295 and step 1095 in Fig. 10, and sets the value of the abnormality response in progress flag X3 to "1." Next, the CPU proceeds to step 995, and temporarily ends this routine.

[0149] On the other hand, if the CPU determines "No" in step 1015, the process proceeds to step 1025, where it determines whether the second duration T2 is equal to or greater than the second determination time T2th.

[0150] If the CPU judges "Yes" in step 1025, the process proceeds to step 1030 and executes the routine shown in Fig. 13. Therefore, when the CPU advances the process to step 1030, the process starts from step 1300 in Fig. 13, and the process proceeds to step 1305 to execute the abnormality notification control. Specifically, the CPU executes a handle hold request display process, an automatic stop notice display process, and a second warning sound output process as the abnormality notification control process. Next, the CPU advances the process to step 1310 and executes the abnormality notification control. Specifically, the CPU executes a hazard light flashing process, a horn blowing process, and a stop lamp lighting process as the abnormality notification control process.

[0151] Next, the CPU proceeds to step 1315 to execute the abnormality response cruise control. Specifically, the CPU executes a gradual deceleration process as the abnormality response cruise control process.

[0152] 9 via step 1395 and step 1095 in Fig. 10, and sets the value of the abnormality response in progress flag X3 to "1." Next, the CPU proceeds to step 995, and temporarily ends this routine.

[0153] On the other hand, if the CPU determines "No" in step 1025, the process proceeds to step 1035, where it determines whether the first duration time T1 is equal to or greater than the first determination time T1th.

[0154] If the CPU determines "Yes" in step 1035, the process proceeds to step 1040, where it executes the routine shown in Fig. 14. Therefore, when the CPU advances the process to step 1040, it starts the process from step 1400 in Fig. 14, advances the process to step 1405, and executes abnormality notification control. Specifically, the CPU executes a handle hold request display process and a first warning sound output process as the abnormality notification control process.

[0155] Next, the CPU advances the process to step 925 in Fig. 9 via step 1495 and step 1095 in Fig. 10, and sets the value of the abnormality response in progress flag X3 to "1." Next, the CPU advances the process to step 995, and temporarily ends this routine.

[0156] On the other hand, if the CPU determines "No" in step 1035 in Fig. 10, it proceeds directly to step 925 in Fig. 9 via step 1095 in Fig. 10, and sets the value of the abnormality response in progress flag X3 to "1." Next, the CPU proceeds to step 995, and temporarily ends this routine.

[0157] Moreover, if the CPU makes a "No" determination in step 910 or step 915 in FIG. 9, it proceeds directly to step 995 and temporarily ends this routine.

[0158] In addition, if the CPU judges "No" in step 905 of FIG. 9, it proceeds to step 930 and judges whether any one of the first abnormality response stop condition CDs1 to the fifth abnormality response stop condition CDs5 is satisfied.

[0159] If the CPU determines "Yes" in step 930, the process proceeds to step 935, where it stops the abnormality response control. Next, the CPU proceeds to step 940, where it sets the value of the abnormality response execution flag X3 to "0." Next, the CPU proceeds to step 995, where it temporarily ends this routine.

[0160] On the other hand, if the CPU determines "No" in step 930, the process proceeds to step 920, where it executes the routine shown in Fig. 10 as described above. Next, the CPU proceeds to step 925, where it sets the value of the abnormality response execution flag X3 to "1." Next, the CPU proceeds to step 995, where it temporarily ends this routine.

[0161] The specific operation of the vehicle control device 10 has been described above.

[0162] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0163] 10...vehicle control device, 20...vehicle driving device, 21...drive device, 22...braking device, 23...steering device, 30...vehicle stop maintaining device, 31...turn signal, 32...stop lamp, 49...vehicle stop maintaining request operation device, 50...driver information acquisition device, 51...driver monitor camera, 52...heart rate sensor, 80...alarm device, 81...horn, 90...ECU, 100...own vehicle, 200...preceding vehicle, 451...shift lever (shift operation device)

Claims

1. A vehicle control device that executes driving assistance control to assist a driver in driving a vehicle, and is configured to stop the driving assistance control being executed when a predetermined operating device of the vehicle is operated, When the driver falls into an abnormal state that hinders driving the vehicle, an abnormality response control is executed as the driving assistance control to ensure safe driving of the vehicle; When the driver falls into the abnormal state while the driving assistance control different from the abnormality response control is being executed, the abnormality response control is executed without stopping the driving assistance control different from the abnormality response control being executed, When the predetermined operating device is operated while the driving assistance control different from the abnormality response control is being executed, if the abnormality response control is not being executed, the driving assistance control different from the abnormality response control being executed is stopped, When the predetermined operating device is operated while the driving assistance control different from the abnormality response control and the abnormality response control are being executed, neither the driving assistance control different from the abnormality response control being executed nor the abnormality response control being executed is stopped. The vehicle control device is configured as follows.

2. The vehicle control device according to claim 1, The predetermined operating device is an operating device for activating a vehicle stop maintaining device for maintaining the host vehicle in a stopped state. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The abnormality response control includes an abnormality response driving control for decelerating and stopping the host vehicle. Vehicle control device.

4. The vehicle control device according to any one of claims 1 to 3, The abnormality response control includes an abnormality notification control for notifying a person outside the vehicle that the driver is in the abnormal state. Vehicle control device.

5. The vehicle control device according to any one of claims 1 to 4, The driving assistance control different from the abnormality response control includes a following running control that automatically accelerates and decelerates the host vehicle so that the host vehicle follows the preceding vehicle. Vehicle control device.

6. The vehicle control device according to any one of claims 1 to 5, The driving assistance control different from the abnormality response control includes a lane keeping control that assists the driver in steering the vehicle so that the vehicle travels within a lane. Vehicle control device.

Images