Vehicle, vehicle control method and program

Abstract

To provide a vehicle, a vehicle control method, and a program, which enable occupants to quickly return to postures enabling the occupants to execute manual operation when the vehicles are switched from operation-supported states to non-supported states.SOLUTION: A vehicle comprises: at least one movable member 19A, 19B, 30 allowing an occupant to change the positions thereof; an operation support system capable of executing operation support control which is interrupted when interruption condition is established; a processor; and a notification device 15. The notification device 15 gives a driver warning when the processor determines that a predetermined positional condition is established, on the basis of a position and reference position of each movable member assumed when the operation support control is executed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vehicle, a vehicle control method, and a program. [Background technology]

[0002] The following Patent Document 1 discloses a vehicle that notifies an occupant that the occupant will become the main operator when switching from a driving assistance state in which driving assistance control is being executed to a non-assisted state in which driving assistance control is not being executed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-157832 A Summary of the Invention [Problem to be solved by the invention]

[0004] The invention of the above-mentioned Patent Document 1 leaves room for improvement in terms of enabling the occupant to quickly return to a position in which he or she can perform manual driving when the vehicle switches from a driving assistance state to a non-assistance state.

[0005] In consideration of the above, the present invention aims to provide a vehicle, a vehicle control method, and a program that enable an occupant to quickly return to a position in which they can perform manual driving when the vehicle switches from a driving assistance state to a non-assisted state. [Means for solving the problem]

[0006] The vehicle according to claim 1 is provided for a passenger. Manual operation by This will change the position, at least Twoand a processor, the processor controlling an alarm device to issue a warning to a driver when it is determined that a predetermined position condition is satisfied based on the positions of the movable members and a reference position when the driving assistance control is being executed. the processor calculates a first return time, which is a total time required to move each of the movable members to the respective reference positions, based on the positions of the movable members and the reference positions; and when it determines that the first return time becomes equal to or greater than a first threshold value during execution of the driving assistance control, it determines that the position condition is satisfied. .

[0007] In the vehicle described in claim 1, when it is determined that a predetermined position condition is satisfied based on the positions of the movable members and the reference position when the driving assistance control is being executed, the notification device issues a warning to the driver. Therefore, there is a high possibility that the occupant who receives the warning will move each movable member in a direction approaching each reference position. Therefore, according to the invention described in claim 1, when the vehicle switches from the driving assistance state to the non-assistance state, the occupant can quickly return to a position in which he or she can perform manual driving.

[0009] Claim 1 In the invention described in the above, the processor calculates a first return time, which is the time required to move all the movable members to their respective reference positions, based on the positions of the movable members and the reference position. Furthermore, when the processor determines that the first return time is equal to or greater than a first threshold value during execution of the driving assistance control, it determines that the position condition is satisfied. Claim 1 According to the invention described in the above, when the vehicle switches from a driving assistance state to a non-assistance state, the occupant can quickly return to a position in which he or she can perform manual driving.

[0012] The vehicle according to the invention described in claim 2 is In the invention, a movement restriction device is provided which restricts each of the movable members from moving in a direction away from the respective reference positions when it is determined that the position condition is satisfied.

[0013] Claim 2 In the invention described in the above, when it is determined that the position condition is satisfied, the movement restriction device restricts the movement of each movable member in a direction away from the respective reference positions. Claim 2According to the invention described above, when the vehicle switches from a driving assistance state to a non-assisted state, there is a high possibility that the occupant will be able to quickly return to a position in which they can perform manual driving, compared to when each movable member is able to move in a direction away from its respective reference position when it is determined that the position condition is satisfied.

[0014] The vehicle according to the invention described in claim 3 is In the invention, the movable member includes at least one of a driver's seat cushion that is slidable relative to the body of the vehicle, a seat back that is rotatably connected to the driver's seat cushion, a steering wheel that is movable along its own rotational center axis, a brake pedal that is movable in a direction intersecting the direction of depression, an accelerator pedal that is movable in a direction intersecting the direction of depression, a side mirror that is movable relative to the vehicle body, and a rearview mirror that is movable relative to the vehicle body.

[0015] Claim 3 In the invention described above, when a position condition is met, there is a high probability that at least one of the seat cushion, seat back, steering wheel, brake pedal, accelerator pedal, side mirror, and rearview mirror is in a position that allows an occupant to easily perform manual operation.

[0016] The vehicle according to the invention described in claim 4 is In the invention described in any one of claims 1 to 5, the reference position is the position of each of the movable members when the vehicle switches from a non-assisted state in which the driving assistance control is not executed to a driving assistance state in which the driving assistance control is executed.

[0017] Claim 4 In the invention described in the above, the position of each movable member when the vehicle switches from a non-assisted state to a driving assistance state in which driving assistance control is being executed is the reference position of each movable member. That is, the position of each movable member immediately before the driving assistance control is executed is treated as the reference position. The position of each movable member immediately before the driving assistance control is executed is likely to be a position where the occupant can easily perform manual driving. Therefore, when an occupant who has received a warning moves each movable member to the reference position, the occupant is likely to be able to comfortably perform manual driving.

[0018] The vehicle according to the invention described in claim 5 comprises the following components: In the invention described in any one of the above, each of the movable members is movable by a driving force of an actuator controlled by the processor, and the reference position is a pre-registered position to which each of the movable members is moved by the driving force of the actuator when an operating device provided in the vehicle is operated by the occupant.

[0019] Claim 5 In the invention described in the above, when an operating device provided in a vehicle is operated, a preregistered position to which each movable member is moved by the driving force of an actuator is the reference position of each movable member. The preregistered positions of each movable member are likely to be positions at which an occupant can easily perform manual driving. Therefore, when an occupant who has received a warning moves each movable member to the reference position, the occupant is likely to be able to comfortably perform manual driving.

[0020] Claim 6 The vehicle control method according to the present invention comprises: When a processor determines that a predetermined position condition is satisfied based on the positions and reference positions of each movable member while a vehicle having at least two movable members that can be moved by manual operation by an occupant is executing driving assistance control that is interrupted when an interruption condition is satisfied, the processor controls an alarm device to issue a warning to a driver, calculates a first return time, which is the total time required to move each of the movable members to its respective reference position, based on the positions and reference positions of each of the movable members, and determines that the position condition is satisfied when the processor determines that the first return time becomes equal to or greater than a first threshold value during execution of the driving assistance control. .

[0021] Claim 7 The program according to the invention described in The present invention causes a processor to execute a process of controlling an alarm device to issue a warning to a driver when it is determined that a predetermined position condition is satisfied based on positions and a reference position of each of the movable members while a vehicle having at least two movable members that can be moved by manual operation by an occupant is executing a driving assistance control that is interrupted when an interruption condition is satisfied, and causes the processor to execute a process of calculating a first return time, which is a total time required to move each of the movable members to its respective reference position, based on the positions and the reference position of each of the movable members, and a process of determining that the position condition is satisfied when it is determined that the first return time becomes equal to or greater than a first threshold value during the execution of the driving assistance control. . Effect of the Invention

[0022] As described above, the vehicle, vehicle control method, and program of the present invention have the excellent effect of enabling an occupant to quickly return to a position in which they can perform manual driving when the vehicle switches from a driving assistance state to a non-assisted state. [Brief description of the drawings]

[0023] [Figure 1] 1 is a schematic plan view showing a vehicle according to an embodiment with a ceiling portion omitted; [Diagram 2] FIG. 2 is a schematic side view of a driver's seat of the vehicle shown in FIG. [Diagram 3] FIG. 2 is a schematic block diagram of an ECU of the vehicle shown in FIG. [Figure 4] FIG. 4 is a functional block diagram of the ECU shown in FIG. [Diagram 5] 4 is a flowchart showing a process performed by an ECU. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, a vehicle 10, a vehicle control method, and a program according to an embodiment of the present invention will be described with reference to the attached drawings. Note that an arrow FR shown as appropriate in each drawing indicates the vehicle forward direction, an arrow UP indicates the vehicle upward direction, and an arrow LH indicates the left side in the vehicle left-right direction (vehicle width direction). Hereinafter, when the directions of front-rear, left-right, and up-down are simply used in the description, they indicate front-rear in the vehicle front-rear direction, left-right in the vehicle left-right direction (vehicle width direction), and up-down in the vehicle up-down direction.

[0025] As shown in Fig. 1, an instrument panel 14C of a vehicle body 14 of a vehicle 10 is provided with a touch panel display (notification device) (operation device) 15 and a steering wheel 30. Furthermore, a driver's seat 16 is provided in the center of a floor 14B, which is the bottom surface of a passenger compartment 14A, in the vehicle width direction. As shown in Fig. 2, an occupant P1 can be seated in the driver's seat 16. The driver's seat 16 has a seat body 19 and a slide rail device 20.

[0026] 2, a slide rail device 20 is provided on the floor 14B to support the seat body 19 of the driver's seat 16 so that the seat body 19 can slide in the front-rear direction. The slide rail device 20 has a pair of left and right lower rails 21 that are fixed to the floor 14B and extend in the front-rear direction, and a pair of left and right upper rails 22 that are supported on each lower rail 21 so as to be slidable in the front-rear direction. The slide rail device 20 further has a first actuator 24 consisting of an electric pulse motor, and a power transmission mechanism (not shown).

[0027] A seat body 19 is supported by the left and right upper rails 22. The seat body 19 has a seat cushion (movable member) 19A, a seat back (movable member) 19B, and a headrest 19C. The seat cushion 19A is fixed to the upper ends of the front and rear upper rails 22.

[0028] As shown in FIG. 2, a first switch 25 is provided on a side of the seat cushion 19A. The first switch 25 is a seesaw-type switch that can swing around a swing center provided at the center. When no external force is applied to the first switch 25, the first switch 25 is located at an initial position. When a front part 25A of the first switch 25 is pressed, the first switch 25 moves to a first position, and when a rear part 25B is pressed, the first switch 25 moves to a second position. The first actuator 24 and the first switch 25 are connected to an ECU 40, which will be described later. When the first switch 25 moves to the first position, the first actuator 24 controlled by the ECU 40 generates a driving force while rotating forward. This driving force is transmitted from the power transmission mechanism to the upper rail 22, and the upper rail 22 slides forward relative to the lower rail 21. When the first switch 25 moves to the second position, the first actuator 24 generates a driving force while rotating in a reverse direction. This driving force is transmitted from the power transmission mechanism to the upper rail 22, causing the upper rail 22 to slide rearward relative to the lower rail 21.

[0029] 2, the rear end of the seat cushion 19A and the lower end of the seat back 19B are rotatably connected via a reclining mechanism 26. The reclining mechanism 26 is provided with a second actuator 27 made up of an electric pulse motor.

[0030] As shown in FIG. 2, the second switch 28 is provided on the side of the seat back 19B. The second switch 28 is a seesaw-type switch that can be swung around a swing center provided in the center. When no external force is applied to the second switch 28, the second switch 28 is located in the initial position. When the front part 28A of the second switch 28 is pressed, the second switch 28 moves to the first position, and when the rear part 28B is pressed, the second switch 28 moves to the second position. The second actuator 27 and the second switch 28 are connected to the ECU 40. When the second switch 28 moves to the first position, the second actuator 27 controlled by the ECU 40 generates a driving force while rotating forward. The reclining mechanism 26 rotates due to this driving force, and the seat back 19B rotates forward relative to the seat cushion 19A. When the second switch 28 moves to the second position, the second actuator 27 generates a driving force while rotating in the reverse direction. This driving force rotates the reclining mechanism 26, causing the seat back 19B to rotate rearward relative to the seat cushion 19A.

[0031] As shown in FIG. 1, a steering wheel (movable member) 30 is supported at the rear end of a support mechanism 31 provided on an instrument panel 14C. The steering wheel 30 is rotatable around its own central axis of rotation. This central axis of rotation extends in the front-rear direction in a plan view. The support mechanism 31 is extendable and retractable along the central axis of rotation of the steering wheel 30. The steering mechanism including the steering wheel 30 of this embodiment is a steer-by-wire type steering mechanism. A third actuator 32 consisting of an electric pulse motor and a power transmission mechanism (not shown) are provided inside the support mechanism 31.

[0032] As shown in FIG. 1, the third switch 33 is provided on the side of the support mechanism 31. The third switch 33 is a seesaw-type switch that can swing around a swing center provided in the center. When no external force is applied to the third switch 33, the third switch 33 is located in the initial position. When the front part 33A of the third switch 33 is pressed, the third switch 33 moves to the first position, and when the rear part 33B is pressed, the third switch 33 moves to the second position. The third actuator 32 and the third switch 33 are connected to the ECU 40. When the third switch 33 moves to the first position, the third actuator 32 controlled by the ECU 40 generates a driving force while rotating forward. When this driving force is transmitted from the power transmission mechanism to the support mechanism 31, the support mechanism 31 shortens, and the steering wheel 30 moves forward. When the third switch 33 moves to the second position, the third actuator 32 generates a driving force while rotating in the reverse direction. When this driving force is transmitted from the power transmission mechanism to the support mechanism 31, the support mechanism 31 expands, causing the steering wheel 30 to move rearward.

[0033] As shown in FIG. 1, the instrument panel 14C is provided with a driving assistance switch 34. As shown in FIG. 1 and FIG. 2, the vehicle 10 is provided with a brake pedal 35, an accelerator pedal 36, a side mirror 37, and a rearview mirror 38. The brake pedal 35 and the accelerator pedal 36 can move back and forth along a predetermined depression direction. Furthermore, the brake pedal 35 and the accelerator pedal 36 can move in a direction intersecting the depression direction. For example, the brake pedal 35 and the accelerator pedal 36 can move in the left-right direction. The left and right side mirrors 37 are supported by the left and right side doors 11 so as to be rotatable about a rotation axis in a substantially vertical direction. That is, the side mirror 37 can be rotated between a use position shown by a solid line in FIG. 1 and a folding position shown by a virtual line. The rearview mirror 38 is supported by the inner surface of the ceiling so as to be rotatable about a rotation axis in a substantially horizontal direction. That is, the rearview mirror 38 is rotatable between an in-use position, shown in solid lines, in which the mirror faces rearward, and a folded position, shown in phantom lines, in which the mirror faces the inner surface of the ceiling.

[0034] As shown in Fig. 1, the vehicle 10 is provided with an ECU 40. The ECU 40 is electrically connected to the display 15, the first actuator 24, the first switch 25, the second actuator 27, the second switch 28, the third actuator 32, the third switch 33, and the driving assistance switch 34. As shown in Fig. 3, the ECU 40 includes a CPU (Central Processing Unit: processor) 40A, a ROM (Read Only Memory) 40B, a RAM (Random Access Memory) 40C, a storage 40D, a communication I / F (Interface) 40E, and an input / output I / F 40F. The CPU 40A, the ROM 40B, the RAM 40C, the storage 40D, the communication I / F 40E, and the input / output I / F 40F are connected to each other so as to be able to communicate with each other via a bus 40Z.

[0035] The CPU 40A is a central processing unit that executes various programs and controls each part. That is, the CPU 40A reads a program from the ROM 40B or the storage 40D, and executes the program using the RAM 40C as a working area. The CPU 40A controls each component and performs various arithmetic processing according to the program recorded in the ROM 40B or the storage 40D.

[0036] The ROM 40B stores various programs and various data. The RAM 40C temporarily stores programs or data as a working area. The storage 40D is composed of a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data. The communication I / F 40E is an interface for the ECU 40 to communicate with other devices. The input / output I / F 40F is an interface for communicating with various devices.

[0037] 4, the ECU 40 has, as its functional configuration, a driving assistance control unit (driving assistance system) 401, a first control unit 402, a second control unit 403, a third control unit 404, a reference position recognition unit 405, a determination unit 406, a display control unit 407, and a restriction control unit (movement restriction device) 408. The driving assistance control unit 401, the first control unit 402, the second control unit 403, the third control unit 404, the reference position recognition unit 405, the determination unit 406, the display control unit 407, and the restriction control unit 408 are realized by the CPU 40A reading and executing a program stored in the ROM 40B or the storage 40D.

[0038] The driving assistance control unit 401 functions when the driving assistance switch 34, which is in the OFF position, is moved to the ON position. The driving assistance control unit 401 executes driving assistance control by operating each device of the vehicle 10, including the brake device, the engine, and the steering wheel 30. In this specification, the "driving assistance control" includes driving assistance control of levels 1 to 5 defined by the Society of Automotive Engineers (SAE). The occupant P1 can cause the vehicle 10 to execute driving assistance control of any level by operating the driving assistance switch 34 that has been moved to the ON position. The driving assistance control unit 401 recognizes the level of driving assistance control selected by the occupant P1.

[0039] When driving assistance control of levels 3 and 4 is being executed, the occupant P1 does not need to perform manual driving (driving operation) and does not need to visually monitor the surroundings of the vehicle 10. However, when it is determined that an interruption condition is satisfied during execution of driving assistance control of levels 3 and 4, the driving assistance control unit 401 interrupts the driving assistance control of levels 3 and 4. For example, this interruption condition is satisfied when a sensor device mounted on the vehicle 10 or the surrounding environment of the vehicle 10 becomes a predetermined state. When the driving assistance control unit 401 interrupts driving assistance control of levels 3 and 4, the vehicle 10 switches from a driving assistance state in which driving assistance control is executed to a non-assisted state in which driving assistance control is not executed. When the vehicle 10 switches to the non-assisted state, the occupant P1 needs to immediately perform manual driving. That is, the occupant P1 needs to operate a plurality of operating members including the steering wheel 30, the brake pedal 35, the accelerator pedal 36, the shift lever, and the turn signal, and needs to visually monitor the surroundings of the vehicle 10.

[0040] The first control unit 402 transmits a forward rotation signal (pulse signal) to the first actuator 24 while the first switch 25 is in the first position. The first control unit 402 transmits a reverse rotation signal (pulse signal) to the first actuator 24 while the first switch 25 is in the second position. When the first switch 25 is in the initial position, the first control unit 402 does not transmit a pulse signal to the first actuator 24. Furthermore, the first control unit 402 recognizes the position of the seat cushion 19A (upper rail 22) of the seat main body 19 in the front-rear direction based on the number of pulses of the pulse signal transmitted to the first actuator 24.

[0041] The second control unit 403 transmits a forward rotation signal (pulse signal) to the second actuator 27 while the second switch 28 is located at the first position. The second control unit 403 transmits a reverse rotation signal (pulse signal) to the second actuator 27 while the second switch 28 is located at the second position. When the second switch 28 is located at the initial position, the second control unit 403 does not transmit a pulse signal to the second actuator 27. Furthermore, the second control unit 403 recognizes the rotational position (rotational angle) of the seat back 19B relative to the seat cushion 19A based on the number of pulses of the pulse signal transmitted to the second actuator 27.

[0042] The third control unit 404 transmits a forward rotation signal (pulse signal) to the third actuator 32 while the third switch 33 is located at the first position. The third control unit 404 transmits a reverse rotation signal (pulse signal) to the third actuator 32 while the third switch 33 is located at the second position. When the third switch 33 is located at the initial position, the third control unit 404 does not transmit a pulse signal to the third actuator 32. Furthermore, the third control unit 404 recognizes the position of the steering wheel 30 in the front-rear direction relative to the instrument panel 14C based on the number of pulses of the pulse signal transmitted to the third actuator 32.

[0043] The reference position recognition unit 405 recognizes the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 at the switching time. Here, the switching time is the time when the occupant P1 performing manual driving operates the driving assistance switch 34 to cause the vehicle 10 to start driving assistance control of level 3 or level 4, or the time when the occupant P1 operates the driving assistance switch 34 to cause the vehicle 10 performing driving assistance control of level 1, 2, or 5 to start driving assistance control of level 3 or 4. Hereinafter, the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 at the switching time are referred to as "reference positions." That is, the reference position of the seat cushion 19A, the reference position of the seat back 19B, and the reference position of the steering wheel 30 are different from each other. The reference position recognition unit 405 recognizes the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 based on the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 recognized by the first control unit 402, the second control unit 403, and the third control unit 404 based on the number of pulses of the pulse signal.

[0044] While the vehicle 10 is executing the driving assistance control of level 3 or level 4, the determination unit 406 determines whether or not the position condition is satisfied based on the current positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 recognized by the first control unit 402, the second control unit 403, and the third control unit 404, and the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30. More specifically, the determination unit 406 calculates a first return time, which is the total value of the time required to move the seat cushion 19A, the seat back 19B, and the steering wheel 30 to their respective reference positions, based on the current positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30, and the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30. This first return time is the total value of the time during which the seat cushion 19A is moved by the driving force of the first actuator 24, the time during which the seat back 19B is moved by the driving force of the second actuator 27, and the time during which the steering wheel 30 is moved by the driving force of the third actuator 32. Furthermore, it takes a certain amount of time for the occupant P1 who has received a warning described later to actually start operating the first switch 25, the second switch 28, and the third switch 33 with his or her hands. This time is called the "operation preparation time". Furthermore, the total value of the first return time and the operation preparation time is called the "set return time". This set return time is recorded in, for example, the ROM 40B or the storage 40D. The set return time is, for example, 10 seconds. Furthermore, the ROM 40B or the storage 40D records a first threshold value that is a threshold value of the first return time. When the set return time is 10 seconds, for example, the first threshold value is 7 seconds. When the first return time calculated by the determination unit 406 is equal to or greater than the first threshold value, the determination unit 406 determines that the position condition is established. On the other hand, when the first return time calculated by the determining unit 406 is less than the first threshold value, the determining unit 406 determines that the position condition is not satisfied.

[0045] The display control unit 407 controls the display 15 .

[0046] When the determination unit 406 determines that the position condition is satisfied, the restriction control unit 408 imposes a predetermined restriction on the control of the first control unit 402, the second control unit 403, and the third control unit 404. That is, the restriction control unit 408 restricts the first control unit 402, the second control unit 403, and the third control unit 404 from controlling the first actuator 24, the second actuator 27, and the third actuator 32 so as to move the seat cushion 19A, the seat back 19B, and the steering wheel 30 in a direction away from their respective reference positions. On the other hand, the restriction control unit 408 allows the first control unit 402, the second control unit 403, and the third control unit 404 to control the first actuator 24, the second actuator 27, and the third actuator 32 so as to move the seat cushion 19A, the seat back 19B, and the steering wheel 30 in a direction approaching their respective reference positions.

[0047] (Action and Effects) Next, the operation and effects of this embodiment will be described.

[0048] The ECU 40 of the vehicle 10 repeatedly executes the process of the flowchart in FIG. 5 every time a predetermined time elapses.

[0049] First, in step S10, the driving assistance control unit 401 of the ECU 40 determines whether driving assistance control of level 3 or 4 is being executed.

[0050] If the ECU 40 determines "Yes" in step S10, the process proceeds to step S11. In step S11, the determination unit 406 of the ECU 40 calculates a first return time based on the current positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 and the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30.

[0051] After completing the process of step S11, the ECU 40 proceeds to step S12, where the determination unit 406 determines whether or not the position condition is satisfied.

[0052] If the ECU 40 determines "Yes" in step S12, the process proceeds to step S13, and the display control unit 407 controls the display 15. This causes the display 15 to display text indicating a warning to the occupant P1. For example, the display 15 displays a message saying "Please return the seat cushion 19A, the seat back 19B, and the steering wheel 30 to the reference positions."

[0053] After completing processing of step S13, the ECU 40 proceeds to step S14, and the regulation control unit 408 regulates the first control unit 402, the second control unit 403, and the third control unit 404 from controlling the first actuator 24, the second actuator 27, and the third actuator 32 so as to move the seat cushion 19A, the seat back 19B, and the steering wheel 30 in a direction away from their respective reference positions.

[0054] On the other hand, if the ECU 40 determines No in step S12, no text indicating a warning to the occupant P1 is displayed on the display 15. Furthermore, in this case, the restriction control unit 408 does not limit the control of the first control unit 402, the second control unit 403, and the third control unit 404. Therefore, the occupant P1 can move the seat cushion 19A, the seat back 19B, and the steering wheel 30 in directions away from their respective reference positions by operating the first switch 25, the second switch 28, and the third switch 33.

[0055] When the ECU 40 has completed the process of step S14, or when it has made a No determination in steps S10 and S12, the ECU 40 temporarily ends the process of the flowchart in FIG.

[0056] In the vehicle 10 of the present embodiment described above, when it is determined that the position condition is satisfied based on the positions and reference position of the seat cushion 19A, the seat back 19B, and the steering wheel 30 when the driving assistance control of level 3 or 4 is being executed, the display 15 issues a warning to the occupant P1 who is the driver. Therefore, the occupant P1 who has received the warning can recognize that the distance between the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 and the reference position is a size that satisfies the position condition. In other words, the occupant P1 can recognize that the first return time, which is the time required to move the seat cushion 19A, the seat back 19B, and the steering wheel 30 to their respective reference positions, is equal to or greater than the first threshold value. Therefore, there is a high possibility that the occupant P1 who has received the warning will subsequently use at least one of the first switch 25, the second switch 28, and the third switch 33 to move at least one of the seat cushion 19A, the seat back 19B, and the steering wheel 30 in a direction approaching the reference position. The reference position in this embodiment is the position of the seat cushion 19A, the seat back 19B, and the steering wheel 30 when the vehicle 10 switches from a non-assisted state to a driving assistance state in which driving assistance control is being executed. That is, the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 immediately before the driving assistance control is executed are the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30. The positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 immediately before the driving assistance control is executed are likely to be positions where the occupant P1 can easily perform manual driving. Therefore, when the occupant P1 who has received a warning moves the seat cushion 19A, the seat back 19B, and the steering wheel 30 to the reference position side, the occupant P1 is likely to be able to comfortably perform manual driving. Therefore, in the vehicle 10 of this embodiment, when the vehicle 10 switches from a driving assistance state to a non-assisted state, the occupant P1 can quickly return to a position where he or she can perform manual driving.

[0057] Furthermore, in this embodiment, when it is determined that the position condition is satisfied, the ECU 40 (the restriction control unit 408) restricts the seat cushion 19A, the seat back 19B, and the steering wheel 30 from moving in a direction away from their respective reference positions. Therefore, when the vehicle 10 switches from the driving assistance state to the non-assistance state, there is a high possibility that the occupant P1 can quickly return to a position in which he or she can perform manual driving, compared to a case in which the seat cushion 19A, the seat back 19B, and the steering wheel 30 can move in a direction away from their respective reference positions when it is determined that the position condition is satisfied.

[0058] The vehicle 10, the vehicle control method, and the program according to the embodiment have been described above. However, the vehicle 10, the vehicle control method, and the program can be modified in design as appropriate without departing from the gist of the present invention.

[0059] For example, the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 may be positions registered in advance in the ROM 40B or the storage 40D of the ECU 40. For example, the occupant P1 operates a button (image) displayed on the display 15 while the seat cushion 19A, the seat back 19B, and the steering wheel 30 are positioned to his / her preferred position, and the positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 are registered in advance in the ROM 40B or the storage 40D of the ECU 40 as the respective reference positions. After that, when the occupant P1 gets into the vehicle 10 and operates a specific button (image) displayed on the display 15, the seat cushion 19A, the seat back 19B, and the steering wheel 30 move to their respective reference positions under the control of the ECU 40. For example, assume that the vehicle 10, which is in a non-assisted state and in which the seat cushion 19A, the seat back 19B, and the steering wheel 30 are in their respective reference positions, is switched to a driving assistance state in which driving assistance control of level 3 or 4 is executed. In this case, the ECU 40 judges whether or not the position condition is satisfied based on the above-mentioned reference position. In this case, the reference positions of the seat cushion 19A, the seat back 19B, and the steering wheel 30 are likely to be positions where the occupant P1 can easily perform manual driving. Therefore, in this modified example, when the occupant P1 who receives the warning moves the seat cushion 19A, the seat back 19B, and the steering wheel 30 to the reference positions, the occupant P1 is likely to be able to perform manual driving comfortably. In this way, the vehicle 10 of this embodiment can quickly return to a position where the occupant P1 can perform manual driving when the driving assistance state is switched to the non-assistance state.

[0060] The movable members movable by the power of the actuator in the above embodiment are the seat cushion 19A, the seat back 19B, and the steering wheel 30. However, the movable members movable by the power of the actuator may be other members. For example, at least one of the brake pedal 35 movable in a direction intersecting the depression direction, the accelerator pedal 36 movable in a direction intersecting the depression direction, the side mirror 37 rotatable relative to the side door 11, and the rearview mirror 38 rotatable relative to the vehicle body 14 may be a movable member movable by the power of the actuator.

[0061] Also, the ECU 40 (determination unit 406) may calculate a second return time, which is a time required to move a specific movable member, which is one of the multiple movable members, to a reference position, based on the position and the reference position of the specific movable member. For example, the slidable seat cushion 19A can be used as the "specific movable member". The second return time is a time during which the specific movable member is moved by the driving force of the actuator. In this case, the sum of the second return time and the operation preparation time is the set return time. Furthermore, in this case, for example, when the ECU 40 (determination unit 406) determines that the second return time of the seat cushion 19A becomes equal to or greater than the second threshold while the vehicle 10 is executing driving assistance control of level 3 or 4, the ECU 40 determines that the position condition is satisfied. The second threshold is recorded in the ROM 40B or the storage 40D. When the set return time is 10 seconds, for example, the second threshold is 8 seconds. On the other hand, when the second return time calculated by the determination unit 406 is less than the second threshold, the determination unit 406 determines that the position condition is not satisfied.

[0062] The reference position of each movable member may be set as a value specific to the vehicle 10 when the vehicle 10 is manufactured.

[0063] There may be only one movable member.

[0064] A position sensor connected to the ECU 40 may be provided near each movable member, and the position of each movable member may be detected by each position sensor.

[0065] At least one of the movable members may be a manual movable member. In other words, at least one of the movable members may be a member that does not receive a driving force from an actuator. In this case, a position sensor connected to the ECU 40 may be provided near the manual movable member.

[0066] A mechanical stopper that restricts the movable member from moving in a direction away from the reference position when the position condition is satisfied may be provided in the vehicle 10 as the movement restriction device. For example, a stopper that is located at a position off the sliding path of the upper rail 22 when the position condition is not satisfied and moves onto the sliding path of the upper rail 22 when the position condition is satisfied may be provided in the driver's seat 16 as the movement restriction device.

[0067] The ECU 40 may estimate the physique of the occupant based on image data from a camera installed inside the vehicle that captures an image of the occupant seated in the driver's seat 16, and the ECU 40 may determine the reference position of each movable member based on this estimated physique.

[0068] When the position condition is met, a notification device other than the display 15 may issue a warning. For example, a speaker (not shown) provided in the vehicle 10 may be used as the notification device. In this case, when the position condition is met, the speaker issues a voice message urging the occupant to move each movable member toward the reference position. Also, at least one of the display and speaker of a mobile terminal (e.g., a smartphone) carried by the occupant may be used as the notification device.

[0069] The positions of the driver's seat 16 and the steering wheel 30 in the vehicle interior 14A in the vehicle width direction may be to the right or left of the center in the vehicle width direction. [Explanation of symbols]

[0070] 10 Vehicles 15 Display (alarm device) (operating device) 19A Seat cushion (movable part) 19B Seat back (movable part) 24 First Actuator 27 Second Actuator 30 Steering wheel (movable part) 32 Third Actuator 40A CPU (processor) 401 Driving assistance control unit (driving assistance system) 408 Restriction control unit (movement restriction device) P1 Occupant (driver)

Claims

1. At least two movable members whose positions can be changed by manual operation by an occupant; A driving assistance system capable of executing driving assistance control that is interrupted when an interruption condition is satisfied; A processor; Equipped with The processor, When it is determined that a predetermined position condition is satisfied based on the positions of the movable members and a reference position when the driving assistance control is being executed, a notification device is controlled to issue a warning to a driver; The processor, calculating a first return time, which is a total time required for moving each of the movable members to the respective reference positions, based on the positions of the movable members and the reference positions; The vehicle determines that the position condition is satisfied when it is determined that the first return time becomes equal to or longer than a first threshold value while the driving assist control is being executed.

2. A vehicle as described in claim 1, comprising a movement restriction device that restricts each of the movable members from moving in a direction away from its respective reference position when it is determined that the position condition is satisfied.

3. The movable member, 3. The vehicle according to claim 1 or claim 2, comprising at least one of a driver's seat cushion that is slidable relative to the vehicle body, a seat back that is rotatably connected to the driver's seat cushion, a steering wheel that is movable along its own rotational center axis, a brake pedal that is movable in a direction intersecting the direction of depression, an accelerator pedal that is movable in a direction intersecting the direction of depression, a side mirror that is movable relative to the vehicle body, and a rearview mirror that is movable relative to the vehicle body.

4. The reference position is The vehicle according to any one of claims 1 to 3, wherein the position of each movable member is when the vehicle switches from a non-assisted state in which the driving assistance control is not executed to a driving assistance state in which the driving assistance control is executed.

5. Each of the movable members is movable by a driving force of an actuator controlled by the processor; The reference position is The vehicle according to any one of claims 1 to 3, wherein each of the movable members is moved to a preregistered position by a driving force of the actuator when an operating device provided in the vehicle is operated by the occupant; A vehicle equipped with.

6. A processor comprising: a notification device that controls the notification device to issue a warning to a driver when it is determined that a predetermined position condition is satisfied based on positions and a reference position of each of the movable members while a vehicle having at least two movable members that are moved by a manual operation by an occupant is executing a driving assistance control that is interrupted when an interruption condition is satisfied, and calculating a first return time, which is a total time required for moving each of the movable members to the respective reference positions, based on the positions of the movable members and the reference positions; The vehicle control method determines that the position condition is satisfied when it is determined that the first return time becomes equal to or longer than a first threshold value during execution of the driving assistance control.

7. When a vehicle having at least two movable members that can be moved by manual operation by an occupant is executing driving assistance control that is interrupted when an interruption condition is satisfied, a processor is caused to execute a process of controlling an alarm device to issue a warning to the driver when it is determined that a predetermined position condition is satisfied based on the positions and reference position of each of the movable members, The processor, A process of calculating a first return time, which is a total time required for moving each of the movable members to the respective reference positions, based on the positions of the movable members and the reference positions; and a program that executes a process of determining that the position condition is satisfied when it is determined that the first return time becomes equal to or longer than a first threshold value during execution of the driving assistance control;

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