Vehicle Control System

Abstract

To provide a vehicle control system that enables occupants including a driver to intuitively cancel automatic stop control when malfunction occurs in the system.SOLUTION: A vehicle control system 100 comprises: an automatic stop control module VCM 73 that performs automatic stop control for automatically stopping a vehicle 1 urgently when an abnormality of a driver is determined; and a hazard control module CBCM 72 that makes a lamp 49 blink hazard light or turns off the light on the basis of operation of a hazard switch 36. The VCM 73 transmits to the CBCM 72 a signal for making the lamp 49 blink hazard light, during execution of the automatic stop control. The VCM 73, when the hazard switch 36 is operated during the execution of the automatic stop control, transmits to the CBCM 72 a signal for stopping the transmission of the signal for making the lamp 49 blink the hazard light, and stops the automatic stop control by the VCM 73.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control system that automatically brings a vehicle to an emergency stop when an abnormality occurs in the driver while the vehicle is running. [Background technology]

[0002] This type of technology is disclosed, for example, in Patent Documents 1 and 2. Patent Document 1 discloses technology that, when executing an automatic stop, displays information about the status of the automatic stop activation decision and the status of the cancellation decision, thereby reducing driver confusion that may arise in relation to the timing of starting or canceling the automatic stop. Patent Document 1 also discloses displaying the operations required to activate or cancel the automatic stop. Patent Document 2 discloses that a switch for starting and canceling automatic stopping is displayed on a touch panel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-79717 [Patent Document 2] Japanese Patent Application Publication No. 2019-43365 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when a driver's inability to drive (for example, a driver abnormality such as a driver illness) is detected and automatic stopping control is performed, it is desirable to have a system that allows the automatic stopping control to be intuitively canceled (stopped) at the will of the occupants, including the driver, without performing redundant operations, for example, when the driver is in a normal driving state.

[0005] The present invention has been made to solve the above-mentioned problems, and aims to provide a vehicle control system that allows occupants, including the driver, to intuitively cancel automatic stopping control when the system malfunctions. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a vehicle control system comprising: a driver monitoring device that monitors the driver's condition; a hazard switch that is provided in front of the driver's seat inside the vehicle cabin and that allows the driver or a passenger to turn the vehicle's lights on or off with hazard flashes; an automatic stopping control module that performs automatic stopping control to automatically bring the vehicle to an emergency stop when an abnormality in the driver is determined based on the driver's condition monitored by the driver monitoring device; and a hazard control module that controls the lights to turn on or off with hazard flashes based on the operation of the hazard switch. an alarm device that visually and / or audibly notifies occupants including the driver of predetermined information; the automatic stop control module transmits a signal to the hazard control module to make the lamps flash in hazard mode while the automatic stop control is being executed, and when the hazard switch is operated while the automatic stop control is being executed, the automatic stop control module transmits a signal to the hazard control module to stop transmitting the signal to make the lamps flash in hazard mode, and also stops the automatic stop control by the automatic stop control module. The alarm device has a center display arranged in the center of the front of the vehicle compartment, and while an abnormality in the driver is determined and automatic vehicle stop control is being executed, the alarm device displays a graphic representing a vehicle with flashing hazard lights on the center display and / or outputs a hazard sound at a volume loud enough for the occupants including the driver to hear. It is characterized by the fact that

[0007] In the present invention configured as described above, if an occupant, including the driver, operates the hazard switch while the automatic stop control is being executed, the automatic stop control of the vehicle is stopped. At this time, the hazard switch is functionally arranged in a conspicuous position that is easy for occupants, including the driver, to operate, and since the vehicle's lights are flashing hazard lights during the automatic stop control, occupants, including the driver, can intuitively cancel the automatic stop control in the event of a system malfunction (for example, when the driver is in a normal state). That is, in the present invention, the hazard switch is used as a cancel switch for the automatic stop control. Furthermore, since it is assumed that the driver will first try to operate the hazard switch if the hazard lights are flashing during normal driving behavior, the automatic stop control can be intuitively canceled. Furthermore, if the alarm device is configured to display a graphic indicating a vehicle with its hazard lights flashing on the center display and / or output a hazard sound at a volume loud enough for the occupants, including the driver, to recognize while the driver's abnormality is being determined and automatic stopping control is being executed, the occupants, including the driver, can intuitively recognize that the lights are flashing due to the automatic stopping control, and can thereby intuitively recognize that operating the hazard switch will cancel the automatic stopping control.

[0008] In the present invention, the notification device preferably displays information about the automatic vehicle stop control on the center display, as well as a graphic and / or text indicating that the operation to cancel the automatic vehicle stop control is the operation of the hazard switch. According to the present invention configured as described above, the center display displays information that the operation to cancel the automatic stop control is the operation of the hazard switch, so that the occupants, including the driver, can intuitively cancel the automatic stop control more effectively. Furthermore, when the system malfunctions, a normal driver can cancel the automatic stop control, while when the system is operating normally (for example, when the driver is in an abnormal state), it is possible to prevent passengers from mistakenly performing a cancel operation.

[0009] In the present invention, the vehicle control system according to claim 2 is preferably such that the hazard switch is a momentary switch disposed below the center display. According to the present invention configured in this manner, the occupants, including the driver, can intuitively cancel the automatic stop control more effectively.

[0010] Also, in the present invention, preferably, the hazard switch is arranged below the center display, and the alarm device has a meter display arranged in front of the driver inside the vehicle cabin, and the alarm device first displays information regarding the automatic stop control on the meter display, second displays a vehicle graphic and / or text indicating the vehicle's operation as information regarding the automatic stop control on the center display, and also displays a graphic and / or text indicating that the operation to cancel the automatic stop control is the operation of the hazard switch, and third displays a reddish graphic to highlight the display on the center display, while displaying information regarding the automatic stop control on the meter display in black and white. According to the present invention configured as described above, by displaying information related to the automatic stop control on the meter display in black and white, the driver can recognize that the automatic stop control is being executed when the driver is normal. Meanwhile, by displaying a reddish graphic to highlight the display on the center display (for example, a reddish frame graphic that surrounds the entire display on the center display or a graphic that surrounds a graphic representing the vehicle), it becomes easier to guide the driver's gaze from the meter display to the center display. Furthermore, since the hazard switch is located below the center display to which the driver's gaze is directed, the driver can operate the hazard switch more intuitively and quickly in the event of a system malfunction.

[0011] In the present invention, preferably, when it is determined that there is something wrong with the driver, the notification device displays a graphic showing the driver in a posture that is not possible during normal driving. According to the present invention configured as described above, the occupants including the driver can intuitively recognize that the automatic vehicle stop control is being executed due to an abnormality in the driver. [Effects of the Invention]

[0013] According to the vehicle control system of the present invention, when the system malfunctions, the occupants, including the driver, can intuitively cancel the automatic stop control. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing an interior space of a vehicle to which a vehicle control system according to an embodiment of the present invention is applied; [Figure 2] 1 is a block diagram showing a schematic configuration of a vehicle control system according to an embodiment of the present invention. [Figure 3] 3 is a block diagram showing the configuration of the vehicle control system shown in FIG. 2 in more detail, and is a diagram showing the configuration of a part of a CAN provided in the vehicle. FIG. [Figure 4] 4 is a flowchart showing an automatic stop control executed by the vehicle control system according to the embodiment of the present invention. [Figure 5] 10 is a diagram showing an example of a display on a meter display when an abnormality occurs in a driver in this embodiment. [Figure 6] 10 is a diagram showing an example of a display on the center display when an abnormality occurs in the driver in this embodiment. [Figure 7] 10 is a display example that is displayed when the automatic vehicle stop control in this embodiment is canceled. [Figure 8] 10 is a display example of the center display when decelerating and traveling under automatic stopping control in this embodiment. [Figure 9] 10 is a diagram showing an example of a display on the center display when changing lanes under automatic vehicle stop control in this embodiment. [Figure 10] 10 is a display example of the center display when the vehicle is stopped under automatic stop control in this embodiment. [Figure 11] 10 is a diagram showing an example of a display on the center display when the vehicle moves to the shoulder of the road during automatic stopping control in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, a vehicle control system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0016] First, the configuration of a vehicle control system according to an embodiment of the present invention will be described with reference to Figures 1 to 3. Figure 1 is a schematic diagram showing the interior space of a vehicle to which a vehicle control system according to an embodiment of the present invention is applied, Figure 2 is a block diagram showing a schematic configuration of the vehicle control system according to an embodiment of the present invention, and Figure 3 is a block diagram showing in more detail the configuration of a portion of the vehicle control system shown in Figure 2, and is a diagram showing the configuration of a portion of a CAN (Controller Area Network) provided in the vehicle.

[0017] 1, the interior of the vehicle is provided with an instrument panel 40 incorporating a center display 41 and a meter display (meter device) 42, and a center console 32. The center display 41 is provided in front of the driver's seat and passenger seat and at approximately the center in the vehicle width direction, and is made up of a liquid crystal display (LCD).

[0018] The meter display 42 is provided in front of the steering wheel 60 and displays the speed, engine RPM, gear range, and predetermined warning messages. The center console 32 is provided with a range operating device 33 for switching the range of the automatic transmission, and a center console operating device 34 that is operated to select various options displayed on the center display 41. For example, the center console operating device 34 is configured with a dial-type rotary switch. In addition, an image is projected onto an image display area 43a on the windshield 50 by a head-up display device (not shown).

[0019] 1, a hazard switch 36 is provided below the center display 41 for the driver or passenger to turn on or off hazard flashing of lights (turn lamps) 49 (see FIG. 2) of the vehicle 1 (see FIG. 2). More specifically, the hazard switch 36 is a switch for switching on and off hazard warning signal flashers.

[0020] The hazard switch 36 is located in front of the driver's seat and approximately in the center of the vehicle width direction within the vehicle cabin so that the driver and passengers can easily and quickly press it in an emergency. In this embodiment, the hazard switch 36 is configured as a momentary physical switch, and a light source within the switch is configured to flash the hazard mark on the hazard switch 36 in synchronization with the lighting devices 49 of the vehicle 1. This embodiment can also be applied to vehicle models that display the hazard switch on a large display.

[0021] 2, the vehicle control system 100 has a controller 10 including an ECU (Electronic Control Unit) and the like, a plurality of input devices on the input side of the controller 10, and a plurality of devices to be controlled on the output side of the controller 10, and a hazard switch 36. The controller 10 is configured by a computer including a processing unit (circuit) that is one or more processors (typically a CPU), memory (ROM, RAM, etc.) that stores various programs, and input / output devices. The vehicle control system 100 is configured to perform automatic vehicle stop control to automatically bring the vehicle 1 to an emergency stop when an abnormality in the driver is detected while the vehicle 1 is traveling.

[0022] Here, the above-mentioned multiple input devices include an in-vehicle camera 20, an outside-vehicle camera 21, a radar 22, a vehicle speed sensor 23, an acceleration sensor 24, a yaw rate sensor 25, a steering angle sensor 26, an accelerator position sensor 27, a brake sensor 28, a positioning system 30 for detecting the position of the vehicle 1, a navigation system 31, a center console operating device 34, an automatic stop switch 35, and a hazard switch 36.

[0023] Meanwhile, the devices controlled by the controller 10 include a center display 41, a meter display 42, a HUD 43, an audio output device 44, an engine control device 46, a brake control device 47, and a steering control device 48. In this embodiment, the controller 10 also controls the flashing or extinguishing of a hazard switch (hazard mark) 36.

[0024] In-vehicle camera 20 captures images of the interior of the vehicle, particularly of the driver, and outputs image data. Controller 10 analyzes the driver's posture and other factors based on the image data received from in-vehicle camera 20 to determine whether the driver is abnormal. For example, controller 10 determines that the driver is abnormal if the analyzed driver's posture is one that the driver would not normally assume when driving vehicle 1. In-vehicle camera 20 corresponds to an example of a "driver monitoring device" in the present invention.

[0025] The exterior camera 21 captures images of the surroundings of the vehicle 1 and outputs image data. Based on the image data received from the exterior camera 21, the controller 10 identifies objects (for example, a leading vehicle (a vehicle ahead), a following vehicle (a vehicle behind), a parked vehicle, a pedestrian, a road, dividing lines (lane boundaries, white lines, yellow lines), traffic signals, traffic signs, stop lines, intersections, obstacles, etc.). The controller 10 may obtain information about objects from an external source, such as through traffic infrastructure or vehicle-to-vehicle communication. This allows the type, relative position, moving direction, etc. of the object to be identified.

[0026] The radar 22 measures the position and speed of an object (particularly, a preceding vehicle, a following vehicle, a parked vehicle, a pedestrian, an object fallen on the road, etc.). For example, a millimeter wave radar can be used as the radar 22. The radar 22 transmits radio waves in the traveling direction of the vehicle 1 and receives reflected waves generated when the transmitted waves are reflected by the object. Then, based on the transmitted waves and the received waves, the radar 22 measures the distance between the vehicle 1 and the object (for example, the inter-vehicle distance) and the relative speed of the object with respect to the vehicle 1. Note that instead of such a radar 22, a laser radar, an ultrasonic sensor, etc. may be used to measure the distance to the object and the relative speed. Furthermore, a position and speed measuring device may be configured using a plurality of sensors.

[0027] Here, the controller 10 performs automatic driving control of the vehicle 1, specifically automatic stopping control to automatically stop the vehicle 1 in an emergency, based on the driving path information and obstacle information acquired by the above-mentioned outside camera 21 and radar 22. The road information includes, for example, information regarding the shape of the road (straight, curved, curve curvature), road width, number of lanes, lane width, road regulation information (speed limit, etc.) specified by signs, intersections, crosswalks, etc. The obstacle information also includes information regarding the presence or absence of obstacles on the path of vehicle 1 (for example, objects that may hinder the travel of vehicle 1, such as preceding vehicles, following vehicles, parked vehicles, pedestrians, etc.), the direction of movement of the obstacles, the speed of movement of the obstacles, etc.

[0028] The vehicle speed sensor 23 detects the absolute speed of the vehicle 1, and the acceleration sensor 24 detects the acceleration of the vehicle 1. This acceleration includes acceleration in the longitudinal direction and acceleration in the lateral direction (i.e., lateral acceleration). Note that the acceleration includes not only the rate of change of speed in the direction in which the speed increases, but also the rate of change of speed in the direction in which the speed decreases (i.e., deceleration). The yaw rate sensor 25 detects the yaw rate of the vehicle 1. The steering angle sensor 26 detects the rotation angle (steering angle) of the steering of the vehicle 1.

[0029] The controller 10 acquires the yaw angle of the vehicle 1 by performing a predetermined calculation based on the absolute speed detected by the vehicle speed sensor 23 and the steering angle detected by the steering angle sensor 26. The accelerator position sensor 27 detects the amount of depression of the accelerator pedal by the driver (accelerator opening degree). The brake sensor 28 detects the operation of the brake pedal by the driver, specifically, the amount of depression of the pedal.

[0030] The positioning system 30 is a GPS system and / or a gyro system, and detects the position of the vehicle 1 (current vehicle position information). The navigation system 31 stores map information internally and provides the map information to the controller 10. The controller 10 identifies roads, intersections, traffic signals, buildings, etc. that exist around the vehicle 1 (particularly in the direction of travel) based on the map information and the current vehicle position information. The map information may be stored in the controller 10. The navigation system 31 also acquires the above-mentioned driving route information.

[0031] The center console operation device 34 is operated to select various options displayed on the center display 41, etc. The automatic stop switch 35 is a switch that is operated to automatically stop the vehicle 1. The automatic stop switch 35 is provided in a location inside the vehicle cabin where the driver can operate it when he or she senses something is wrong with the vehicle.

[0032] The hazard switch 36 is operated to flash or turn off the vehicle's lighting devices (turn lamps) 49. In this embodiment, the hazard switch 36 is a momentary physical switch, so that each time the switch is pressed down, the hazard lights are switched on or off. Furthermore, as will be described later, the hazard switch 36 is configured to send a signal to the controller 10 to stop (cancel) the automatic vehicle stop control when the hazard switch 36 is pressed down while the automatic vehicle stop control is being executed. Furthermore, the hazard switch 36 as the controlled object receives a command from the controller 10, and while the automatic vehicle stopping control described later is being executed, the hazard mark flashes using its built-in light source, and when the automatic vehicle stopping device is canceled, the hazard mark stops flashing and goes out.

[0033] The center display 41, the meter display 42, and the HUD 43 are as described in Fig. 1. The audio output device 44 is configured by a speaker that outputs audio into the vehicle cabin. Here, the center display 41, the meter display 42, the HUD 43, and the audio output device 44 correspond to the "alert device" in the present invention.

[0034] The engine control device 46 controls the engine of the vehicle 1. The engine control device 46 is a component that can adjust the engine output (driving force), and includes, for example, spark plugs, fuel injection valves, a throttle valve, and a variable valve mechanism that changes the opening and closing timing of intake and exhaust valves. When it is necessary to accelerate or decelerate the vehicle 1, the controller 10 sends a control signal to the engine control device 46 to change the engine output.

[0035] The brake control device 47 controls the brake device of the vehicle 1. The brake control device 47 is a component that can adjust the braking force of the brake device, and includes, for example, a hydraulic pump, a valve unit, etc. When it is necessary to decelerate the vehicle 1, the controller 10 sends a control signal to the brake control device 47 to generate braking force.

[0036] The steering control device 48 controls the steering device of the vehicle 1. The steering control device 48 is a component that can adjust the steering angle of the vehicle 1, and includes, for example, an electric motor of an electric power steering device. When it is necessary to change the traveling direction of the vehicle 1, the controller 10 transmits a control signal to the steering control device 48 to change the steering direction.

[0037] The lighting devices 49 are a plurality of turn lamps arranged at the front, near the doors, and at the rear of the vehicle 1, and when the driver operates the blinker lever (not shown), either the left or right turn lamp flashes. When the driver or any of the passengers operates the hazard switch 36, the turn lamps on both the left and right sides flash simultaneously at a predetermined interval, a "hazard flashing" effect.

[0038] Next, referring to FIG. 3, a detailed description will be given of the configuration of a part of the CAN provided in the vehicle as part of the configuration of the above-mentioned vehicle control system. The vehicle control system 100 installed in the vehicle controls the entire vehicle by sending signals (CAN signals) to the CAN (Controller Area Network) 200, which is an in-vehicle network. Below, we will explain the functions of each module in the CAN and the flow of CAN signals when automatic stopping control (including control of the hazard switch 36) is being performed by the vehicle control system 100 described below.

[0039] In FIG. 3 , reference numeral 36 denotes the momentary hazard switch described above, reference numeral 71 denotes an Install Panel ESU (IP-ESU), reference numeral 72 denotes a Center Body Control Module (CBCM), reference numeral 73 denotes a Vehicle Control Module (VCM), reference numeral 74 denotes a Light Control Module (LCM), reference numeral 75 denotes a Door ESU, and reference numeral 76 denotes a Rear ESU. Here, "ESU" stands for power supply / electrical signal supply unit. For example, an instrument panel ESU 71 sends signals to the hazard switch 36, VCM 73, LCM 74, etc., and also supplies power to turn on (blink) the lighting devices 49 connected to the LCM 74, etc. Each of the "modules" 71 to 76 is composed of a circuit that is a processing device, an input / output device, and the like.

[0040] Next, these devices and modules will be described. 3 has a momentary structure, and detects the operation of a passenger, including the driver, by its switch mechanism and generates an ON / OFF state of the switch circuit. The hazard switch 36 has a role of transmitting a signal indicating this ON / OFF state as an activation / deactivation request for the lighting device 49 to each module / device of the vehicle via the CAN.

[0041] The vehicle control system of this embodiment uses this hazard switch 36 to transmit a request to stop control by an EDA system (Emergency Driving Assist) ("vehicle control system that automatically stops the vehicle in an emergency") including an emergency driving assistance system and an emergency stop assistance system to each module of the vehicle. The EDA system, the emergency driving assistance system, and the emergency stop assistance system are vehicle control systems for executing the automatic stop control of this embodiment. In this embodiment, particularly, when the hazard switch 36 is operated while the automatic vehicle stop control is being executed, an ON signal indicating the operation is transmitted to the instrument panel ECU 71 as a CAN signal.

[0042] Next, the instrument panel ECU (IP-ESU) 71 monitors the ON / OFF state of the hazard switch 36 and transmits the result to each vehicle module, the lighting device 49, etc. via a CAN signal. The CAN signal also transmits two states of the hazard switch 36, that is, a pressed state and a released state, to the CAN. In this embodiment, when the IP-ESU 71 receives a CAN signal indicating that the hazard switch 36 is ON, it transmits the CAN signal to the CBCM 72.

[0043] Next, the center body control module (CBCM) 72 is an integrated control unit of the hazard lamp system, and its role is to determine the state of the hazard switch 36 using the CAN signal provided by the IP-ESU 71, determine whether to activate or deactivate the hazard lamp system depending on the vehicle state at that time, and send predetermined instructions to each module of the vehicle. The result of determining the state of the hazard switch 36 is also transmitted to each module of the vehicle via the CAN signal.

[0044] Next, the vehicle control module (VCM) 73 is a control module that controls the advanced safety system, including the driver abnormality response system. In this embodiment, the VCM 73 receives a hazard switch signal and determines whether to stop the automatic stop control. The determination to stop the automatic stop control is made when it receives a signal that the hazard switch 36 has been pressed down by an occupant while the automatic stop control is being executed by the EDA system described above. In this embodiment, the VCM 73 determines whether to stop the automatic stop control when it receives a CAN signal indicating that the hazard switch 36 is ON. Furthermore, when the hazard switch 36 is not operated and automatic vehicle stop control is being executed, the VCM 73 transmits a "hazard request" (a request to cause the lighting devices 49 to flash in a hazard mode) to the CBCM 72.

[0045] Next, the LCM 74, door ESU 75, and rear ESU 76 are primarily responsible for driving the lamps 49 ("turn lamps" near the side doors and rear of the vehicle) connected to each unit to turn them on or off in accordance with hazard lamp system activation / deactivation commands from the CBCM 72. The lamps 49 (Figure 2) are supplied with power directly by the LCM 74, and their flashing timing is also controlled. The results of the lamp activation / deactivation are transmitted to each vehicle module via a CAN signal.

[0046] Next, the transmission and reception state of the CAN signal in the CAN shown in FIG. 3 when the hazard switch 36 is operated will be described. First, when the hazard switch 36 is pressed down, the hazard switch signal is transmitted to the IP-ESU 71. The IP-ESU 71 receives the signal and transmits to the CBCM 72 a signal (CAN signal (1)) indicating that the hazard switch 36 is in an operated state. The CBCM 72 transmits to the VCM 73 a signal (CAN signal (2)) indicating that the hazard switch 36 is in an operated state.

[0047] The VCM 73 determines whether to cancel (stop) the automatic stop control. Specifically, when the VCM 73 receives the CAN signal (2), it makes a determination to stop (cancel) the automatic stop control. When the determination to stop the automatic stop control is made in this manner, the VCM 73 transmits a CAN signal (not shown in FIG. 3) that stops the automatic stop control to each device of the vehicle (such as the center display 41 and the engine control device 46) via the CAN. The VCM 73 also transmits a signal (CAN signal (3)) that cancels the hazard request to the CBCM 72. Upon receiving this CAN signal (3), the CBCM 72 transmits a signal (CAN signal (4)) to the LCM 74, door ESU 75, and rear ESU 76 that control the lighting devices 49, instructing them to turn off the hazard flashing of the lighting devices 49.

[0048] Next, the automatic stop control executed by the vehicle control system 100 according to the embodiment of the present invention will be specifically described with reference to Figures 4 to 11. Figure 4 is a flowchart showing the automatic stop control executed by the vehicle control system according to the embodiment of the present invention, Figure 5 is an example of a meter display that is displayed when an abnormality occurs in the driver in this embodiment, Figures 6 and 8 to 11 are each an example of a display on the center display at various stages during the automatic stop control according to the embodiment of the present invention, and Figure 7 is an example of a display when the automatic stop control in this embodiment is canceled.

[0049] The processing (S1 to S26) according to the flowchart shown in Fig. 4 is repeatedly executed at predetermined intervals by the controller 10. In Fig. 4, "S" indicates each step. First, as shown in FIG. 4, in S10, various pieces of information are acquired from the multiple input devices shown in FIG. Next, in S11, it is determined whether or not an abnormality has occurred in the driver, that is, whether or not the driver is in a state where it is difficult for the driver to drive the vehicle 1. For example, the driver's posture (such as the posture of the driver's head) is analyzed from an image of the driver taken by the in-vehicle camera 20, and it is determined whether or not the driver is abnormal. That is, in S11, if the analyzed posture of the driver is a posture that the driver cannot take when normally driving the vehicle 1, it is determined that the driver is abnormal.

[0050] As a variation of the judgment by S11, if the steering angle detected by the steering angle sensor 26 changes in a way that would not be possible under normal driving, it is judged that the driver is abnormal (in this example, the steering angle sensor 26 corresponds to the "driver monitoring device" in the present invention). In a further modification, whether the driver is abnormal is determined based on the characteristics of human saliency. That is, when a predetermined visual stimulus is presented in front of the driver, the controller 10 determines that the driver is abnormal if the driver's line of sight is not appropriately directed toward the visual stimulus. If the result of the determination in S11 is that no abnormality has occurred in the driver (No in S11), the process returns to RETURN, and the repeated processing of the flowchart shown in FIG. 4 ends.

[0051] On the other hand, if an abnormality has occurred in the driver (Yes in S11), the process proceeds to S12, where the automatic vehicle stop control of this embodiment is started. In this embodiment, the automatic vehicle stop control is executed by the controller 10 and the above-described vehicle control module (VCM) 73. When the automatic stop control is started, first, the controller 10, particularly the VCM 73 (FIG. 3), transmits a hazard request to the CBCM 72. That is, the VCM 73 transmits a CAN signal instructing the lighting devices 49 to flash with hazard lights to the LCM 74, the door ESUs 75, and the rear ESUs 76 via the CBCM 72, thereby flashing the lighting devices 49 with hazard lights. This hazard flashing notifies those around the vehicle 1 that "the automatic stop control mode is being implemented for the vehicle 1, and the vehicle 1 will behave in accordance with the automatic stop control mode." Furthermore, when the automatic vehicle stop control mode is initiated, an ADAS (Advanced driver-assistance systems) warning sound is output several times from the audio output device 44, and displays such as those shown in FIGS. 5 and 6 are provided.

[0052] Furthermore, in S12, a pseudo hazard sound is output from the audio output device 44 at a volume loud enough for the occupants, including the driver, to be able to clearly hear that the automatic vehicle stop control is being executed, thereby enabling the hazard switch 36 to be pressed down as a cancellation operation more quickly. This pseudo hazard sound (such as the blinking sound of a turn signal or the sound of a vehicle warning horn output at predetermined intervals) is output continuously until the automatic vehicle stop control is stopped.

[0053] Fig. 5 is an example of the display on the meter display 42 that is displayed when a driver abnormality occurs and is notified by the processing of S12. As shown in Fig. 5, the meter display 42 displays a black display area A in the center of the normal displays such as the speedometer and fuel system, and also displays highlighted black graphic characters such as "Driver abnormality detected" and "Emergency stop made."

[0054] FIG. 6 shows an example of a display on the center display 41 when an abnormality occurs in the driver, which is notified by the process of S12. 6, in a left area (first area) A1 of the center display 41, graphic characters G1 saying "Driver abnormality detected," graphic characters G2 saying "Emergency stop will be performed shortly," and a "bar display" graphic G3 indicating the time elapsed until each control of the vehicle is actually performed by the automatic stopping control are displayed. Further below that, a graphic G4 showing the driver in an ill state leaning forward and leaning on the steering wheel is displayed as a graphic (figure) of the driver in a posture that is not possible during normal driving.

[0055] In addition, in the area (second area) A2 on the right side of the center display 41, graphic characters G5 saying "Press hazard switch to cancel" are displayed, along with a graphic G6 showing the hazard switch being pressed. Furthermore, a partial area (the oval area shown in FIG. 6) G7 in the background of this graphic G6 is displayed in a flashing red color different from the surrounding area, thereby guiding the driver's gaze. Note that the hazard switch design (graphic) displayed in area A2 may also be displayed in a flashing manner, such as the hazard switch itself or a hazard mark. Furthermore, a red frame graphic G8 is displayed on the center display 41, surrounding the entire display in the center display 41, thereby guiding the driver's gaze.

[0056] Next, the process proceeds to S13, where it is determined whether or not the hazard switch 36 has been pressed down. If the hazard switch 36 has been pressed down (Yes in S13), the process proceeds to S14, where the automatic vehicle stop control is canceled (the control is stopped).

[0057] Here, the process of canceling the automatic vehicle stop control by the hazard switch 36 in S13 and S14 will be described in detail with reference to FIG. First, when an occupant including the driver presses down the hazard switch 36 (Yes in S13), in S14, a "hazard switch signal" is transmitted to the IP-ESU 71 via the CAN as shown in Fig. 3. In S14, the IP-ESU 71 further transmits a signal (CAN signal (1)) indicating that the hazard switch 36 has been operated to the CBCM 72 via the CAN based on the transmitted hazard switch signal.

[0058] Furthermore, in S14, the CBCM 72 transmits a signal (CAN signal (2)) indicating that the hazard switch 36 is operated to the VCM 73. Based on the CAN signal (2), the VCM 73 determines to stop (cancel) the automatic stop control and generates a CAN signal to stop the automatic stop control. The VCM 73 transmits this CAN signal via the CAN to each device of the vehicle (such as the center display 41 and the engine control device 46). Through this processing, the automatic stop control is stopped in S14.

[0059] Furthermore, in S14, the VCM 73 transmits a signal (CAN signal (3)) to the CBCM 72 to withdraw the hazard request, and the CBCM 72, upon receiving this CAN signal (3), transmits a signal (CAN signal (4)) to the LCM 74, door ESU 75, and rear ESU 76, which control the lighting device 49, indicating an instruction to turn off the hazard flashing of the lighting device 4, thereby turning off the lighting device 49 that was flashing the hazard flashing.

[0060] Furthermore, in S14, as the automatic stop control is stopped, a display indicating that the automatic stop control has been canceled is displayed as shown in Fig. 7. Fig. 7(A) shows an example of a display on the center display 41, Fig. 7(B) shows an example of a display showing only the speedometer portion of the meter display 42, and Fig. 7(C) shows an HUD image 43a. In particular, as shown in Fig. 7(A), the center display 41 notifies the driver for a certain period of time that the automatic stop control has been canceled. Meanwhile, as shown in Figs. 7(B) and 7(C), necessary information such as the speedometer is displayed normally to prompt the driver to resume normal driving.

[0061] Next, we return to the description of the flowchart in FIG. If it is determined in S13 that the hazard switch 36 has not been pressed (No in S13), the process proceeds to S15, where it is determined whether or not a predetermined time (several seconds) has elapsed since the driver's abnormality was determined. If the predetermined time has elapsed (Yes in S15), the process proceeds to S16. On the other hand, if the predetermined time has not elapsed (No in S15), the process returns to S12. In this case, the controller 10 repeats the steps of S12 to S15 until the predetermined time has elapsed (S15) or until the hazard switch 36 is operated (S13).

[0062] Next, in S16, a display such as that shown in FIG. 8 is provided. FIG. 8 is an example of a display on the center display 41 when decelerating under automatic stopping control, which is notified by the processing of S16. As shown in FIG. 8, in the left area A1 of the center display 41, graphic characters G10 stating "Driver abnormality response system in operation" and graphic characters G11 stating "Decelerating to 50 km / h" are displayed. Further below them, a graphic (graphic) G13 of a vehicle traveling in the lane is displayed together with a graphic G12 of the road surface and lane. In this embodiment, the turn lamps of the vehicle graphic G13 are displayed blinking to flash hazard lights. In addition, a graphic G14 is displayed around the vehicle graphic G13, surrounding the vehicle G13 in a circle and rotating around the vehicle G13 to emphasize that the driver's line of sight is directed toward the vehicle G13.

[0063] Furthermore, in the area A2 on the right side of the center display 41, graphic characters G5 saying "Press hazard switch to cancel" are displayed, as in the above-mentioned FIG. 6, along with a graphic G6 showing the hazard switch being pressed. The flashing of a partial area G7 in the background of the above-mentioned graphic G6 may be stopped or may be allowed to continue. Furthermore, a red frame graphic G8 is displayed on the center display 41, as in FIG. 6, surrounding the entire display within the center display 41.

[0064] Furthermore, in S16, voice messages such as "The vehicle will automatically stop in a safe place within three minutes" and "Decelerating to 50 km / h" are output from the voice output device 44. Although explanations are omitted, similar voice messages according to the behavior of the vehicle are also output in each of the following steps.

[0065] In addition, in S16, automatic stopping control is started to control the vehicle 1. As described above, automatic stopping control is a control for automatically stopping the vehicle 1 in a safe place within a predetermined time limit (for example, 3 minutes). The automatic stop control of the vehicle 1 executed in the process of S16 gradually decelerates the vehicle 1 at a predetermined deceleration, and in this embodiment, the vehicle is decelerated to about 50 km / h at the predetermined deceleration, and then further decelerated to about 10 km / h. Specifically, the brake device of the vehicle 1 is controlled via the brake control device 47 to decelerate the vehicle 1 to about 10 km / h. Furthermore, while the automatic stopping control of vehicle 1 is being executed, the hazard lights of vehicle 1's lighting devices 49 are flashed, and the vehicle's horn is sounded and the brake lights are flashed to notify the outside of the vehicle that automatic stopping control is being executed.

[0066] Next, after the processing of S16, the process proceeds to S17, where it is determined whether or not the hazard switch 36 has been pressed, as in S13. If the hazard switch 36 has been pressed (Yes in S17), the process proceeds to S14, where the automatic vehicle stop control is canceled (the control is stopped). The process of canceling the automatic vehicle stop control by the hazard switch 36 in S17 and S14 is as described above.

[0067] Next, in S17, if it is determined that the hazard switch 36 has not been depressed (No in S17), the process proceeds to S18. In S18, when the vehicle speed is below a predetermined speed (for example, 10 km / h or less), it is determined whether or not a lane change is necessary to stop the vehicle 1 on a shoulder. That is, for example, if the lane in which the vehicle 1 is currently traveling does not have a shoulder, it is determined that the vehicle 1 needs to move to a lane that has a shoulder. Also, for example, if the vehicle 1 is traveling on a road with one lane in each direction, it is determined that the vehicle's own lane is connected to the shoulder, so it is not necessary to change lanes. On the other hand, if the vehicle 1 is traveling in a lane other than the leftmost lane on a road with two or more lanes in each direction, it is determined that the vehicle's own lane is not connected to the shoulder, so it is necessary to change lanes. The controller 10 makes such determinations based on traveling road information acquired by the exterior camera 21 and the navigation system 31.

[0068] If it is determined in S18 that a lane change is necessary (Yes in S18), the process proceeds to S19 to attempt a lane change. On the other hand, if there is no need to change lanes (No in S18), the process proceeds to S22 without executing the processes in S19 and S20. The process from S22 onwards will be described later.

[0069] Next, if it is determined in S18 that a lane change is necessary, the process proceeds to S19, where it is determined whether or not a lane change is possible. Specifically, the controller 10 calculates the time to collision (TTC) between the host vehicle 1 and a nearby vehicle traveling in the left lane of the destination based on obstacle information acquired by the exterior camera 21 and / or radar 22, and if this time to collision is equal to or greater than a predetermined value, it determines that a lane change is possible. However, if the location where the host vehicle 1 is traveling is a location where lane changes are prohibited, it determines that a lane change is impossible. If it is determined in S19 that a lane change is possible (Yes in S19), the process proceeds to S20.

[0070] In S20, a display such as that shown in Fig. 9 is provided, and lane change control into the lane of the vehicle 1 is executed by automatic stop control. Fig. 9 shows an example of a display on the center display 41 when changing lanes under automatic stop control, which is notified by the processing of S20. 9, the graphic character G10 continues to be displayed in the left area A1 of the center display 41, and the graphic character G21 "Changing lanes" is also displayed. Further below that, a graphic (figure) G23 of a vehicle changing lanes is displayed together with a graphic G22 of the road surface and lanes. In addition, in S20, an arrow graphic G25 indicating the direction of the intended lane change is displayed, and one of the turn lamps of the vehicle graphic G23 is flashed, thereby enabling the driver and other occupants to recognize the direction of the lane change (in the example of FIG. 9, a lane change to the left). Furthermore, a graphic G24 that surrounds the vehicle in a circle and rotates around the vehicle G23 is displayed around the vehicle graphic G23, as in FIG. 8.

[0071] Furthermore, in the area A2 on the right side of the center display 41, similar to the above-mentioned FIG. 6, graphic characters G5 saying "Press hazard switch to cancel" are displayed, along with a graphic G6 showing the hazard switch being pressed. The flashing of a partial area G7 in the background of the above-mentioned graphic G6 may be stopped, or the flashing display may be continued. Furthermore, a red frame graphic G8 continues to be displayed on the center display 41, surrounding the entire display within the center display 41.

[0072] Next, in the automatic stopping control for lane change of vehicle 1 executed in the processing of S20, the controller 10 performs steering control of vehicle 1 via the steering control device 48, causing vehicle 1 to change lanes by changing the direction of travel of vehicle 1.

[0073] Here, if it is determined in S19 that a lane change is not possible (No in S19), the process proceeds to S21, where the vehicle is stopped within the lane. In S21, a display such as that shown in Fig. 10 is provided, and the vehicle 1 is stopped within the lane by automatic stopping control. Fig. 10 shows an example of a display on the center display when the vehicle is stopped by automatic stopping control, which is notified by the processing of S21. As shown in Fig. 10, the center display 41 continues to display the graphic character G10, and also displays the graphic character G31 saying "Vehicle Stopped." Below that, a road surface and lane graphic G32 and a graphic (figure) G33 of a vehicle that is stopped and has its hazard lights flashing are displayed. Furthermore, the center display 41 continues to display a red frame graphic G8 that surrounds the entire display within the center display 41.

[0074] On the other hand, in this S21, since the vehicle 1 is stopped, the graphics G5 to G7 for the cancellation operation described above are not displayed, and instead, a character graphic G34 is displayed, indicating that the cancellation operation for the automatic stopping control is to move the selector lever into P range.

[0075] Next, in the automatic stopping control of vehicle 1 executed in the processing of S21, the controller 10 basically controls the steering of vehicle 1 via the steering control device 48 so that vehicle 1 stops within the lane, controls the brake device of vehicle 1 via the brake control device 47, and further stops the operation of the engine via the engine control device 46.

[0076] Next, after the processing of S20, the process proceeds to S22, where it is determined whether or not the hazard switch 36 has been pressed, similarly to S13 and S17 described above. If the hazard switch 36 has been pressed (Yes in S22), the process proceeds to S14, where the automatic vehicle stop control is canceled (the control is stopped). The process of canceling the automatic vehicle stop control by the hazard switch 36 in S22 and S14 is as described above.

[0077] Next, in S22, if it is determined that the hazard switch 36 has not been depressed (No in S22), the process proceeds to S23, where it is determined whether or not a shoulder of the road exists where the vehicle 1 can be stopped in a safe place. The controller 10 makes this determination based on roadway information acquired by the exterior camera 21 and the navigation system 31.

[0078] If it is determined in S23 that the desired shoulder is present (Yes in S23), the process proceeds to S24. In S24, a display such as that shown in Fig. 11 is provided, and control of the vehicle 1 to move to the shoulder under automatic stopping control is initiated. Fig. 11 shows an example of a display on the center display 41 when the vehicle is moving to the shoulder under automatic stopping control, which is notified by the processing of S24. 11, the graphic character G10 continues to be displayed in the left area A1 of the center display 41, and a graphic character G41 saying "Pull your vehicle to the side of the road" is also displayed. Further below that, a graphic (figure) G43 of a vehicle pulling over to the shoulder of the road is displayed together with a graphic G42 of the road surface and lanes. In addition, in S24, an arrow graphic G45 indicating the direction of the shoulder where the vehicle is to stop is displayed, and one of the turn lamps of the vehicle graphic G43 is flashed, thereby enabling the occupants including the driver to recognize the direction of the shoulder where the vehicle is to stop (moving to the shoulder in the left turn direction in the example of FIG. 11). Furthermore, a graphic G44 that surrounds the vehicle G43 in a circle and rotates around the vehicle G43 is displayed around the vehicle graphic G43, as in FIGS. 8 and 9.

[0079] 6, 8, and 9, a graphic G5 saying "Press hazard switch to cancel" is displayed in the area A2 on the right side of the center display 41, along with a graphic G6 showing the hazard switch being pressed. The flashing of a partial area G7 in the background of the graphic G6 described above may be stopped, or the flashing display may be continued. Furthermore, a red frame graphic G8 continues to be displayed on the center display 41, surrounding the entire display within the center display 41.

[0080] Next, in the automatic stopping control of vehicle 1 to move to the shoulder, which is executed in the processing of S24, the controller 10 changes the direction of travel of vehicle 1 by steering control of vehicle 1 via the steering control device 48, thereby moving vehicle 1 to the shoulder.

[0081] Next, the process proceeds to S25, where it is determined whether the hazard switch 36 has been pressed down, similarly to S13, S17, and S22 described above. If the hazard switch 36 has been pressed down (Yes in S25), the process proceeds to S14, where the automatic vehicle stop control is cancelled (the control is stopped). The process of cancelling the automatic vehicle stop control by the hazard switch 36 in S25 and S14 is as described above.

[0082] Next, in S25, if it is determined that the hazard switch 36 has not been depressed (No in S25), the process proceeds to S26, where the vehicle 1 is stopped. In S26, the same display as that shown in FIG. 10 is displayed, and the vehicle 1 is stopped at the roadside by automatic stopping control. In S25, the controller 10 controls the brake device of the vehicle 1 via the brake control device 47, and stops the operation of the engine via the engine control device 46, thereby bringing the vehicle 1 to a stop.

[0083] Next, the effect of using the hazard switch 36 as a cancel switch will be described. First, in the present invention, the hazard switch 36 is used as a means for the driver to cancel the automatic stop control as quickly and reliably as possible if a "driver abnormality" is mistakenly detected. In other words, the hazard switch is placed in an easy-to-operate position due to its function, and it is assumed that in the driver's normal behavior while driving, if the hazard lights are flashing, the driver will first try to operate the hazard switch, so it is effective to use the hazard switch as a cancel switch for the automatic stop control.

[0084] On the other hand, it is conceivable that the driver may panic and mistakenly press the hazard switch. In order to prevent such an erroneous operation, in an embodiment of the present invention, images such as those shown in Figures 6 and 8 to 11 are displayed on the center display 41 based on the following viewpoints (first to sixth viewpoints) so that the operating status of the system (why the hazard switch is flashing) and how to cancel it can be intuitively understood. First, to help the driver more quickly recognize which system is operating, a graphic (figure, design) of the driver in the diseased state that is the target of the system's operation is displayed. Second, in order to make the driver more aware of how to stop the system, a graphic (figure, design) showing the hazard switch 36 being pressed, which is the cancellation method, is prominently displayed. Thirdly, to enable a driver in a normal state to cancel the system in the event of a system malfunction, and to prevent a passenger from accidentally canceling the system when the system is operating normally, the method for canceling the system is displayed on the center display 41, which is positioned in a position visible to both the driver and the passenger in the front passenger seat. Fourth, in order to enable a driver in a normal state to perform a cancellation operation more quickly and reliably when the system malfunctions, the center display 41 uses a highly eye-catching red color to draw the driver's attention to the center display 41 more quickly. Fifth, the system displays the vehicle's control status (such as deceleration or lane change) so that passengers can understand that the vehicle is automatically and safely stopping, and the driver can also feel calm and at ease. For example, even if the driver does not respond, passengers can understand that the vehicle's behavior is being controlled by the vehicle (system), which can reassure them. Sixth, since the hazard switch 36 also serves as a cancel switch, it is of a momentary type rather than a push-lock type, and in order to indicate the ON or OFF state, it flashes when ON.

[0085] Next, the effects of the vehicle control system 100 according to the embodiment of the present invention will be described. In this embodiment, the vehicle control system 100 of the vehicle 1 is equipped with an automatic stop control module VCM73 that performs automatic stop control to automatically bring the vehicle 1 to an emergency stop when an abnormality in the driver is determined based on the driver's state monitored by the driver monitoring device, and a hazard control module CBCM72 that controls the lights 49 to flash or turn off hazard lights based on the operation of the hazard switch 36. The automatic stop control module VCM73 sends a signal to the hazard control module CBCM72 to flash the lights 49 in hazard lights while the automatic stop control is being executed, and when the hazard switch 36 is operated while the automatic stop control is being executed, the automatic stop control module VCM73 sends a signal to the hazard control module CBCM72 to stop sending the signal to flash the lights 49 in hazard lights, and stops the automatic stop control by the automatic stop control module VCM73.

[0086] According to this embodiment, if an occupant, including the driver, operates the hazard switch 36 while the automatic stop control is being executed, the automatic stop control of the vehicle 1 is stopped. At this time, the hazard switch 36 is functionally arranged in a conspicuous position that is easy for occupants, including the driver, to operate, and the vehicle lighting devices 49 of the vehicle 1 are in a state where the hazard lights are flashing during the automatic stop control. Therefore, in the event of a system malfunction (for example, when the driver is in a normal state), the occupants, including the driver, can intuitively cancel the automatic stop control. That is, in this embodiment, the hazard switch is used as a cancel switch for the automatic stop control. Furthermore, in the driver's normal behavior while driving, it is assumed that if the hazard lights are flashing, the driver will first try to operate the hazard switch, so the automatic stop control can be intuitively canceled.

[0087] Furthermore, according to this embodiment, the center display 41 displays information G1 to G4, G10 to G14, G20 to G25, G31 to G34, and G41 to G45 related to the automatic stop control, as well as graphics G6 and G7 and letter G5 indicating that the operation to cancel the automatic stop control is to operate the hazard switch, so that passengers including the driver can intuitively cancel the automatic stop control more effectively. Furthermore, when the system malfunctions, a normal driver can cancel the automatic stop control, while when the system is operating normally (for example, when the driver is in an abnormal state), it is possible to prevent passengers from mistakenly performing a cancel operation.

[0088] Furthermore, according to this embodiment, the hazard switch 36 is a momentary switch located below the center display 41, so that the driver and other occupants can intuitively cancel the automatic stop control more effectively. This is particularly more effective than performing multiple operations on the rotary switch 34.

[0089] Furthermore, according to this embodiment, first, information A related to the automatic stop control is displayed on the meter display 42, second, vehicle figures G12 to G14, G22 to G25, G32 to G34, G42 to G45 and letters G11, G21, G31, G41 indicating the operation of the vehicle are displayed on the center display 41 as information related to the automatic stop control, and figures G6, G7 and letter G5 indicating that the operation to cancel the automatic stop control is to operate the hazard switch are displayed, and third, a reddish figure G8 is displayed to highlight the display on the center display 41, while the information A related to the automatic stop control on the meter display 42 is displayed in black and white. In this way, by displaying the information related to the automatic stop control on the meter display 42 in black and white, the driver can recognize that the automatic stop control is being executed when the driver is normal. Meanwhile, by displaying reddish graphics (for example, a reddish frame graphic G8 that surrounds the entire display on the center display, and graphics G14, G24, and G44 that surround the graphic representing the vehicle) to highlight the display on the center display 41, the driver's line of sight is more easily guided from the meter display 42 to the center display 41. Furthermore, because the hazard switch 35 is located below the center display 41 to which the driver's line of sight is guided, the driver can operate the hazard switch 36 more intuitively and more quickly in the event of a system malfunction.

[0090] Furthermore, according to this embodiment, when a driver abnormality is determined, the center display 41 displays a figure G4 showing the driver in a posture that would not be possible during normal driving, so that the occupants, including the driver, can intuitively recognize that automatic stopping control is being executed due to a driver abnormality.

[0091] Furthermore, according to this embodiment, when a driver abnormality is determined and automatic vehicle stop control is being executed, the center display 41 displays figures G13, G23, G33, G34 indicating a vehicle with its hazard lights flashing, and / or outputs a hazard sound at a volume loud enough for the occupants including the driver to recognize. This allows the occupants including the driver to intuitively recognize that the hazard lights are flashing due to the automatic vehicle stop control, and thereby allows them to intuitively recognize that operating the hazard switch 36 will cancel the automatic vehicle stop control. [Explanation of symbols]

[0092] 1 vehicle 10 Controller 36 Hazard switch 41 Center display 42 Meter display 49 Lighting equipment (turn lamps) 71 Instrument Panel ESU (IP-ESU) 72 Center Body Control Module (CBCM) 73 Vehicle Control Module (VCM) 74 Lamp Control Module (LCM) 75 door ESU 76 Rear ESU 100 Vehicle Control System 200 CAN A Display area on the meter display A1 First display area in the center display A2 Second display area in the center display G Various graphics, character shapes, designs, and figures

Claims

1. A vehicle control system, comprising: a driver monitoring device that monitors the driver's condition; A hazard switch provided in front of the driver's seat in the vehicle interior for the driver or passenger to turn on or off the vehicle's hazard lights; an automatic stop control module that performs automatic stop control to automatically stop the vehicle in an emergency when an abnormality in the driver is determined based on the driver's state monitored by the driver monitoring device; a hazard control module that controls the lighting device to flash or turn off the hazard lights based on the operation of the hazard switch; an alarm device that visually and / or audibly notifies occupants including the driver of predetermined information; the automatic stop control module transmits a signal to the hazard control module to cause the lighting device to flash in a hazard mode while the automatic stop control is being executed; when the hazard switch is operated while the automatic stopping control is being executed, the automatic stopping control module transmits a signal to the hazard control module to stop transmission of the signal for flashing the hazard lights, and stops the automatic stopping control by the automatic stopping control module; The notification device has a center display disposed at the center of the front of the vehicle compartment, The vehicle control system is characterized in that the alarm device displays a graphic indicating a vehicle with flashing hazard lights on the center display and / or outputs a hazard sound at a volume loud enough for occupants, including the driver, to hear when an abnormality in the driver is detected and the automatic stopping control is being executed.

2. 2. The vehicle control system according to claim 1, wherein the notification device displays information regarding the automatic stopping control on the center display, and also displays a graphic and / or text indicating that the operation to cancel the automatic stopping control is the operation of a hazard switch.

3. 2. The vehicle control system according to claim 1, wherein the hazard switch is a momentary button located below the center display.

4. The hazard switch is located below the center display, The notification device has a meter display disposed in front of the driver inside the vehicle, The notification device is First, information relating to the automatic vehicle stop control is displayed on the meter display, Second, a vehicle graphic and / or text indicating the operation of the vehicle is displayed on the center display as information related to the automatic stop control, and a graphic and / or text indicating that the operation to cancel the automatic stop control is the operation of a hazard switch is displayed, Third, the vehicle control system according to claim 2 or 3, wherein a graphic in a reddish color is displayed to highlight the display on the center display, while information relating to the automatic stopping control is displayed in a black and white color on the meter display.

5. 5. The vehicle control system according to claim 1, wherein the notification device, when it is determined that the driver is abnormal, displays a graphic showing the driver in a posture that would not be assumed during normal driving.

Images