Vehicle control device, vehicle control computer program, and vehicle control method

Abstract

To provide a vehicle control apparatus capable of suppressing an inappropriate behavior of a vehicle stemming from wrong speed operation of an old driver in a case where a moving article appears ahead.SOLUTION: A vehicle control apparatus includes: an estimation part for estimating an age of a driver on the basis of a facial image showing the face of the driver of the vehicle: a calculation part for calculating a distance between the vehicle and a moving article detected on the basis a forward image representing a situation in front of the vehicle; a determination part for determining whether the age of the driver estimated by the estimation part exceeds a given reference age and whether the distance between the moving article and vehicle calculated by the calculation part is less than a reference distance; and a conclusion part for concluding, in a case where the determination part determines that the age of the driver exceeds the reference age and that the distance between the moving article and vehicle is less than the reference distance, whether to limit a speed of the vehicle to a first reference speed or less, or to limit accelerating operation of the driver in an attempt to accelerate the vehicle from reflecting to the travel of the vehicle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device, a computer program for vehicle control, and a vehicle control method. [Background technology]

[0002] Drivers of vehicles come from a variety of ages, from young people to the elderly. Generally, as people get older, their vision, perceptual ability, motor skills, judgment, and the like tend to decline compared to when they were younger.

[0003] Therefore, as people get older, their driving ability declines compared to when they were younger. When a moving object appears in front of the vehicle, the driver may be required to operate the vehicle accurately. In such cases, the driver's declining driving ability may affect the operation of the vehicle.

[0004] For example, Patent Document 1 proposes a driving assistance device that warns of approaching obstacles earlier as the driver gets older. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-015548 Summary of the Invention [Problem to be solved by the invention]

[0006] Elderly drivers may perform inappropriate driving operations. For example, when a moving object such as a pedestrian appears ahead, elderly drivers may mistake the brake operation for the accelerator operation.

[0007] The driving support device described in Patent Document 1 warns the driver of an approaching obstacle at an early timing, but cannot prevent the driver from performing inappropriate driving operations.

[0008] Therefore, an object of the present disclosure is to provide a vehicle control device that can suppress inappropriate vehicle behavior caused by incorrect speed control by an elderly driver when a moving object appears ahead. [Means for solving the problem]

[0009] (1) According to one embodiment, there is provided a vehicle control device comprising: an estimation unit that estimates an age of a driver of the vehicle based on a face image representing the face of the driver; a calculation unit that calculates a distance between the vehicle and a moving object detected based on a forward image representing a situation ahead of the vehicle; a determination unit that determines whether the age of the driver estimated by the estimation unit exceeds a predetermined reference age and whether the distance between the moving object and the vehicle calculated by the calculation unit is shorter than the predetermined reference distance; and a determination unit that, when the determination unit determines that the age of the driver exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance, determines to limit the speed of the vehicle to a first reference speed or less, or to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on the traveling of the vehicle.

[0010] (2) In the vehicle control device of (1), it is preferable that the determination unit changes the reference distance in accordance with the current speed of the vehicle.

[0011] (3) In the vehicle control device of (1), it is preferable that the judgment unit further judges whether the vehicle speed exceeds a predetermined second reference speed, and if the judgment unit determines that the driver's age exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the vehicle speed exceeds the second reference speed, the decision unit decides to restrict the reflection of the driver's acceleration operation to accelerate the vehicle on the vehicle's driving, and if the judgment unit determines that the driver's age exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the vehicle speed does not exceed the second reference speed, the decision unit decides to restrict the vehicle speed to less than the first reference speed.

[0012] (4) In the vehicle control device of (2), it is preferable that the determination unit changes the second reference speed in accordance with the current speed of the vehicle.

[0013] (5) In any of the vehicle control devices (1) to (4), it is preferable that the decision unit changes the degree to which the driver's acceleration operation to accelerate the vehicle is restricted from being reflected in the vehicle's driving, depending on the current speed of the vehicle.

[0014] (6) According to another embodiment, there is provided a computer program for controlling a vehicle, which causes a processor to execute a process including: estimating an age of a driver of the vehicle based on a facial image representing the face of the driver of the vehicle; calculating a distance between the vehicle and a detected moving object based on a forward image representing a situation ahead of the vehicle; determining whether the age of the driver is above a predetermined reference age and the distance between the moving object and the vehicle is below the predetermined reference distance; and determining to limit the speed of the vehicle to a first reference speed or less when it is determined that the age of the driver is above the reference age and the distance between the moving object and the vehicle is below the reference distance.

[0015] (7) According to another embodiment, there is provided a vehicle control method, wherein a vehicle control device estimates the age of a driver of the vehicle based on a facial image representing the face of the driver, calculates a distance between the vehicle and a detected moving object based on a forward image representing a situation ahead of the vehicle, determines whether the age of the driver exceeds a predetermined reference age and the distance between the moving object and the vehicle is shorter than the predetermined reference distance, and decides to limit the speed of the vehicle to a first reference speed or less when it is determined that the age of the driver exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance. [Effects of the Invention]

[0016] The vehicle control device according to the present disclosure can improve vehicle safety by suppressing inappropriate vehicle behavior resulting from speed operation by a driver older than a reference age when a moving object appears ahead. [Brief explanation of the drawings]

[0017] [Figure 1] 1A and 1B are diagrams for explaining an overview of the operation of the vehicle control device of the first embodiment, in which (A) is a diagram showing a road on which a vehicle is traveling, and (B) is a diagram showing a driver driving the vehicle inside the vehicle cabin. [Figure 2] 1 is a schematic configuration diagram of a vehicle in which a vehicle control system 1 including a vehicle control device of a first embodiment is implemented. [Figure 3] 4 is an example of an operational flowchart relating to age estimation processing of the vehicle control device of the first embodiment. [Figure 4] 4 is an example of an operational flowchart relating to a speed limiting process of the vehicle control device of the first embodiment. [Figure 5] 10 is an example of an operational flowchart relating to a speed limiting process of a second vehicle control device. [Figure 6] 10 is an example of an operational flowchart relating to a speed limiting process of a third vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0018] Figures 1(A) and 1(B) are diagrams for explaining an outline of the operation of the vehicle control device 11 of the first embodiment. Figure 1(A) is a diagram showing a road 50 on which the vehicle 10 is traveling, and Figure 1(B) is a diagram showing a driver 40 driving the vehicle 10 inside the vehicle compartment 30. Below, an outline of the operation related to the vehicle control processing of the vehicle control device 11 disclosed in this specification will be explained with reference to Figures 1(A) and 1(B).

[0019] The vehicle 10 has a forward camera 2, a monitoring camera 3, and a vehicle control device 11. The vehicle control device 11 controls the operation of the vehicle 10 in accordance with two driving modes that differ in the degree of involvement of the driver 40 in driving. The vehicle 10 may be an autonomous vehicle.

[0020] For example, the vehicle control device 11 has an automatic driving mode (e.g., driving mode of levels 3 to 5) in which the driver 40 is less involved in driving, and a manual driving mode (e.g., driving mode of levels 0 to 2) in which the driver 40 is more involved in driving.

[0021] The driver 40 operates the vehicle 10 in the passenger compartment 30 according to the driving mode. In the automatic driving mode, the vehicle control device 11 mainly drives the vehicle 10. In the manual driving mode, the driver 40 mainly drives the vehicle 10. In the manual driving mode, the driver 40 drives the vehicle 10 by operating the steering wheel 31, accelerator pedal 32, and brake pedal 33.

[0022] As shown in Figure 1(A), a vehicle 10 is traveling on a road 50. The road 50 has two lanes 51 and 52. The lanes 51 and 52 are separated by a lane dividing line (lane boundary line) 54. The vehicle 10 is traveling on the lane 51, and another vehicle 60 is traveling ahead of the vehicle 10.

[0023] The vehicle control device 11 acquires a facial image showing the face of the driver 40 via the monitoring camera 3. The vehicle control device 11 estimates the age of the driver 40 based on the facial image. In the example shown in FIG. 1(B), the vehicle control device 11 estimates the age of the driver 40 to be 70 years old based on the facial image. The driver 40 is considered to be elderly.

[0024] The vehicle control device 11 acquires a forward image showing the situation ahead of the vehicle 10 via the forward camera 2. The vehicle control device 11 detects a vehicle 60 traveling ahead of the vehicle 10 based on the forward image. The vehicle 60 is an example of a moving object. The vehicle control device 11 estimates the distance between the vehicle 60 and the vehicle 10 based on the forward image. In the example shown in FIG. 1(A), the vehicle control device 11 estimates that the distance between the vehicle 60 and the vehicle 10 is 30 m.

[0025] The vehicle control device 11 determines that the driver's age (70 years old) exceeds a reference age (for example, 65 years old) and that the distance (30 m) between the vehicle 60 and the vehicle 10 is less than a reference distance (for example, 50 m).

[0026] Therefore, the vehicle control device 11 determines to limit the speed of the vehicle 10 to a first reference speed (for example, 20 km / h) or less. For example, if the current speed of the vehicle 10 is 40 km / h, the vehicle control device 11 determines to decelerate the speed of the vehicle 10 to 20 km / h.

[0027] In the example shown in FIG. 1(A), suppose that elderly driver 40, when driving vehicle 60, should have operated brake pedal 33 but instead operated accelerator pedal 32 by mistake.

[0028] However, even if the driver 40 operates the accelerator pedal 32, the vehicle control device 11 does not allow control that would cause the speed of the vehicle 10 to exceed 20 km / h.

[0029] As described above, the vehicle control device 11 of this embodiment can suppress inappropriate behavior of the vehicle 10 caused by the speed operation of a driver 40 who is above the standard age when a vehicle 60 appears ahead, thereby improving the safety of the vehicle 10.

[0030] 2 is a schematic configuration diagram of a vehicle 10 in which a vehicle control system 1 including a vehicle control device 11 of this embodiment is implemented. The vehicle 10 has a forward camera 2, a monitoring camera 3, a vehicle speed sensor 4, a user interface (UI) 5, a vehicle control device 11, and the like. The vehicle control system 1 includes at least the vehicle control device 11. The vehicle 10 may further have a distance measurement sensor such as a LiDAR sensor for measuring the distance between the vehicle 10 and an object in front of the vehicle 10.

[0031] The forward camera 2, the monitoring camera 3, the vehicle speed sensor 4, the UI 5, and the vehicle control device 11 are communicably connected via an in-vehicle network 12 that complies with a standard such as a controller area network.

[0032] The front camera 2 is an example of an imaging unit provided on the vehicle 10. The front camera 2 is attached to the vehicle 10 so as to face forward of the vehicle 10. The front camera 2 captures a front image showing the situation of a predetermined area ahead of the vehicle 10, for example, at a predetermined period. The front image may show the road included in the predetermined area ahead of the vehicle 10 and road features such as lane markings on the road surface. The front camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector.

[0033] Every time the front camera 2 captures a front image, it outputs the front image and the time at which the front image was captured to the vehicle control device 11 via the in-vehicle network 12. The front image is used by the vehicle control device 11 in a process of estimating the position of the vehicle 10 and a process of detecting objects around the vehicle 10.

[0034] The surveillance camera 3 is disposed in the vehicle interior 30 so as to be able to capture facial images including the face of the driver 40 who drives the vehicle 10. The surveillance camera 3 is an example of an imaging unit. The surveillance camera 3 captures facial images showing the situation including the driver's seat, for example, at facial image capturing times having a predetermined cycle. The surveillance camera 3 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to infrared light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector. The facial image is used in the vehicle control device 11 to estimate the age of the driver 40.

[0035] The vehicle speed sensor 4 detects speed information indicating the speed of the vehicle 10. The vehicle speed sensor 4 has, for example, a measurement unit that measures the number of rotations of the tires of the vehicle 10. The vehicle speed sensor 4 outputs the speed information to the vehicle control device 11 via the in-vehicle network 12. The speed information is used in the process of calculating the speed of the vehicle 10 in the vehicle control device 11.

[0036] The UI 5 is an example of a notification unit. The UI 5 is controlled by the vehicle control device 11 or the like to notify the driver 40 of operation information and the like related to the vehicle 10. The operation information related to the vehicle 10 includes driving information and the like of the vehicle 10. The UI 5 has a display device 5a such as a liquid crystal display or a touch panel for displaying the operation information and the like. The UI 5 may also have an audio output device (not shown) for notifying the driver 40 of the operation information and the like. The UI 5 also generates an operation signal in response to an operation from the driver 40 to the vehicle 10. Examples of the operation information include a destination location, a waypoint, the vehicle speed, and a request to switch driving modes. The UI 5 has, for example, a touch panel or an operation button as an input device for inputting operation information from the driver 40 to the vehicle 10. The UI 5 outputs the input operation information to the vehicle control device 11 or the like via the in-vehicle network 12.

[0037] The vehicle control device 11 executes detection processing, control processing, estimation processing, calculation processing, judgment processing, and decision processing. To this end, the vehicle control device 11 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication IF 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication IF 21 has an interface circuit for connecting the vehicle control device 11 to the in-vehicle network 12.

[0038] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs and various data for applications used in information processing executed by the processor 23.

[0039] All or part of the functions of the vehicle control device 11 are functional modules implemented by, for example, a computer program running on the processor 23. The processor 23 includes a detection unit 231, a control unit 232, an estimation unit 233, a calculation unit 234, a determination unit 235, and a decision unit 236. Alternatively, the functional modules included in the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit.

[0040] The detection unit 231 detects an object and its type (for example, a vehicle) ahead of the vehicle 10 based on the forward image. The object includes a moving object such as a vehicle traveling ahead of the vehicle 10. The detection unit 231 has a classifier that detects an object shown in the forward image by inputting the forward image. The detection unit 231 can use, for example, a convolutional neural network (CNN) as such a classifier that has been trained in advance to detect an object shown in the input forward image.

[0041] Furthermore, when the detection unit 231 detects a moving object such as a vehicle or a person as the object, it identifies the driving lane in which the moving object is traveling based on the lane markings shown in the map information and the position of the moving object. The detection unit 231 notifies the control unit 232, the calculation unit 234, the determination unit 235, etc. of object detection information including information indicating the type of the detected object, information indicating its position, the driving lane, a forward image in which the object is shown, and information indicating the position of the object in the forward image.

[0042] The map information is stored in the memory 22. The map information includes three-dimensional information of the road surface, information representing road features such as lane markings on the road, the types and positions of structures, and high-precision map information including the legal speed limit on the road, etc.

[0043] The control unit 232 controls the operation, including the driving, of the vehicle 10. The control unit 232 has two driving modes that differ in the degree of involvement in the driving of the driver 40. The control unit 232 controls the operation of the vehicle 10 according to the driving mode.

[0044] For example, the control unit 232 has an automatic driving mode (for example, a driving mode of levels 3 to 5) in which the driver 40 is less involved in driving, and a manual driving mode (for example, a driving mode of levels 0 to 2) in which the driver 40 is more involved in driving. In the automatic driving mode, the control unit 232 mainly drives the vehicle 10. In the manual driving mode, the driver 40 mainly drives the vehicle 10.

[0045] In addition, in a driving mode in which the driver 40 is highly involved in driving, some or all of the driving operations necessary for the vehicle 10 to run are automatically performed, and in a driving mode in which the driver 40 is less involved in driving, the types of driving operations that are automatically performed may be fewer or even zero than in a driving mode in which the driver 40 is highly involved in driving.

[0046] In the autonomous driving mode, the control unit 232 generates a driving plan for controlling operations such as steering, driving, and braking based on map information and detection information from sensors (not shown) mounted on the vehicle 10. The control unit 232 outputs automatic control signals based on this driving plan via the in-vehicle network 12 to an actuator (not shown) that controls the steering wheels, a drive unit (not shown), or a brake (not shown).

[0047] In addition, in the manual driving mode, the control unit 232 generates manual control signals that control the operation of the vehicle 10, such as steering, driving, and braking, based on the operation of the driver 40, and outputs these manual control signals to an actuator that drives the steering wheels, a drive device, or a brake via the in-vehicle network 12.

[0048] The control unit 232 can drive the vehicle 10 in the autonomous driving mode in areas where the autonomous driving mode is permitted (for example, areas where a high-precision map for controlling the vehicle 10 is prepared). The control unit 232 controls the vehicle 10 in the manual driving mode in areas where the autonomous driving mode is not permitted. The control unit 232 also transitions from the autonomous driving mode to the manual driving mode or from the manual driving mode to the autonomous driving mode in response to a request from the driver 40. The control unit 232 also transitions from the autonomous driving mode to the manual driving mode when it determines that the vehicle 10 cannot be driven safely in the autonomous driving mode.

[0049] The vehicle control device 11 is, for example, an electronic control unit (ECU). In Fig. 2, the detection unit 231, the control unit 232, the estimation unit 233, the calculation unit 234, the determination unit 235, and the decision unit 236 are described as a single device, but the estimation unit 233, the calculation unit 234, the determination unit 235, and the decision unit 236 may be devices separate from the detection unit 231 and / or the control unit 232.

[0050] FIG. 3 is an example of an operation flowchart relating to the age estimation processing of the vehicle control device 11 of this embodiment. Next, the age estimation processing of the vehicle control device 11 will be described below with reference to FIG. 3. The vehicle control device 11 executes the age estimation processing in accordance with the operation flowchart shown in FIG. 3 at an age estimation time having a predetermined cycle. The cycle for executing the age estimation processing is preferably equal to or longer than the cycle for capturing face images. Furthermore, the age estimation processing may be executed not at a predetermined cycle but at a predetermined event such as when the ignition is turned on or when the driver is changed. The age estimation processing is an example of vehicle control processing.

[0051] First, the estimation unit 233 acquires a face image from the monitoring camera 3 (step S101).

[0052] Next, the estimation unit 233 estimates the age of the driver 40 of the vehicle 10 based on a facial image representing the face of the driver 40 (step S102), and ends the series of processes. The estimation unit 233 has a classifier that receives a facial image and detects the age of the person depicted in the facial image. The estimation unit 233 can use, as such a classifier, for example, a convolutional neural network (CNN) that has been trained in advance to detect the age of the person depicted in the input facial image. The estimation unit 233 notifies the determination unit 235 of the estimated age of the driver 40.

[0053] FIG. 4 is an example of an operational flowchart relating to the speed limiting process of the vehicle control device of this embodiment. Next, the speed limiting process of the vehicle control device 11 will be described below with reference to FIG. 4. The vehicle control device 11 executes the speed limiting process in accordance with the operational flowchart shown in FIG. 4 at a speed limiting process time having a predetermined cycle. The cycle for executing the speed limiting process is preferably longer than the cycle for the age estimation process. The speed limiting process is an example of a vehicle control process. The speed limiting process shown in FIG. 4 is executed when the vehicle 10 is being driven in manual driving mode.

[0054] First, the determination unit 235 determines whether the age of the driver 40 estimated by the estimation unit 233 exceeds a predetermined reference age (step S201). The reference age is preferably an age at which it can be determined whether the driver 40 is elderly or not. The reference age may be, for example, 65 to 70 years old. However, the reference age is not limited to these ages.

[0055] If the age of the driver 40 is greater than the reference age (step S201-Yes), the determination unit 235 determines whether or not a moving object has been detected in front of the vehicle 10 (step S202). The determination unit 235 determines whether or not a moving object has been detected in front of the vehicle 10 based on the object detection information notified from the detection unit 231. The moving object includes, for example, a vehicle, a person, a bicycle, etc. If the type of object included in the object detection information represents any of these moving objects, the determination unit 235 determines that a moving object has been detected in front of the vehicle 10. On the other hand, if the object detection information has not been notified or the object detection information does not include a moving object, the determination unit 235 determines that a moving object has not been detected in front of the vehicle 10.

[0056] If a moving object is detected ahead of the vehicle 10 (step S202-Yes), the calculation unit 234 calculates the distance between the detected moving object and the vehicle 10 based on the front image that shows the situation ahead of the vehicle 10 (step S203). The calculation unit 234 detects lane markings in the front image that demarcate the lane in which the moving object is traveling, based on information that shows the position of the moving object in the front image, which is included in the object detection information.

[0057] The calculation unit 234 has a classifier that receives a forward image and detects lane markings shown in the forward image. The detection unit 231 can use, as such a classifier, a convolutional neural network (CNN) that has been trained in advance to detect lane markings shown in the input forward image.

[0058] The calculation unit 234 then detects the area of ​​a pair of lane markings that sandwich the position of the moving object in the forward image. The position of the moving object in the forward image means a position in the direction that coincides with the traveling direction of the vehicle 10 in the forward image. The calculation unit 234 calculates the number of pixels that represent the width between the pair of lane markings in the direction that is perpendicular to the traveling direction of the vehicle 10 in the forward image. The number of pixels that represent the width between the pair of lane markings represents the width of the lane on which the moving object is traveling.

[0059] Furthermore, the calculation unit 234 acquires the width of the lane in which the vehicle 10 is currently traveling, based on the map information and the current position of the vehicle 10. Here, it is assumed that the width of the lane in which the moving object located ahead of the vehicle 10 is traveling is equal to the width of the lane in which the vehicle 10 is currently traveling.

[0060] The calculation unit 234 calculates the distance between the lane on which the moving object is traveling and the vehicle 10 based on the width of the lane on which the moving object is traveling, the number of pixels representing the width of the lane on which the moving object is traveling, the focal length of the front camera 2, and the mounting position and mounting angle of the front camera 2 on the vehicle 10. The focal length of the front camera 2, and the mounting position and mounting angle of the front camera 2 on the vehicle 10 are stored in the memory 22. The distance between the lane on which the moving object is traveling and the vehicle 10 represents the distance between the moving object and the vehicle 10.

[0061] If the distance between the moving object and the vehicle 10 cannot be calculated, the calculation unit 234 may notify the driver 40 via the UI 5 of a transition request to transition the driving of the vehicle 10 from the manual driving mode to the automatic driving mode. When the driver 40 approves the transition request, the vehicle 10 is driven in the automatic driving mode. This can prevent the driver 40 from performing an erroneous operation.

[0062] The method for calculating the distance between the moving object and the vehicle 10 is not limited to the above. For example, if the vehicle 10 has a LiDAR sensor, the LiDAR sensor may be used to calculate the distance between the moving object and the vehicle 10.

[0063] Next, the determination unit 235 determines whether the distance between the moving object and the vehicle 10 calculated by the calculation unit 234 is shorter than a predetermined reference distance (step S204). This reference distance may be a fixed value (for example, 50 m). Alternatively, this reference distance may be changed depending on the current speed of the vehicle 10. For example, if the speed of the vehicle 10 is 30 km / h or less, the reference distance may be set to 30 m. Alternatively, if the speed of the vehicle 10 is higher than 30 km / h, the reference distance may be set to 1 / 500 of the distance traveled by the vehicle 10 in one hour at the current speed (expressed in km / h).

[0064] This reference distance may also be changed depending on the age of the driver 40. For example, it is preferable to set the reference distance longer as the age of the driver 40 increases.

[0065] If the distance between the moving object and the vehicle 10 is less than the reference distance (step S204-Yes), the decision unit 236 decides to limit the speed of the vehicle 10 to a first reference speed or less (step S205), and ends the series of processes. The first reference speed may be a fixed value (e.g., 30 km / h). The first reference speed may also be changed depending on the current speed of the vehicle 10. For example, if the speed of the vehicle 10 is 30 km / h or less, the first reference speed may be set to 10 m / h, and if the speed of the vehicle 10 is more than 30 km / h, the first reference speed may be set to 1 / 2 the speed of the vehicle 10 (speed expressed in km / h).

[0066] The determination unit 236 can calculate the current speed of the vehicle 10 based on the speed information acquired from the vehicle speed sensor 4.

[0067] The decision unit 236 notifies the control unit 232 of a speed limit request indicating that the speed of the vehicle 10 is to be limited to or less than the first reference speed. The control unit 232 controls the speed of the vehicle 10 so that the speed of the vehicle 10 is equal to or less than the first reference speed even when the vehicle 10 is in the manual driving mode.

[0068] The determination unit 236 may notify the driver 40 that the speed of the vehicle 10 is limited to be equal to or less than the first reference speed via the UI 5. This allows the driver 40 to recognize that the speed of the vehicle 10 is limited to be equal to or less than the first reference speed.

[0069] On the other hand, if the age of the driver 40 does not exceed the reference age (step S201-No), if a moving object is not detected in front of the vehicle 10 (step S202-No), or if the distance between the moving object and the vehicle 10 is not below a predetermined reference distance (step S204-No), the series of processes is terminated.

[0070] If the determining unit 235 determines that a predetermined reference time has elapsed without detecting a moving object ahead of the vehicle 10, the deciding unit 236 may cancel the speed limit request.

[0071] Next, the vehicle control process of the vehicle control device 11 will be described below with reference to Fig. 1(A). In the example shown in Fig. 1(A), the determination unit 235 determines that the driver's age is above a reference age and that the distance between the vehicle 60 and the vehicle 10 is below a reference distance.

[0072] Therefore, the decision unit 236 decides to limit the speed of the vehicle 10 to a first reference speed (for example, 20 km / h) or less. For example, if the current speed of the vehicle 10 is 40 km / h, the speed of the vehicle 10 is limited to 20 km / h or less.

[0073] For example, suppose that elderly driver 40 intends to slow down vehicle 10 to prevent vehicle 10 from getting too close to vehicle 60. However, driver 40 accidentally operates accelerator pedal 32 when intending to operate brake pedal 33.

[0074] However, the control unit 232 does not allow the speed of the vehicle 10 to exceed 20 km / h even if the driver 40 operates the accelerator pedal 32. As a result, even if the driver 40 operates the accelerator pedal 32, the speed of the vehicle 10 does not increase, so that the vehicle 10 can be prevented from approaching the vehicle 60.

[0075] As described above, the vehicle control device of this embodiment can suppress inappropriate vehicle behavior caused by speed control by a driver older than the reference age when a moving object appears ahead, thereby improving vehicle safety.

[0076] Next, second and third embodiments of the vehicle control device of the above-described embodiment will be described below with reference to Figures 5 and 6. In the second and third embodiments, the description of the first embodiment will be provided as appropriate for processes similar to those in the first embodiment.

[0077] FIG. 5 is an example of an operational flowchart relating to the speed limiting process of the vehicle control device of the second embodiment.

[0078] In this embodiment, the process of step S305 is different from step S205 in the first embodiment. The processes of steps S301 to S304 in this embodiment are the same as steps S201 to S204 described above.

[0079] If the distance between the moving object and the vehicle 10 is less than the reference distance (step S304-Yes), the decision unit 236 decides to restrict the reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the traveling of the vehicle 10 (step S305), and ends the series of processes. The decision unit 236 notifies the control unit 232 of an acceleration restriction request indicating that the reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the traveling of the vehicle 10 is restricted.

[0080] When the control unit 232 is notified of this acceleration limit request, it changes the acceleration amount of the drive system, which is determined based on the operation amount of the accelerator pedal 32, so as to reduce it. For example, when the control unit 232 is notified of the acceleration limit request, it changes the acceleration amount of the drive system, which is determined based on the operation amount of the accelerator pedal 32, from one-third to one-half. As a result, the acceleration amount of the vehicle 10 is reduced compared to before for the same operation amount of the accelerator pedal 32.

[0081] Note that limiting the effect of an acceleration operation by driver 40 to accelerate vehicle 10 on the running of vehicle 10 is not limited to this. For example, accelerator pedal 32 is provided with a reaction force generating device that generates a reaction force against the operation of accelerator pedal 32 by driver 40. When an acceleration limit request is notified, control unit 232 may control the reaction force generating device to increase the reaction force against the operation of accelerator pedal 32. As a result, when driver 40 operates accelerator pedal 32 with the same force, the amount of operation of accelerator pedal 32 is reduced from before.

[0082] If the determining unit 235 determines that a predetermined reference time has elapsed during which no moving object has been detected ahead of the vehicle 10, the deciding unit 236 may cancel the acceleration restriction request.

[0083] In the example shown in FIG. 1(A), the determination unit 235 determines that the driver's age is above the reference age and that the distance between the vehicle 60 and the vehicle 10 is below the reference distance.

[0084] Therefore, the decision unit 236 decides to restrict the reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the running of the vehicle 10.

[0085] The decision unit 236 may notify the driver 40, via the UI 5, that reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the traveling of the vehicle 10 is restricted. This allows the driver 40 to recognize that reflection of the acceleration operation by the driver 40 on the traveling of the vehicle 10 is restricted.

[0086] For example, suppose that elderly driver 40 intends to slow down vehicle 10 to prevent vehicle 10 from getting too close to vehicle 60. However, driver 40 accidentally operates accelerator pedal 32 when intending to operate brake pedal 33.

[0087] However, the control unit 232 halves the acceleration amount of the drive unit, which is determined based on the operation amount of the accelerator pedal 32. As a result, even if the driver 40 operates the accelerator pedal 32, the acceleration amount of the vehicle 10 is limited, so that the vehicle 10 can be prevented from approaching the vehicle 60.

[0088] As described above, the vehicle control device of this variant can further suppress inappropriate vehicle behavior caused by acceleration operations by drivers older than the reference age when a moving object appears ahead, thereby further improving vehicle safety.

[0089] 6 is an example of an operational flowchart relating to the speed limiting process of the vehicle control device of the third embodiment. In the third embodiment, for processes similar to those in the first or second embodiment, the description of the second embodiment will be provided as appropriate.

[0090] This embodiment differs from the above-described embodiment in that steps S405 and S406 are added. The processing of steps S401 to S404 and step S407 of this modified example is similar to the processing of steps S201 to S205 described above. Furthermore, the processing of step S406 of this modified example is similar to the processing of step S305 described above.

[0091] If the distance between the moving object and the vehicle 10 is less than the reference distance (step S404-Yes), the determination unit 235 determines whether the speed of the vehicle 10 exceeds a predetermined second reference speed (step S405). The second reference speed may be a fixed value (e.g., 30 km / h). The second reference speed may also be changed depending on the current speed of the vehicle 10. For example, if the speed of the vehicle 10 is less than 10 km / h, the second reference speed may be set to 5 km / h or less; if the speed of the vehicle 10 is between 10 km / h and 30 km / h, the second reference speed may be set to 10 km / h or less; and if the speed of the vehicle 10 is between 30 km / h and 50 km / h, the second reference speed may be set to 20 km / h to 40 km / h.

[0092] If the speed of the vehicle 10 exceeds the second reference speed (step S405-Yes), the decision unit 236 decides to limit the reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the traveling of the vehicle 10 (step 406), and ends the series of processes. The decision unit 236 notifies the control unit 232 of an acceleration limit request indicating that the reflection of the acceleration operation by the driver 40 for accelerating the vehicle 10 on the traveling of the vehicle 10 is limited.

[0093] When the speed of the vehicle 10 exceeds the second reference speed, the vehicle 10 is considered to be traveling at a relatively high speed. Therefore, by making it difficult for the vehicle 10 to accelerate, the vehicle 10 is prevented from approaching a moving object ahead.

[0094] On the other hand, if the speed of the vehicle 10 does not exceed the second reference speed (step S405-No), the decision unit 236 decides to limit the speed of the vehicle 10 to the first reference speed or less (step S407), and ends the series of processes.

[0095] If the speed of the vehicle 10 does not exceed the predetermined second reference speed, it is considered that the vehicle 10 is not traveling at a high speed, and the speed of the vehicle 10 is then limited to prevent the vehicle 10 from approaching a moving object ahead.

[0096] As described above, the vehicle control device of this variant can suppress inappropriate vehicle behavior resulting from speed or acceleration operations by a driver over the standard age when a moving object appears ahead, depending on the vehicle speed, thereby further improving vehicle safety.

[0097] In the present disclosure, the vehicle control device, the vehicle control computer program, and the vehicle control method of the above-described embodiments can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0098] For example, in the above-described embodiment, when it is determined that the driver's age exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance, the determination unit determines to limit the speed of the vehicle to a first reference speed or less, or to restrict the reflection of an acceleration operation by the driver to accelerate the vehicle on the traveling of the vehicle. Here, when it is determined that the driver's age exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance, the determination unit may determine to limit the speed of the vehicle to a first reference speed or less, and to restrict the reflection of an acceleration operation by the driver to accelerate the vehicle on the traveling of the vehicle.

[0099] In the second and third embodiments described above, the determination unit may change the degree to which the driver's acceleration operation for accelerating the vehicle is restricted from being reflected in the vehicle's traveling, depending on the current speed of the vehicle. For example, the determination unit may increase the degree to which the driver's acceleration operation is restricted from being reflected in the vehicle's traveling, as the vehicle speed increases. [Explanation of symbols]

[0100] 1. Vehicle control system 2. Front camera 3. Surveillance cameras 5 User Interface 5a Display device 10 vehicles 11 Vehicle control device 21 Communication Interface 22 Memory 23 processors 231 Detector 232 Control Unit 233 Estimation Department 234 Calculation Unit 235 Judgment section 236 Decision Section 24 signal line 12 In-vehicle network

Claims

1. an estimation unit that estimates the age of a driver of a vehicle based on a facial image representing the face of the driver; a calculation unit that calculates a distance between the vehicle and a moving object detected based on a forward image that represents a situation ahead of the vehicle; a determination unit that determines whether the age of the driver estimated by the estimation unit exceeds a predetermined reference age and whether the distance between the moving object and the vehicle calculated by the calculation unit is less than a predetermined reference distance; a decision unit that decides to limit a speed of the vehicle to a first reference speed or less, or to limit reflection of an acceleration operation by the driver to accelerate the vehicle on traveling of the vehicle, when the determination unit determines that the age of the driver exceeds the reference age and that the distance between the moving object and the vehicle is shorter than the reference distance; Equipped with The determination unit further determines whether the speed of the vehicle exceeds a predetermined second reference speed, When the determination unit determines that the age of the driver exceeds the reference age, the distance between the moving object and the vehicle is shorter than the reference distance, and the speed of the vehicle exceeds the second reference speed, the decision unit determines to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on traveling of the vehicle, A vehicle control device characterized in that, when the judgment unit determines that the driver's age exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the speed of the vehicle does not exceed the second reference speed, the decision unit decides to limit the speed of the vehicle to less than the first reference speed.

2. The vehicle control device according to claim 1 , wherein the determination unit changes the second reference speed in accordance with a current speed of the vehicle.

3. The vehicle control device according to claim 1 , wherein the determination unit changes a degree of limiting reflection of an acceleration operation by the driver for accelerating the vehicle on the running of the vehicle, depending on a current speed of the vehicle.

4. estimating the age of a driver of a vehicle based on a facial image representing the face of the driver; calculating a distance between the vehicle and a moving object detected based on a forward image showing a situation ahead of the vehicle; determining whether the age of the driver is above a predetermined reference age and whether the distance between the moving object and the vehicle is below a predetermined reference distance; When it is determined that the age of the driver exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance, it determines to limit the speed of the vehicle to a first reference speed or to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on the traveling of the vehicle; determining whether the speed of the vehicle exceeds a predetermined second reference speed; when it is determined that the age of the driver exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the speed of the vehicle exceeds the second reference speed, determining to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on the running of the vehicle; when it is determined that the age of the driver exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the speed of the vehicle does not exceed the second reference speed, determining to limit the speed of the vehicle to equal to or less than the first reference speed; causing a processor to perform a process including: A computer program for vehicle control.

5. The vehicle control device estimating the age of a driver of a vehicle based on a facial image representing the face of the driver; calculating a distance between the vehicle and a moving object detected based on a forward image showing a situation ahead of the vehicle; determining whether the age of the driver is above a predetermined reference age and whether the distance between the moving object and the vehicle is below a predetermined reference distance; when it is determined that the age of the driver exceeds the reference age and the distance between the moving object and the vehicle is shorter than the reference distance, determining to limit the speed of the vehicle to a first reference speed or less, or to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on the traveling of the vehicle; determining whether the speed of the vehicle exceeds a predetermined second reference speed; when it is determined that the age of the driver exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the speed of the vehicle exceeds the second reference speed, determining to limit the reflection of an acceleration operation by the driver to accelerate the vehicle on the running of the vehicle; when it is determined that the age of the driver exceeds the reference age, the distance between the moving object and the vehicle is less than the reference distance, and the speed of the vehicle does not exceed the second reference speed, determining to limit the speed of the vehicle to equal to or less than the first reference speed; A vehicle control method comprising:

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