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

Abstract

To provide a vehicle control device, a vehicle control method, and a vehicle control program capable of achieving safety of traveling of a vehicle against abnormality of a driver.SOLUTION: A vehicle control device 1 includes: a detection unit that detects a motion of a driver of a vehicle, a behavior of the vehicle, and biological information of the driver; an abnormal sign determination unit 38 that determines whether there is an abnormal sign on the driver based on the motion of the driver, the behavior of the vehicle, and the biological information of the driver; and a vehicle controller 41 that performs different types of vehicle control according to a situation of the abnormal sign on the driver.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, as a vehicle control device, a vehicle control method, and a vehicle control program, there is known a device that performs vehicle control such as driving assistance when an abnormality in the driver of the vehicle is detected, as described in Patent Document 1. This device performs vehicle control according to the driving scene of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-14232 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned device has room for improvement in that it is difficult to ensure the safety of vehicle driving when the driver is abnormal. For this reason, it is desirable to provide vehicle control, such as driving assistance, early when a sign of abnormality is detected in the driver.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a vehicle control device, a vehicle control method, and a vehicle control program that can ensure the safety of vehicle driving in the event of a driver abnormality. [Means for solving the problem]

[0006] In other words, the vehicle control device of the present invention is configured to include a detection unit that detects the movements of the vehicle driver, the behavior of the vehicle, and the driver's biometric information, an abnormality sign determination unit that determines whether the driver has any signs of abnormality based on the driver's movements, the behavior of the vehicle, and the driver's biometric information, and a vehicle control unit that performs different vehicle control depending on the status of the driver's abnormal signs. [Effects of the Invention]

[0007] According to the vehicle control device, vehicle control method, and vehicle control program of the present invention, it is possible to ensure the safety of vehicle driving in the event of a driver abnormality. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an outline of the electrical configuration of a vehicle control device according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the relationship between the driver's abnormal sign state and abnormal sign detection. [Figure 3] FIG. 3 is a diagram showing the relationship between driving assistance control and operation restriction in the vehicle control device according to the embodiment. [Figure 4] FIG. 4 is a flowchart showing the operation of the vehicle control device, the vehicle control method, and the vehicle control program according to the embodiment. [Figure 5] FIG. 5 is a flowchart showing the operation of the vehicle control device, the vehicle control method, and the vehicle stop control process in the vehicle control program according to the embodiment. [Figure 6] FIG. 6 is a flowchart showing the deceleration control process in the operation of the vehicle control device, the vehicle control method, and the vehicle control program according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing the first abnormality sign response control process in the operation of the vehicle control device, the vehicle control method, and the vehicle control program according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing the second abnormality sign response control process in the operation of the vehicle control device, the vehicle control method, and the vehicle control program according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially the same.

[0010] [Embodiment] This embodiment relates to a vehicle control device, a vehicle control method, and a vehicle control program. As shown in Fig. 1, the vehicle control device 1 is a device that detects abnormal signs and abnormal states of a vehicle driver and performs vehicle control corresponding thereto. Here, the abnormal state is a state in which the driver cannot drive normally, for example, a state in which the driver is unable to drive. The abnormal sign is a state that is different from the normal state of the driver before the abnormal state occurs.

[0011] The vehicle control device 1 is configured to include an input unit 2, a control unit 3, and an output unit 5. The input unit 2 inputs information or data relating to driver abnormality sign detection, abnormality detection, vehicle control, etc. to the control unit 3. The input unit 2 includes, for example, a camera 21, a biometric information acquisition unit 22, a microphone 23, a switch 24, a vehicle behavior information acquisition unit 25, a driving environment acquisition unit 26, and a vehicle position acquisition unit 27.

[0012] Camera 21 is an imaging unit that captures an image of the driver, and is installed in the vehicle and inputs the captured image of the driver to control unit 3. Camera 21 functions as a motion acquisition unit that acquires motion information of the driver. Camera 21 is installed, for example, inside the vehicle so that it can capture an image of the driver from the front. Camera 21 may also be provided with separate imaging units, one for capturing an image of the driver's upper body and the other for capturing an image of the driver's face.

[0013] The biometric information acquisition unit 22 acquires biometric information of the driver, such as a heart rate monitor that measures heart rate and pulse rate, a blood pressure monitor that measures blood pressure, and a thermometer that measures body temperature. The heart rate monitor, blood pressure monitor, and thermometer may be, for example, a wearable device that can be worn by the driver to perform measurements. Furthermore, a millimeter-wave radar may be used as the heart rate monitor. When a millimeter-wave radar is used as the heart rate monitor, it is possible to measure the heart rate and respiratory rate without contacting the driver. The biometric information acquisition unit 22 is capable of communicating with the control unit 3 via wire or wirelessly, and inputs the driver's biometric information to the control unit 3.

[0014] The microphone 23 detects the driver's voice, generates and acquires voice information, and inputs the voice information to the control unit 3. The microphone 23 also acquires voice information or response information of the driver's response to a call from the vehicle control device 1. The switch 24 has, for example, a push button, and acquires the driver's response information to a call from the vehicle control device 1. The switch 24 inputs the response information to the control unit 3. Note that the input unit 2 may include devices or sensors other than the above-described camera 21, biometric information acquisition unit 22, microphone 23, switch 24, and vehicle behavior information acquisition unit 25, as long as they are capable of acquiring information that detects an abnormal state or a sign of an abnormality in the driver.

[0015] The vehicle behavior information acquisition unit 25 is a device that acquires vehicle behavior information, and examples of such devices include a vehicle speed sensor, a steering angle sensor, a camera, and a millimeter-wave radar. The vehicle speed sensor detects the vehicle's traveling speed. The steering angle sensor detects the vehicle's steering angle and provides information for determining whether the vehicle is swaying. The camera, for example, captures an image of the area ahead of the vehicle and provides information for determining whether the vehicle has departed from its lane, whether the vehicle has crossed a stop line, and the distance between the vehicle and a preceding vehicle. The millimeter-wave radar detects the distance to a preceding vehicle or an obstacle ahead of the vehicle. The vehicle behavior information acquisition unit 25 may include all or some of the vehicle speed sensor, steering angle sensor, camera, and millimeter-wave radar, or may include devices or sensors other than the above-mentioned vehicle speed sensor, steering angle sensor, camera, and millimeter-wave radar as long as they can acquire information for detecting abnormal vehicle behavior.

[0016] The driving environment acquisition unit 26 is a device that acquires driving environment information for the vehicle, such as the weather at the device location of the vehicle, the condition of the road on which the vehicle is traveling, and whether there is a parking space on the road. Examples of the driving environment acquisition unit 26 include a rainfall sensor and a camera that captures images outside the vehicle. The driving environment acquisition unit 26 may also acquire weather information through communication with the outside of the vehicle and information about parking spaces on the road.

[0017] The vehicle position acquisition unit 27 is a device that acquires information about the vehicle's traveling position, and is, for example, a navigation system.

[0018] The output unit 5 is a device that operates based on a signal output from the control unit 3, and includes, for example, a vehicle control unit 51, a speaker 52, and a monitor 53. The vehicle control unit 51 has control devices that receive control signals output from the control unit 3 and perform braking control, drive control, and steering control of the vehicle. For example, the vehicle control unit 51 is composed of individual control devices that perform braking control, drive control, and steering control of the vehicle. The speaker 52 issues a voice message to the driver based on a signal output from the control unit 3. The speaker 52 functions as a notification unit that provides auditory notification to the driver, and for example, operates in response to an audio signal from the control unit 3 and outputs a voice. The monitor 53 functions as a notification unit that provides visual notification to the driver, and is, for example, a liquid crystal display or the like, and operates in response to a display signal from the control unit 3. In addition to functioning as a display device, the monitor 53 may also be used as an input device by using a touch panel or the like.

[0019] The control unit 3 is a control unit that controls the driver's vehicle and is configured, for example, by a computer. The control unit 3 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. For example, the control unit 3 loads a vehicle control program stored in the ROM into the RAM and executes it with the CPU to control the vehicle.

[0020] The control unit 3 includes a motion detection unit 31, a posture detection unit 32, a behavior detection unit 33, a biological information detection unit 34, a voice detection unit 35, a driving assistance determination unit 36, an abnormality sign control unit 37, an abnormality sign determination unit 38, an abnormality determination unit 39, a vehicle control unit 41, a communication unit 40, and a storage unit 42. The motion detection unit 31, the posture detection unit 32, the behavior detection unit 33, the biological information detection unit 34, the voice detection unit 35, the driving assistance determination unit 36, the abnormality sign control unit 37, the abnormality sign determination unit 38, the abnormality determination unit 39, and the vehicle control unit 41 are configured, for example, by introducing a vehicle control program into the control unit 3. Furthermore, the motion detection unit 31, the posture detection unit 32, the behavior detection unit 33, the biological information detection unit 34, the voice detection unit 35, the driving assistance determination unit 36, the abnormality sign control unit 37, the abnormality sign determination unit 38, the abnormality determination unit 39, and the vehicle control unit 41 may be configured as individual control units.

[0021] The movement detection unit 31 detects the movement of the driver, and detects the movement of the driver using an image analysis method or an image recognition method based on the image information output from the camera 21. As the image analysis method and image recognition method, a well-known image analysis method and image recognition method may be used. The movement detection unit 31 detects the posture, movement, facial expression, etc. of the driver. For example, the movement detection unit 31 detects the movement of the driver in an abnormal state and the movement that is a sign of an abnormality in the driver. The movement detection unit 31 also detects the movement related to the driver's illness.

[0022] An example of a driver's abnormality precursor is a pain-inducing motion when the driver feels pain. The pain-inducing motion includes the driver's motions and facial expressions indicating pain, such as holding the chest, holding the head, holding the back, holding the shoulders, holding the neck, and a painful facial expression. The driver's pain-inducing motion is a precursor to the driver becoming unable to drive. By detecting the pain-inducing motion with the motion detection unit 31, the vehicle control device 1 can detect the driver's abnormal condition early. Furthermore, by including the pain-inducing motions of holding the chest, holding the head, and holding the back, the motion detection unit 31 can detect abnormalities of heart disease, brain disease, and arterial disease (aortic aneurysm, aortic dissection). It is said that more than 70% of accidents caused by driver illness are caused by heart disease, brain disease, and arterial disease. Therefore, detecting abnormalities of heart disease, brain disease, and arterial disease can accurately improve vehicle driving safety.

[0023] The posture detection unit 32 detects the posture of the driver, and detects the posture of the driver using an image analysis method or an image recognition method based on the image information output from the camera 21. The posture detection unit 32 detects postures that indicate signs of abnormality and abnormal states of the driver. An example of an abnormal state of the driver is a poorly-formed driver's posture. A poorly-formed driver's posture is one that has deviated from the normal driving posture, such as a state in which the driver is leaning against the seat and not gripping the steering wheel firmly, or a state in which the driver is crouched.

[0024] The behavior detection unit 33 detects the behavior of the vehicle and detects abnormal vehicle behavior based on the behavior information acquired by the vehicle behavior information acquisition unit 25. For example, the behavior detection unit 33 detects abnormal vehicle behavior caused by a driver's abnormal sign. Specifically, the behavior detection unit 33 detects abnormal vehicle behavior such as lane departure, erratic driving, delayed operation of the vehicle, crossing a stop line, and driving that poses a risk of a front collision. Therefore, the behavior detection unit 33 functions as a vehicle behavior detection unit.

[0025] The biological information detection unit 34 detects the biological information of the driver, and detects biological information that is a sign of an abnormality in the driver, based on the biological information of the driver acquired by the biological information acquisition unit 22. For example, the biological information detection unit 34 detects all or some of the following: an increase in pulse rate above a predetermined value, a decrease in pulse rate below a predetermined value, an increase in blood pressure above a predetermined value, a decrease in blood pressure below a predetermined value, an abnormal pulse wave, arrhythmia, an increase in respiratory rate above a predetermined number, and a decrease in respiratory rate below a predetermined number.

[0026] The voice detection unit 35 detects the voice of the driver and detects voice information that is a sign of an abnormality in the driver based on the voice information acquired by the microphone 23. For example, the voice detection unit 35 detects voice related to the driver's illness and detects voice that is a sign of an abnormality in the driver. For example, the voice detection unit 35 detects the driver's moans and screams as voice that is a sign of an abnormality in the driver. In this case, the voice detection unit 35 functions as a movement detection unit that detects the driver's movements.

[0027] The driving assistance determination unit 36 ​​determines whether the execution of driving assistance control is restricted based on the driving environment of the vehicle, etc. For example, when multiple driving assistance controls are possible as driving assistance controls for the vehicle, some controls may not be executable depending on the driving environment. The driving assistance determination unit 36 ​​determines whether the execution of driving assistance control is restricted based on the driving environment information acquired by the driving environment acquisition unit 26, and determines which driving assistance control is to be restricted.

[0028] For example, as shown in FIG. 3 , when the driving environment is good (normal), the vehicle driving assistance controls that can be executed include maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation brake control, collision avoidance control, lane departure warning control, lane departure suppression control, turn-around stop control, and follow-up cruise control. However, depending on the driving environment, some of the controls may not be executed. For example, when the vehicle's road is under construction or in bad weather, lane detection may not be possible, and the execution of collision avoidance control, lane departure warning control, lane departure suppression control, and turn-around stop control may be restricted. Furthermore, when the vehicle is not traveling on a highway, the execution of follow-up cruise control may be restricted. In this way, the driving assistance determination unit 36 ​​determines which driving assistance control to restrict based on the vehicle's driving environment, etc. Even if the driving assistance control is restricted when the driver is in an abnormality prediction state or an abnormal state, the vehicle control device 1 ensures the safety of vehicle driving by other driving assistance control or vehicle control.

[0029] The abnormality sign control unit 37 performs abnormality sign response control when the driver exhibits an abnormality sign. For example, the abnormality sign control unit 37 performs a process of asking the driver whether or not the driver is able to drive, and determines whether or not there is a response from the driver. In this case, the abnormality sign control unit 37 outputs a control signal to the speaker 52 or the monitor 53 to notify the driver by audio output or image display, and receives a response signal from the driver via the microphone 23 or the switch 24. Furthermore, when the driving assistance control is restricted, the abnormality sign control unit 37 notifies the driver of this fact. In this case, the abnormality sign control unit 37 outputs a control signal to the speaker 52 or the monitor 53 to notify the driver by audio output or image display.

[0030] The abnormality sign determination unit 38 determines whether or not there is an abnormality sign of the driver. For example, the abnormality sign determination unit 38 determines whether or not there is an abnormality sign of the driver based on the detection results of the action detection unit 31, the behavior detection unit 33, and the biological information detection unit 34.

[0031] 2, the abnormality sign determination unit 38 determines that the driver is in an abnormality sign state when the motion detection unit 31, the behavior detection unit 33, and some of the biological information detection unit 34 detect an abnormality sign of the driver. That is, when at least one of the motion of the driver that is a sign of an abnormality detected by the motion detection unit 31, the abnormal behavior of the vehicle detected by the behavior detection unit 33, and the biological information that is a sign of an abnormality detected by the biological information detection unit 34 is detected, the abnormality sign determination unit 38 determines that the driver is in an abnormality sign state. On the other hand, when none of the motion of the driver that is a sign of an abnormality detected by the motion detection unit 31, the abnormal behavior of the vehicle detected by the behavior detection unit 33, and the biological information that is a sign of an abnormality detected by the biological information detection unit 34 is detected, the abnormality sign determination unit 38 determines that the driver is not in an abnormality sign state. Furthermore, when all of the driver's behavior as a sign of an abnormality detected by the behavior detection unit 31, the vehicle's abnormal behavior detected by the behavior detection unit 33, and the biological information as a sign of an abnormality detected by the biological information detection unit 34 are detected, the abnormality sign determination unit 38 determines that the driver is not in an abnormality sign state. In this case, the abnormality determination unit 39 determines that the driver is in an abnormal state.

[0032] The abnormality determination unit 39 determines whether the driver is in an abnormal state. For example, when the movement detection unit 31 detects that the driver has closed eyes, fainted, or white eyes, the abnormality determination unit 39 determines that the driver is in an incapable state of driving and is in an abnormal state. Furthermore, when the posture detection unit 32 detects that the driver has poor posture, the abnormality determination unit 39 determines that the driver is in an abnormal state. Furthermore, even when the driver does not have closed eyes, fainted, white eyes, or poor posture, the abnormality determination unit 39 may determine that the driver is in an abnormal state if the driver is in an incapable state of driving.

[0033] Furthermore, the abnormality determination unit 39 determines that the driver is in an abnormal state when all of the following are detected: a driver's behavior that is a sign of an abnormality detected by the behavior detection unit 31, an abnormal vehicle behavior detected by the behavior detection unit 33, and biological information that is a sign of an abnormality detected by the biological information detection unit 34. Furthermore, when the abnormality sign determination unit 38 determines that there is a sign of an abnormality, and the driver does not respond to a call to the driver via the speaker 52 or the monitor 53 asking whether or not he or she is able to drive, the abnormality determination unit 39 determines that the driver is in an abnormal state.

[0034] The communication unit 40 is a part that performs wireless communication with the outside of the control unit 3. For example, the communication unit 40 performs wireless communication with the biometric information acquisition unit 22 and acquires the biometric information of the driver.

[0035] When the abnormality determination unit 39 determines that the driver is in an abnormal state, or when the abnormality prediction determination unit 38 determines that the driver is in an abnormality prediction state, the vehicle control unit 41 outputs a control signal to the vehicle control unit 51, and performs driving assistance control and vehicle control to ensure safe vehicle driving.

[0036] The storage unit 42 stores information or data related to vehicle control, etc. For example, the storage unit 42 stores a vehicle control program, control data, etc.

[0037] Next, the operation of the vehicle control device 1, the vehicle control method, and the vehicle control program according to this embodiment will be described.

[0038] 4 is a flowchart showing the operation, vehicle control method, and vehicle control program of the vehicle control device 1. The series of control processes in the flowchart of FIG. 4 is started, for example, when the ignition or power switch of the vehicle is turned on, and is repeatedly executed by the control unit 3 at a predetermined cycle.

[0039] First, as shown in step S10 (hereinafter simply referred to as "S10," and the same applies to steps after S10) in Fig. 4, a step of reading information related to vehicle control is performed. Information related to vehicle control is input to the control unit 3 and read, for example, information output from the camera 21, biometric information acquisition unit 22, microphone 23, switch 24, vehicle behavior information acquisition unit 25, driving environment acquisition unit 26, and vehicle position acquisition unit 27.

[0040] Then, the process proceeds to S12, where a driver's motion detection process is performed. The motion detection process is a process of detecting the driver's motion, and is performed by the motion detection unit 31 using, for example, an image analysis method or an image recognition method based on image information output from the camera 21. The motion detection unit 31 detects abnormal driver motions such as letting go of the steering wheel, fainting, closing the eyes, and rolling back the eyes. The motion detection unit 31 also detects pain motions when the driver feels pain as a sign of an abnormality in the driver. Specifically, the motion detection unit 31 detects pain motions such as holding the chest, holding the head, holding the back, holding the shoulders, holding the neck, and a painful facial expression as pain motions. By detecting the driver's pain motions in the motion detection process, a sign of an abnormality due to illness can be detected. Therefore, the vehicle control device 1, the vehicle control method, and the vehicle control program enable accurate and early detection of driver abnormalities.

[0041] The movement detection step may be performed by the voice detection unit 35 using a voice analysis method or the like based on the voice information output from the microphone 23. The voice detection unit 35 detects voices related to the driver's illness and voices that are a sign of an abnormality in the driver. For example, the voice detection unit 35 detects groans and screams from the driver as voices that are a sign of an abnormality in the driver.

[0042] Then, the process proceeds to S14, where a driver's posture detection process is performed. The posture detection process is a process of detecting the driver's posture, and is performed by the posture detection unit 32 using, for example, an image analysis method or an image recognition method based on image information output from the camera 21. The posture detection unit 32 detects a state of poor posture or the like as an abnormal state of the driver's behavior.

[0043] Then, the process proceeds to S16, where a vehicle behavior detection process is performed. The vehicle behavior detection process is a process of detecting the behavior of the vehicle, and is performed by the behavior detection unit 33 based on the behavior information acquired by the vehicle behavior information acquisition unit 25. For example, the behavior detection unit 33 detects abnormal vehicle behavior caused by a driver's abnormal sign. Specifically, the behavior detection unit 33 detects abnormal vehicle behavior such as lane departure, swaying, delayed operation of the vehicle, crossing a stop line, and driving that poses a risk of a forward collision.

[0044] Then, the process proceeds to S18, where a biological information detection process is performed. The biological information detection process is a process of detecting the driver's biological information, and is performed by the biological information detection unit 34. The biological information detection unit 34 detects biological information that is a sign of an abnormality in the driver. For example, the biological information detection unit 34 detects all or some of the following: an increase in pulse rate above a predetermined value, a decrease in pulse rate below a predetermined value, an increase in blood pressure above a predetermined value, a decrease in blood pressure below a predetermined value, an abnormal pulse wave, arrhythmia, an increase in respiratory rate above a predetermined number, and a decrease in respiratory rate below a predetermined number.

[0045] Then, the process proceeds to S20, where it is determined whether the driver is in an abnormal state. This process is performed, for example, by the abnormality determination unit 39. The abnormality determination unit 39 determines whether the driver is in an abnormal state based on the detection results of the movement detection unit 31, the posture detection unit 32, the behavior detection unit 33, and the biological information detection unit 34. For example, if the posture detection unit 32 detects an abnormal state such as the driver's poor posture, and the abnormal state is continuously detected for a preset time T1, the abnormality determination unit 39 determines that the driver is in an abnormal state. For example, the time T1 is set to a time between 5 and 10 seconds. In this way, the vehicle control device 1 determines that the driver is in an abnormal state if the driver remains in an abnormal state for the time T1, thereby preventing erroneous determination of an abnormal state.

[0046] Furthermore, if the motion detection unit 31, behavior detection unit 33, and biological information detection unit 34 all detect that the driver is in an abnormality prediction state, and this abnormality prediction state continues to be detected for a preset time T2, the abnormality determination unit 39 determines that the driver is in an abnormal state. For example, the time T2 is set to be longer than the time T1, and is set to a time between 10 and 60 seconds. In this way, the vehicle control device 1 determines that the driver is in an abnormal state if the abnormality prediction state continues for the time T2, thereby preventing erroneous determination of an abnormal state.

[0047] On the other hand, if the posture detection unit 32 does not detect an abnormal state for a continuous period of time T1, and the movement detection unit 31, the behavior detection unit 33, and the biometric information detection unit 34 do not detect an abnormality precursor state for a continuous period of time T2, the abnormality determination unit 39 determines that the driver is not in an abnormal state.

[0048] If it is determined in S20 that the driver is in an abnormal state, it is determined whether or not there is a restriction on the execution of driving assistance control (S22). This determination step is executed by the driving assistance determination unit 36. For example, the driving assistance determination unit 36 ​​determines whether or not the execution of driving assistance control is restricted based on the driving environment information acquired by the driving environment acquisition unit 26, and determines which driving assistance control is restricted from being executed. Specifically, the driving assistance determination unit 36 ​​determines whether or not the execution of collision avoidance control, lane departure warning control, lane departure mitigation control, and driving assistance stop control is restricted from being executed among maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation brake control, collision avoidance control, lane departure warning control, lane departure mitigation control, turn-to-stop control, and following drive control.

[0049] If it is determined in S22 that the execution of the driving assist control is not restricted, a stopping control process is executed (S28). Details of the stopping control process will be described later. On the other hand, if it is determined in S22 that the execution of the driving assist control is restricted, a deceleration control process is executed (S30). Details of the deceleration control process will be described later. When the stopping control process of S28 and the deceleration control process of S30 are completed, the series of control processes in FIG. 4 are terminated.

[0050] If it is determined in S20 that the driver is not in an abnormal state, it is determined whether the driver is in an abnormal sign state (S24). This step is performed, for example, by the abnormal sign determination unit 38. The abnormal sign determination unit 38 determines whether the driver is in an abnormal sign state based on the detection results of the movement detection unit 31, the behavior detection unit 33, and the biological information detection unit 34. For example, if some of the movement detection unit 31, the behavior detection unit 33, and the biological information detection unit 34 detect that the driver is in an abnormal sign state and the abnormal sign state is continuously detected for a predetermined time T3, the abnormal sign determination unit 38 determines that the driver is in an abnormal sign state. For example, the time T3 is set to be shorter than the time T2 and is set to be between 10 and 30 seconds. In this way, the vehicle control device 1 determines that the driver is in an abnormal sign state if the driver has been in an abnormal sign state continuously for the time T3, thereby preventing erroneous determination of an abnormal sign state.

[0051] On the other hand, if the movement detection unit 31, the behavior detection unit 33, and part of the biometric information detection unit 34 have not detected an abnormality premonition state for a continuous period of time T3, the abnormality premonition determination unit 38 determines that the driver is not in an abnormality premonition state.

[0052] If it is determined in S24 that the driver is not in an abnormality prediction state, the series of control processes in FIG. 4 is terminated. On the other hand, if it is determined in S24 that the driver is in an abnormality prediction state, it is determined whether or not there is a restriction on the execution of driving assistance control (S26). This determination step is executed by the driving assistance determination unit 36. For example, the driving assistance determination unit 36 ​​determines whether or not the execution of driving assistance control is restricted based on the driving environment information acquired by the driving environment acquisition unit 26, and determines which driving assistance control is restricted from being executed. Specifically, the driving assistance determination unit 36 ​​determines whether or not the execution of collision avoidance control, lane departure warning control, lane departure prevention control, turn-around stop control, and follow-up drive control is restricted from being executed among maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation brake control, collision avoidance control, lane departure warning control, lane departure prevention control, turn-around stop control, and follow-up drive control.

[0053] If it is determined in S26 that the execution of driving assist control is not restricted, a first abnormality sign response control process is executed (S32). Details of the first abnormality sign response control process will be described later. On the other hand, if it is determined in S26 that the execution of driving assist control is restricted, a second abnormality sign response control process is executed (S34). Details of the second abnormality sign response control process will be described later. When the first abnormality sign response control process of S32 and the second abnormality sign response control process of S34 have ended, the series of control processes in FIG. 4 end.

[0054] Fig. 5 is a flowchart of the vehicle stop control process shown in S28 of Fig. 4. The control process of the flowchart of Fig. 5 is executed by the control unit 3, for example.

[0055] First, as shown in S40 of FIG. 5, a deceleration control process is performed. The deceleration control process is a process of automatically decelerating the vehicle, for example, by gently decelerating the vehicle until the target speed is reached at a deceleration similar to that of engine braking. Then, the process proceeds to S42, where driving assistance control is activated. For example, all operable driving assistance controls are activated. Specifically, if maximum speed suppression control, pedal erroneous operation suppression control, forward collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, lane departure suppression control, evacuation stop control, and follow-up cruise control are possible as driving assistance controls for the vehicle, all of these controls are activated, and braking control, steering control, etc. are executed according to the vehicle driving situation. Note that if the vehicle is not traveling on a road exclusively for motor vehicles, follow-up cruise control is not activated.

[0056] Then, the process proceeds to S44, where it is determined whether or not there is a cancellation signal for the stop control process. If it is determined in S44 that there is a cancellation signal for the stop control process, the process proceeds to S46, where it is determined whether or not cancellation of the stop control process is at the driver's request. If it is determined in S46 that cancellation of the stop control process is at the driver's request, the stop control process of FIG. 5 is terminated. On the other hand, if it is determined in S46 that cancellation of the stop control process is not at the driver's request, the process proceeds to the deceleration control process of FIG. 6.

[0057] If it is determined in S44 that there is no cancellation signal for the stopping control process, the process proceeds to S48, where it is determined whether the target speed has been reached. That is, it is determined whether the vehicle speed has reached the target speed through the deceleration control of S40. If it is determined in S48 that the target speed has not been reached, the process returns to S44. On the other hand, if it is determined in S48 that the target speed has been reached, the process proceeds to S50, where the stopping control process is performed.

[0058] The vehicle stopping control step of S50 is a control for stopping the vehicle. For example, in the vehicle stopping control step, first, it is determined whether or not there is a stopping space on the road on which the vehicle is traveling. If it is determined that there is a stopping space, the vehicle is decelerated toward the stopping space, and steering control is also performed as necessary. At this time, the hazard lights and brake lights of the vehicle may be turned on, and after the vehicle has stopped, a notification that an abnormality has occurred may be issued, and treatment for the illness may be performed as necessary.

[0059] On the other hand, if it is determined in the stopping control step of S50 that there is no stopping space, the vehicle is driven to a location where a stopping space can be detected. At this time, the vehicle's traveling speed is set to a speed that matches the traffic flow. Also, if the vehicle is traveling on a road where stopping is not permitted, such as a highway, the vehicle is driven to a location where stopping is permitted while adhering to the speed limit, and the vehicle is stopped there. Then, once the stopping control step of S50 is completed, the series of control processes in FIG. 5 is terminated.

[0060] Fig. 6 is a flowchart of the deceleration control process shown in S30 of Fig. 4. The control process of the flowchart of Fig. 6 is executed by the control unit 3, for example.

[0061] First, driving assistance control is activated as shown in S60 of Fig. 6. For example, among the vehicle driving assistance control, maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, lane departure suppression control, turn-to-stop control, and following cruise control, maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, and collision mitigation braking control are activated.

[0062] Then, as shown in S62, a first deceleration control step is performed. The first deceleration control step is a step in which the vehicle is decelerated by automatic control to set the vehicle speed to a first target speed. For example, in the first deceleration control step, the vehicle is slowly decelerated until it reaches the first target speed at a deceleration approximately equal to the deceleration of engine braking.

[0063] Then, the process proceeds to S64, where it is determined whether or not there is a control process cancellation signal. If it is determined in S64 that there is a control process cancellation signal, the deceleration control process of FIG. 6 is terminated. On the other hand, if it is determined in S64 that the control process cancellation has not occurred, the process proceeds to S66, where it is determined whether or not the vehicle stop control process is possible. Here, if it is determined in S66 that the vehicle stop control process is possible, the process proceeds to the vehicle stop control process of FIG. 5.

[0064] On the other hand, if it is determined in S66 that the vehicle stop control process is not possible, the process proceeds to S68, where it is determined whether the vehicle speed has reached the first target speed. If it is determined in S68 that the vehicle speed has not reached the first target speed, the process returns to the first deceleration control process of S62.

[0065] On the other hand, if it is determined in S68 that the vehicle speed has reached the first target speed, the process proceeds to S70, where a second deceleration control step is performed. The second deceleration control step is a step in which the vehicle is automatically decelerated to a second target speed. The second target speed is set to a speed slower than the first target speed. In the second deceleration control step, the vehicle is gradually decelerated until it reaches the second target speed. In this second deceleration control step, an outside vehicle notification may be performed, and the hazard lights may be turned on and the horn may be activated.

[0066] Then, the process proceeds to S72, where it is determined whether or not there is a control process cancellation signal. If it is determined in S72 that there is a control process cancellation signal, the deceleration control process of FIG. 6 is terminated. On the other hand, if it is determined in S72 that there is no control process cancellation, the process proceeds to S74, where it is determined whether or not the vehicle stop control process is possible. Here, if it is determined in S74 that the vehicle stop control process is possible, the process proceeds to the vehicle stop control process of FIG. 5.

[0067] On the other hand, if it is determined in S74 that the vehicle stop control process is not possible, the process proceeds to S76, where it is determined whether the vehicle speed has reached the second target speed. If it is determined in S76 that the vehicle speed has not reached the second target speed, the process returns to the second deceleration control process of S70.

[0068] On the other hand, if it is determined in S76 that the vehicle speed has reached the second target speed, the process proceeds to S78, where a cruise control process is performed. The cruise control process is a control process in which the vehicle continues to run by automatic control. In this case, the vehicle continues to run except when the driving assistance control of S60 is executed to stop the vehicle. Also, in the cruise control process of S76, if monitoring control of the vehicle is possible, vehicle control measures may be taken by remote operation. After the cruise control process of S76 is completed, the deceleration control process of FIG. 6 ends.

[0069] Fig. 7 is a flowchart of the first abnormality sign response control process shown in S32 of Fig. 4. The control process of the flowchart of Fig. 7 is executed by the control unit 3, for example.

[0070] First, as shown in S90 of Fig. 7, driving assistance control is activated. For example, among the vehicle driving assistance control including maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, lane departure suppression control, turn-to-stop control, and following cruise control, the maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, lane departure suppression control, and turn-to-stop control are activated. By activating such driving assistance control, the vehicle control device 1 can improve the safety of vehicle driving when the driver is in an abnormality prediction state.

[0071] Then, as shown in S92, it is determined whether a preset time T4 has elapsed since the abnormality precursor state was detected. Time T4 is set to be longer than time T2, for example, approximately 1.5 minutes. If it is determined in S92 that time T4 has not elapsed, the first abnormality precursor response control process of FIG. 7 is terminated. On the other hand, if it is determined in S92 that time T4 has elapsed, the process proceeds to S94, where the threshold for executing driving assist control is changed, making it easier to execute driving assist control. As a result, the longer the driver's abnormality precursor state continues, the more likely it is that driving assist control will be executed, thereby improving the safety of vehicle driving.

[0072] Then, the process proceeds to S96, where a calling process is performed. The calling process is a process of calling the driver whether or not they are able to drive the vehicle. For example, the calling may be made by voice through the speaker 52, or by visual display on the monitor 53.

[0073] Then, the process proceeds to S98, where it is determined whether or not there is a response to the call. For example, it is determined whether or not there is a response to the call within a preset time T5. Time T5 is set, for example, to about 10 seconds. If there is a response in S98, it is determined that the driver is able to drive the vehicle, and the first abnormality sign response control process of FIG. 7 is terminated. On the other hand, if there is no response in S98, it is determined that the driver is in an incapable state of driving, and the process proceeds to the vehicle stop control process of FIG. 5. Once S98 is completed, the first abnormality sign response control process of FIG. 7 is terminated.

[0074] Fig. 8 is a flowchart of the second abnormality sign response control process shown in S34 of Fig. 4. The control process of the flowchart of Fig. 8 is executed by the control unit 3, for example.

[0075] First, as shown in S110 of Fig. 8, driving assistance control is activated. For example, among the vehicle driving assistance control including maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, lane departure suppression control, turn-to-stop control, and following cruise control, maximum speed suppression control, erroneous pedal operation suppression control, forward collision warning control, and collision mitigation braking control are activated. By activating such driving assistance control, the vehicle control device 1 can improve the safety of vehicle driving when the driver is in an abnormality prediction state.

[0076] Then, as shown in S112, it is determined whether a preset time T6 has elapsed since the abnormality precursor state was detected. Time T6 is set to be approximately the same as time T2, for example, between 10 and 60 seconds. If it is determined in S112 that time T6 has not elapsed, the second abnormality precursor response control process of FIG. 8 is terminated. On the other hand, if it is determined in S112 that time T6 has elapsed, the process proceeds to S114, where a deceleration control process is performed. This deceleration control step is a step of automatically decelerating the vehicle, and is executed, for example, by gradually decelerating the vehicle until the target speed is reached at a deceleration equivalent to that of engine braking.

[0077] Then, the process proceeds to S116, where a notification process is performed. The notification process notifies the driver that there is a sign of an abnormality and that support by automatic control cannot be provided due to limitations on driving assistance control. This notification is performed, for example, by audio output from the speaker 52 or display output from the monitor 53. Then, the process proceeds to S118, where a calling process is performed. The calling process is a process of calling the driver whether or not they are able to drive the vehicle. For example, the calling may be made by voice through the speaker 52, or by image display on the monitor 53.

[0078] Then, the process proceeds to S120, where it is determined whether or not there is a response to the call in S118. For example, it is determined whether or not there is a response to the call within a preset time T5. If there is a response in S120, it is determined that the driver is able to drive the vehicle, and the second abnormality sign response control process in FIG. 8 is terminated. On the other hand, if there is no response in S120, the process proceeds to the deceleration control process in FIG. 6. Once the process in S120 is completed, the second abnormality sign response control process in FIG. 8 is terminated.

[0079] As described above, the vehicle control device 1, vehicle control method, and vehicle control program of this embodiment perform different vehicle control depending on the driver's abnormality warning situation, allowing the driver to perform appropriate vehicle control depending on the abnormality warning situation, thereby ensuring the safety of vehicle driving.

[0080] Furthermore, the vehicle control device 1, vehicle control method, and vehicle control program of this embodiment can ensure the safety of vehicle driving until the driver enters an abnormal state by activating driving assistance control that improves vehicle driving safety from the time the driver is determined to be in a pre-existing abnormal state until the time the driver is determined to be in an abnormal state.

[0081] In addition, the vehicle control device 1, vehicle control method, and vehicle control program of this embodiment can ensure the safety of vehicle driving by activating at least one of vehicle speed limit control, driving error prevention control, collision warning control, collision mitigation braking control, collision avoidance control, lane departure warning control, and lane departure prevention control as driving assistance controls that improve vehicle driving safety.

[0082] Furthermore, the vehicle control device 1, vehicle control method, and vehicle control program according to the present embodiment change the execution threshold for driving assistance control to make it easier to execute driving assistance control when a preset time has elapsed since the driver was determined to be in an abnormal state. Therefore, the vehicle control device 1, vehicle control method, and vehicle control program according to the present embodiment can improve the safety of vehicle driving when the possibility of the driver becoming abnormal increases.

[0083] Furthermore, the vehicle control device 1, vehicle control method, and vehicle control program according to this embodiment can ensure the safety of vehicle driving by at least performing deceleration control of the vehicle when the execution of driving assistance control is restricted.

[0084] The vehicle control device, vehicle control method, and vehicle control program according to the present invention are not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. The vehicle control device 1, vehicle control method, and vehicle control program according to this embodiment may be configured by appropriately combining the components of the above-described embodiment and modified examples. [Explanation of symbols]

[0085] 1: Vehicle control device 31: Motion detection unit (detection unit) 32: Posture detection unit (detection unit) 33: Behavior detection unit (detection unit) 34: Biometric information detection unit (detection unit) 36: Driving assistance judgment unit 38: Abnormality prediction determination unit 39: Abnormality determination section 41: Vehicle control unit

Claims

1. a detection unit that detects a movement of a driver of a vehicle, a behavior of the vehicle, and biological information of the driver; an abnormality sign determination unit that determines whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control unit that performs different vehicle control depending on the state of the driver's abnormality sign, the detection unit includes a posture detection unit that detects a posture of the driver that indicates an abnormal state, a movement detection unit that detects a movement of the driver that indicates an abnormality, a vehicle behavior detection unit that detects abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection unit that detects biological information that indicates an abnormality indication of the driver, an abnormality determination unit that determines whether the driver is in an abnormal state using at least a detection result of the posture detection unit; The vehicle control unit activates driving assistance control that improves the driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign to the time when it is determined that the driver is in an abnormal state, and when a preset time has elapsed from the time when it is determined that the driver has an abnormality sign, it changes an execution threshold of the driving assistance control to make it easier to execute the driving assistance control. Vehicle control device.

2. A detection unit that detects the movement of a vehicle driver, the behavior of the vehicle, and biometric information of the driver; an abnormality sign determination unit that determines whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control unit that performs different vehicle control depending on the state of the driver's abnormality sign, the detection unit includes a posture detection unit that detects a posture of the driver that indicates an abnormal state, a movement detection unit that detects a movement of the driver that indicates an abnormality, a vehicle behavior detection unit that detects abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection unit that detects biological information that indicates an abnormality indication of the driver, an abnormality determination unit that determines whether the driver is in an abnormal state using at least a detection result of the posture detection unit; the vehicle control unit activates driving assistance control that enhances driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign to the time when it is determined that the driver is in an abnormal state, a driving assistance determination unit that determines whether or not execution of the driving assistance control is restricted; When the driving assistance determination unit determines that the execution of the driving assistance control is to be restricted, the vehicle control unit performs vehicle control that is different from a control performed when the driving assistance determination unit determines that the execution of the driving assistance control is not to be restricted, and performs at least deceleration control of the vehicle. Vehicle control device.

3. The vehicle control unit activates at least one of a speed limit control of the vehicle, a driving error suppression control, a collision warning control, a collision mitigation braking control, a collision avoidance control, a lane departure warning control, and a lane departure suppression control as the driving assistance control for enhancing the driving safety of the vehicle. The vehicle control device according to claim 1 or 2.

4. A detection step of detecting a movement of a driver of a vehicle, a behavior of the vehicle, and biometric information of the driver; an abnormality sign determination step of determining whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control step of performing different vehicle control depending on the state of the driver's abnormality sign, The detection step includes a posture detection step of detecting a posture of the driver that indicates an abnormal state, a behavior detection step of detecting a behavior of the driver that indicates an abnormality, a vehicle behavior detection step of detecting an abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection step of detecting biological information that indicates an abnormality indication of the driver, an abnormality determination step of determining whether the driver is in an abnormal state using at least a detection result of the posture detection step; The vehicle control step activates driving assistance control for improving the driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign until it is determined that the driver is in an abnormal state, and when a preset time has elapsed from the time when it is determined that the driver has an abnormality sign, changes an execution threshold of the driving assistance control to make it easier to execute the driving assistance control. Vehicle control method.

5. A detection step of detecting a movement of a driver of a vehicle, a behavior of the vehicle, and biometric information of the driver; an abnormality sign determination step of determining whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control step of performing different vehicle control depending on the state of the driver's abnormality sign, The detection step includes a posture detection step of detecting a posture of the driver that indicates an abnormal state, a behavior detection step of detecting a behavior of the driver that indicates an abnormality, a vehicle behavior detection step of detecting an abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection step of detecting biological information that indicates an abnormality indication of the driver, an abnormality determination step of determining whether the driver is in an abnormal state using at least a detection result of the posture detection step; The vehicle control step activates a driving assistance control for improving the driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign to the time when it is determined that the driver is in an abnormal state, a driving assistance determination step of determining whether or not execution of the driving assistance control is restricted; When it is determined in the driving assistance determination step that the execution of the driving assistance control is to be restricted, the vehicle control step performs a vehicle control different from that performed in a case where it is determined in the driving assistance determination step that the execution of the driving assistance control is not to be restricted, and performs at least a deceleration control of the vehicle. Vehicle control method.

6. A vehicle control program for causing a computer to execute vehicle control, a detecting step of detecting a movement of a driver of a vehicle, a behavior of the vehicle, and biometric information of the driver; an abnormality sign determination step of determining whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control step of performing different vehicle control depending on the state of the driver's abnormality sign, The detection step includes a posture detection step of detecting a posture of the driver that indicates an abnormal state, a behavior detection step of detecting a behavior of the driver that indicates an abnormality, a vehicle behavior detection step of detecting an abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection step of detecting biological information that indicates an abnormality indication of the driver, further executing an abnormality determination step of determining whether or not the driver is in an abnormal state using at least a detection result of the posture detection step; The vehicle control step activates driving assistance control for improving the driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign until it is determined that the driver is in an abnormal state, and when a preset time has elapsed from the time when it is determined that the driver has an abnormality sign, changes an execution threshold of the driving assistance control to make it easier to execute the driving assistance control. Vehicle control program.

7. A vehicle control program that causes a computer to execute vehicle control, a detecting step of detecting a movement of a driver of a vehicle, a behavior of the vehicle, and biometric information of the driver; an abnormality sign determination step of determining whether or not the driver has an abnormality sign based on the driver's actions, the vehicle behavior, and the driver's biological information; a vehicle control step of performing different vehicle control depending on the state of the driver's abnormality sign, The detection step includes a posture detection step of detecting a posture of the driver that indicates an abnormal state, a behavior detection step of detecting a behavior of the driver that indicates an abnormality, a vehicle behavior detection step of detecting an abnormal behavior of the vehicle associated with the abnormality indication of the driver, and a biological information detection step of detecting biological information that indicates an abnormality indication of the driver, further executing an abnormality determination step of determining whether or not the driver is in an abnormal state using at least a detection result of the posture detection step; The vehicle control step activates a driving assistance control for improving the driving safety of the vehicle from the time when it is determined that the driver has an abnormality sign to the time when it is determined that the driver is in an abnormal state, further executing a driving assistance determination step of determining whether or not the execution of the driving assistance control is restricted; When it is determined in the driving assistance determination step that the execution of the driving assistance control is to be restricted, the vehicle control step performs a vehicle control different from that performed in a case where it is determined in the driving assistance determination step that the execution of the driving assistance control is not to be restricted, and performs at least a deceleration control of the vehicle. Vehicle control program.

Images