Vehicle control system and program

Abstract

To provide a vehicle control device and a program which can improve a function of supporting operation of a vehicle.SOLUTION: A vehicle control device 10 comprises a control part 12 that executes operation support control including emergency stop control of decelerating and then stopping a vehicle 2 when an abnormality occurs on a driver, on the basis of a first detected value showing a state in a vehicle interior of the vehicle. In a state where the emergency stop control is not executed based on a predetermined condition, when determining that a risk that the vehicle collides with an object is above a predetermined level on the basis of a second detected value showing a state of a vehicle exterior of the vehicle and when determining that an occupant in the vehicle other than the driver is performing emergency operation concerning operation of the vehicle on the basis of the first detected value, the control part forcibly executes the emergency stop control, regardless of an operation state of the emergency stop control.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a program for assisting the driving of a vehicle.

Background Art

[0002] Patent Document 1 describes a vehicle control device that stops a vehicle when an abnormality occurs to the driver of the vehicle. This vehicle control device includes a monitoring unit that monitors the state of the driver, a detection unit that detects environmental information around the vehicle, and a control unit that supports the driving of the driver. The control unit is configured to execute driving support for stopping the vehicle on the road shoulder based on the detection result of the detection unit when it is determined that an abnormality has occurred to the driver based on the monitoring result of the monitoring unit.

[0003] Furthermore, this vehicle control device is configured to invalidate the driving support function based on the operation of the driver. When the driving support function of this vehicle control device is invalidated, it is configured to forcibly activate the driving support function when the determination result of the risk of the vehicle contacting an object is a predetermined value or more.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the vehicle control device described in Patent Document 1 forcibly activates the driving support function from a state where the driving support function is invalidated, there is a possibility that the driving support function may not operate reliably depending on the detection conditions for detecting the outside of the vehicle.

[0006] An object of the present invention is to provide a vehicle control device and a program that can improve the driving support function of a vehicle. [Means for solving the problem]

[0007] One aspect of the present invention is a vehicle control device comprising a control unit that performs driving assistance control, including emergency stop control that decelerates and stops the vehicle when an abnormality occurs to the driver, based on a first detection value indicating the state inside the vehicle, wherein the control unit, when in a state where the emergency stop control is not performed based on predetermined conditions, determines that the risk of contact between the vehicle and an object is at or above a predetermined level based on a second detection value indicating the state outside the vehicle, and determines, based on the first detection value, that an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle, forcibly performs the emergency stop control regardless of the operating status of the emergency stop control. [Effects of the Invention]

[0008] According to the present invention, the driver assistance functions of a vehicle can be improved. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing the configuration of a vehicle control device according to the embodiment. [Figure 2] This is a flowchart showing the processing flow of the vehicle control method. [Figure 3] This is a flowchart showing the processing flow of the vehicle control method. [Figure 4] This flowchart shows the process for determining emergency actions taken by the crew. [Modes for carrying out the invention]

[0010] As shown in Figure 1, the vehicle system 1 consists of a vehicle 2, a vehicle control device 10 installed in the vehicle 2, and a server device 30 that is communicatively connected to the vehicle 2 via a network W. The vehicle 2 is, for example, a manually operated vehicle that runs based on the driver's manual operation. The vehicle 2 may be equipped with any drive source, such as an electric vehicle, an internal combustion engine vehicle, or a hybrid vehicle.

[0011] The vehicle control device 10 performs controls on the vehicle 2 to assist the driver operating the vehicle 2. The server device 30 communicates with the vehicle 2 via the communication unit 4 provided in the vehicle 2. The server device 30 may perform distributed processing of some or all of the calculations of the vehicle control device 10, or it may perform updates to the programs installed on the vehicle control device 10.

[0012] Vehicle 2 is equipped with a detection unit 3 that outputs detection values ​​related to vehicle 2, for example. Vehicle 2 is equipped with a notification unit 8 that outputs predetermined notifications inside and outside the vehicle. Vehicle 2 is equipped with a vehicle control device 10 for driver assistance control to assist the driver.

[0013] The detection unit 3 is equipped with, for example, an external sensor 3A that detects the conditions outside the vehicle. The external sensor 3A includes, for example, a LiDAR device or radar device that detects objects present outside the vehicle, and an external camera that captures images of the environment outside the vehicle. The LiDAR device uses laser waves to detect the distance, position, and shape of an object. One or more LiDAR devices may be provided. The radar device uses radar waves to detect the distance to an object. One or more radar devices may be provided. The external camera outputs captured images of the environment outside the vehicle. One or more external cameras may be provided.

[0014] The detection unit 3 is equipped with, for example, an in-vehicle camera 3B for capturing images of the interior of the vehicle. The in-vehicle camera 3B captures images of the occupants sitting in the vehicle. The camera is mounted to capture images of the driver sitting in the driver's seat, other occupants sitting in the passenger seat, and occupants sitting in the rear seats. The in-vehicle camera 3B outputs the captured images of the interior of the vehicle. There may be one or more in-vehicle cameras 3B.

[0015] The detection unit 3 is equipped with, for example, an occupant sensor 3C that detects the status of an occupant's presence in the vehicle. The occupant sensor 3C includes, for example, a seat sensor that detects whether an occupant is seated and a seat belt sensor that detects whether a seat belt is fastened or unfastened. The seat sensor is provided on the seat surface of each seat in the vehicle and detects whether an occupant is seated or not. The seat sensor is used in conjunction with safety devices such as airbag systems. The seat belt sensor is provided on the buckle receiving part of the seat belt provided on each seat. The seat belt sensor detects whether the buckle is fastened or unfastened. The seat belt sensor is used in conjunction with safety devices such as a pretensioner mechanism that controls the tension state of the seat belt system.

[0016] The detection unit 3 is equipped with, for example, an operating target sensor 3D that detects the operating state of an operating target related to the operation of the vehicle. The operating target sensor 3D includes, for example, an accelerator sensor that detects the amount of accelerator operation, a brake sensor that detects the amount of brake operation, a steering sensor that detects the amount of steering device operation, and a shift position sensor that detects the operating state of the shift range.

[0017] The detection unit 3 is equipped with, for example, a vehicle state sensor 3E for detecting the state of the vehicle 2. The vehicle state sensor 3E includes, for example, an acceleration sensor for detecting the acceleration of the vehicle 2, an angle sensor for detecting the rotation angle of the vehicle 2, and a position sensor for detecting the current position of the vehicle 2. The acceleration sensor detects acceleration in three axes relative to the vehicle 2. The angle sensor detects angular velocity around three axes relative to the vehicle 2. The acceleration sensor and angle sensor may be composed of a 6-axis sensor. The position sensor is composed of, for example, a GPS (Global Positioning System) sensor for detecting the coordinates of the current position of the vehicle 2.

[0018] The detection unit 3 is equipped with a driver assistance device switch 3F that detects the operating status of a driver assistance device that assists in driving the vehicle 2. The driver assistance device switch 3F includes, for example, an emergency stop control switch 3G for emergency stop control that brings the vehicle to an emergency stop in the event of an abnormality. Emergency stop control is a driver assistance control such as EDSS (Emergency Driving Stop System) that decelerates and stops the vehicle 2 when an abnormality occurs in the driver. The emergency stop control switch 3G is a switch for switching the emergency stop control to the ON state or the OFF state.

[0019] The driver assistance device switch 3F includes, for example, a lane keeping control switch 3H for lane keeping control. Lane keeping control is a driver assistance control such as LTA (Lane Tracing Assist) that keeps the vehicle 2 in the lane it is traveling in. The lane keeping control switch 3H is a switch for switching the lane keeping control on or off. The emergency stop control switch 3G and the lane keeping control switch 3H may be implemented by display images shown on the display unit 8A, which will be described later. Detected values ​​based on the state and operation of the vehicle 2 detected by the detection unit 3 are output to the vehicle control device 10.

[0020] The vehicle control device 10 includes a control unit 12 that executes driving support control, and a storage unit 14 that stores data and programs. The control unit 12 is composed of a hardware processor such as at least one CPU (Central Processing Unit). The storage unit 14 is composed of a non-temporary storage medium such as a hard disk drive (HDD) or a solid state drive (SSD). The storage unit 14 stores computer programs and data necessary for control. The control unit 12 and the storage unit 14 may be provided integrally with the vehicle control device 10, or may be provided separately.

[0021] Based on the detection value detected by the detection unit 3, when the control unit 12 determines that a predetermined abnormality has occurred in the vehicle 2 or the driver, the control unit 12 controls a traveling device including a driving unit 5, a braking unit 6, a steering unit 7, etc. provided in the vehicle 2 to execute driving support control. The driving unit 5 is composed of a power device such as an engine and a transmission device connected to the power device. The braking unit 6 is composed of a device that decelerates and stops the vehicle 2, such as a braking device. The steering unit 7 is composed of a device for controlling the direction of the vehicle 2. When the vehicle 2 is an electric vehicle, the driving unit 5, the braking unit 6, and the steering unit 7 may be integrated by at least one device.

[0022] When executing driving support control, the control unit 12 controls a notification unit 8 provided in the vehicle 2 to output a predetermined notification. The notification unit 8 is composed of, for example, a display unit 8A that outputs a predetermined information based on a display image, a speaker 8B that outputs a predetermined information based on voice output, and a lighting device 8C that outputs an emergency flashing light. The display unit 8A is composed of a display device such as a liquid crystal display. The lighting device 8C is composed of a brake lamp, a wiper lamp, etc.

[0023] Based on a first detection value indicating the state inside the vehicle 2, the control unit 12 performs driver assistance control, including emergency stop control, which slows down and stops the vehicle when an abnormality occurs with the driver. When the control unit 12 starts emergency stop control, it controls the braking unit 6 to slow down the vehicle 2 and then stop it. In parallel with controlling the braking unit 6, the control unit 12 may also control the steering unit 7 based on the detection value of the external sensor 3A to stop the vehicle 2 in a position where safety can be ensured, such as the shoulder of the road. While the emergency stop control is being executed, the control unit 12 controls the notification unit 8 to notify the inside and outside of the vehicle 2 of the occurrence of an abnormality.

[0024] During the execution of emergency stop control, the control unit 12 causes the display unit 8A to display an image indicating that emergency stop control is being performed. During the execution of emergency stop control, the control unit 12 outputs a predetermined alarm sound from the speaker. During the execution of emergency stop control, the control unit 12 controls the lighting device 8C to illuminate the stop lamps and flash the hazard lamps. During the execution of emergency stop control, the control unit 12 may sound the horn (not shown). During the execution of emergency stop control, the control unit 12 may disable operation to the accelerator pedal. The first detected value includes a detected value related to the in-vehicle condition detected by the detection unit 3.

[0025] The first detection value includes, for example, the image captured by the in-vehicle camera 3B and the detection value of the occupant sensor 3C. The control unit 12 executes emergency stop control when it detects a value indicating that the emergency stop control switch 3G is ON, for example, based on the occupant's operation. While the emergency stop control is being executed, the control unit 12 may display an image on the display unit 8A, which is configured as a touch panel, that includes a release button for releasing the emergency stop control. The control unit 12 may release the emergency stop control based on the operation of the release button.

[0026] The control unit 12 may monitor the driver's behavior based on the images captured by the in-vehicle camera 3B, and if it determines that there is an abnormality with the driver, it may automatically turn on the emergency stop control switch 3G and execute emergency stop control. For example, the control unit 12 determines whether or not there is an abnormality with the driver based on the captured images. The control unit 12 is configured to be able to determine the state of the driver captured in the captured images based on supervised machine learning such as deep learning. The control unit 12 monitors the driver's behavior captured in the captured images, and if it detects that the driver is not moving, has their eyes closed, or is hanging their head, or is otherwise behaving in an unusual manner, it determines that there is an abnormality with the driver.

[0027] The control unit 12 determines the driver's operation status of the driving controls, such as the accelerator pedal, brake pedal, and steering wheel, based on detected values ​​indicating the operation status of these controls. If the control unit 12 detects that the driver's operation status of the driving controls has not changed for a predetermined period of time or longer, it determines that there is an abnormality with the driver. If the control unit 12 determines that there is an abnormality with the driver based on the detected values, it executes emergency stop control.

[0028] If the control unit 12 determines, based on the image captured by the in-vehicle camera 3B, the detected value of the occupant sensor 3C, and the detected value of the operated sensor 3D, that an occupant of vehicle 2 other than the driver is performing an emergency operation related to the operation of vehicle 2, it determines that there is an abnormality with the driver. Emergency operations include various operations such as steering, shifting, braking, and lighting, which decelerate vehicle 2 and move it to a predetermined position to reduce the impact on following traffic.

[0029] The control unit 12 detects, for example, that the passenger seat belt is unbuckled based on the detected value of the seat belt sensor. The control unit 12 detects that the passenger in the passenger seat is leaning towards the driver from a seated position based on the detected value of the seating sensor. The control unit 12 detects that an operation is being performed on an object to be operated, such as the steering wheel, based on the detected value of the operated object sensor 3D.

[0030] The control unit 12 determines that an emergency operation is being performed if it detects that the passenger in the front seat has maintained a second seating position, where they are moving closer to the driver, from a first seating position, for a predetermined period of time or longer, based on the detected value of the passenger seat occupancy sensor and the detected value of the passenger seat belt fastening / unfastening. The control unit 12 also determines that an emergency operation is being performed if it detects that the passenger in the rear seat has maintained a second seating position, where they are moving closer to the driver, from a first seating position, for a predetermined period of time or longer, based on the detected value of the rear seat belt fastening / unfastening.

[0031] The control unit 12 determines the occupant's seating position and first riding posture based on the seating detection value from the seating sensor, and also determines the second riding posture based on the seat belt fastening / unfastening detection value. When the control unit 12 detects the above values, it determines that the passenger in the front seat is attempting to perform an emergency operation on the vehicle 2 and determines that there is a problem with the driver. The control unit 12 may also determine that the passenger in the front seat is attempting to operate the vehicle 2 and determines that there is a problem with the driver based on the image captured by the in-vehicle camera 3B. If the control unit 12 determines that there is a problem with the driver based on the above determination result, it forcibly turns on the emergency stop control and executes the emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G.

[0032] When the control unit 12 detects that the lane keeping control switch 3H is ON, it executes lane keeping control. In lane keeping control, the control unit 12 assists in controlling the steering unit 7 so that the vehicle 2 travels near the center of the lane. Based on the image of the road lane captured by the external camera included in the external sensor 3A, the control unit 12 determines whether the vehicle 2 is traveling while maintaining its position within the area inside the pair of lane marks. If the vehicle approaches either of the pair of lane marks within a predetermined distance, the control unit 12 controls the steering unit 7 to return the vehicle 2 to near the center of the lane, preventing the vehicle 2 from deviating from the lane.

[0033] If the control unit 12 detects that the emergency stop control switch 3G is ON based on the operation of the driver or passenger while lane keeping control is being performed, it will execute emergency stop control. While emergency stop control is being performed, the control unit 12 will control the notification unit 8 to output a predetermined notification. If the control unit 12 determines that there is an abnormality with the driver while lane keeping control is being performed, it will forcibly turn on the emergency stop control and execute emergency stop control regardless of the operating status based on the operation status of the emergency stop control switch 3G.

[0034] In an emergency, the control unit 12 forcibly turns on the emergency stop control and executes the emergency stop control, regardless of the operating status based on the operation status of the emergency stop control switch 3G. When the emergency stop control is not executed based on predetermined conditions, the control unit 12 forcibly executes the emergency stop control regardless of the operating status of the emergency stop control if the following conditions are met. The predetermined conditions include the emergency stop control switch 3G being turned off by the driver or passenger, the lane being undetectable due to driving conditions such as driving on a sharp curve in lane keeping control, and the lane keeping control switch 3H being turned off.

[0035] In lane keeping control systems, if the lane cannot be detected or if the lane keeping control system is turned off, the vehicle 2 faces the risk of contact with surrounding objects. The control unit 12 calculates the risk of contact between the vehicle and the object based on a second detection value that indicates the state of the vehicle outside the vehicle. The second detection value includes, for example, images captured by an external camera, detection values ​​from a LiDAR device, detection values ​​from a radar device, and calculated values ​​based on vehicle-to-vehicle communication.

[0036] When emergency stop control is not performed based on predetermined conditions, the control unit 12 determines whether the risk of contact between the vehicle and the object is above a predetermined level based on a second detection value indicating the state outside the vehicle. The predetermined level is set, for example, based on the distance between the vehicle 2 and the object. The predetermined level may also be determined based on the degree of contact between the vehicle 2 and the object.

[0037] The control unit 12 determines, based on the first detected value, whether or not an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle. If the control unit 12 determines that the risk is above a predetermined level and that an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle, it forcibly turns on the emergency stop control and executes lane keeping control and emergency stop control, regardless of the operating state based on the operation state of the emergency stop control switch 3G.

[0038] Figures 2 and 3 show the processing flow of the vehicle control method executed in the vehicle control device 10. The vehicle control method is executed based on a program installed in the computer mounted on the vehicle control device 10. The program causes the computer to perform the following processes. The control unit 12 determines, based on predetermined conditions, whether or not the driver assistance controls, including lane keeping assist (LTA) and emergency stop assist (EDSS), are disabled when the vehicle 2 is in operation (step S100). If the control unit 12 determines that the driver assistance controls are disabled (step S100: Yes), it determines whether or not the lane can be detected based on a second detection value indicating the state outside the vehicle (step S102).

[0039] If the control unit 12 can detect the lane (step S102: Yes), it determines whether the vehicle 2 will deviate from the lane (step S104). In the determination process, the control unit 12 determines whether the vehicle 2 is approaching within a predetermined distance of one of the pair of lane marks that make up the lane. If the control unit 12 determines that the vehicle 2 will not deviate from the lane (step S104: No), it returns to step S100.

[0040] If the control unit 12 determines that vehicle 2 is deviating from its lane (step S104: Yes), it determines whether the risk of contact between vehicle 2 and surrounding objects is above a predetermined level (step S106). If the control unit 12 determines that the risk of contact between vehicle 2 and surrounding objects is below a predetermined level (step S106: No), it returns to step S100. If the control unit 12 determines that the risk of contact between vehicle 2 and surrounding objects is above a predetermined level (step S106: Yes), it forcibly changes lane keeping control and emergency stop control to the ON state, regardless of the operation status of the emergency stop control (step S108).

[0041] The control unit 12 performs lane keeping control based on the second detected value (step S110). The control unit 12 determines whether or not the driver is operating on the target sensor 3D based on the detected value (step S112). If the driver is operating on the target sensor (step S112: No), the control unit 12 determines that the driver is in a normal state and can operate on the target sensor, and terminates the process. If the driver is not operating on the target sensor (step S112: Yes), the control unit 12 determines whether or not the driver's operation on the target sensor will not change for a predetermined time or longer (step S114).

[0042] If the driver's operation on the object being operated changes within a predetermined time (step S114: No), the control unit 12 returns to step S112. If the driver's operation on the object being operated does not change within a predetermined time (step S114: Yes), the control unit 12 executes emergency stop control to decelerate and stop the vehicle 2 (step S116). While the emergency stop control is being executed, the control unit 12 controls the notification unit 8 to output a predetermined notification.

[0043] If the control unit 12 cannot detect a lane in step S102, it determines, based on the second detection value, whether the risk of contact between the vehicle 2 and surrounding objects is above a predetermined level (step S118). If the control unit 12 determines that the risk of contact between the vehicle 2 and surrounding objects is below a predetermined level (step S118: No), it terminates the process. If the control unit 12 determines that the risk of contact between the vehicle 2 and surrounding objects is above a predetermined level (step S118: Yes), it determines, based on the first detection value indicating the state inside the vehicle, whether an occupant of the vehicle other than the driver is performing an emergency operation related to driving the vehicle 2 (step S120).

[0044] If the control unit 12 determines that a vehicle occupant other than the driver is performing an emergency operation related to the operation of vehicle 2 (step S120: Yes), it forcibly changes the emergency stop control to the ON state regardless of the operation status of the emergency stop control (step S122). The control unit 12 forcibly executes the emergency stop control to decelerate and stop vehicle 2 (step S124). While the emergency stop control is being executed, the control unit 12 controls the notification unit 8 to output a predetermined notification. Based on the operation status of the emergency stop control switch 3G, the control unit 12 determines whether or not an operation to cancel the emergency stop control has been performed (step S126).

[0045] If the control unit 12 determines that an operation to release the emergency stop control has been performed (step S126: Yes), it terminates the process. If the control unit 12 determines that an operation to release the emergency stop control has not been performed (step S126: No), it returns the process to step S124 and continues the emergency stop control.

[0046] If the control unit 12 determines in step S100 that the driver assistance control is not disabled (step S100: No), it determines whether or not it can detect the lane in lane keeping control (step S128). If the control unit 12 determines that it cannot detect the lane (step S128: No), it terminates the process because the driver is in a state where they can operate the vehicle. If the control unit 12 determines that it can detect the lane (step S128: Yes), it executes lane keeping control (step S130). While lane keeping control is being executed, the control unit 12 determines whether or not the driver has operated the target sensor 3D based on the detected value (step S132).

[0047] If the driver has an operation on the target of control (step S132: No), the control unit 12 determines that the driver is in a normal state and can operate the target of control, and terminates the process. If the driver has no operation on the target of control (step S132: Yes), the control unit 12 executes emergency stop control to decelerate and stop the vehicle 2 (step S134). While the emergency stop control is being executed, the control unit 12 controls the notification unit 8 to output a predetermined notification.

[0048] Figure 4 shows the flow of the process for determining whether an emergency operation related to the driving of vehicle 2 by an occupant is performed in step S120. The control unit 12 determines the seating position of occupants other than the driver based on the seating detection value included in the first detection value, and also determines whether the seat belt has been unfastened based on the seat belt fastening / unfastening detection value included in the first detection value (step S140). If the seat belt has been unfastened (step S140: Yes), the control unit 12 determines that the occupant in the passenger seat or rear seat is in a second riding position, moving closer to the driver than in a first riding position, and determines that the occupant is performing an emergency operation (step S142). If the seat belt has not been unfastened (step S140: No), the control unit 12 determines, based on the first detection value, whether the second riding position, where the occupant is moving closer to the driver than in a first riding position, has continued for a predetermined time or longer (step S144).

[0049] If the control unit 12 detects that the second riding position has continued for a predetermined time or longer (step S144: Yes), it determines that the passenger in the front passenger seat is performing an emergency operation (step S142). If the control unit 12 detects that the second riding position has not continued for a predetermined time or longer (step S144: No), it determines that the passenger in the front passenger seat is not performing an emergency operation (step S146).

[0050] As described above, the vehicle control device 10 can improve the function of the vehicle 2's driver assistance control by determining abnormalities occurring to the driver based not only on a second detection value indicating the external state but also on a first detection value indicating the internal state. The vehicle control device 10 can improve the function of the vehicle 2's driver assistance control by detecting when driver assistance control is necessary, even when driver assistance control is not performed based on predetermined conditions, thereby enabling the forced execution of driver assistance control. The vehicle control device 10 can improve the effectiveness of forced execution of driver assistance control by determining emergency operations not only by the driver but also by other occupants.

[0051] In the embodiments described above, the computer programs executed in each configuration of the vehicle control device 10 may be provided in the form of being recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0052] 1 Vehicle system, 2 Vehicle, 3 Detection unit, 3A External sensor, 3B Interior camera, 3C Occupant sensor, 3D Control target sensor, 3E Vehicle status sensor, 3F Driving assistance device switch, 3G Emergency stop control switch, 3H Lane keeping control switch, 4 Communication unit, 5 Drive unit, 6 Braking unit, 7 Steering unit, 8 Notification unit, 8A Display unit, 8B Speaker, 8C Lighting device, 10 Vehicle control device, 12 Control unit, 14 Storage unit, 30 Server device

Claims

1. The system includes a control unit that performs driver assistance control, including emergency stop control, which decelerates and stops the vehicle when an abnormality occurs in the driver, based on a first detection value indicating the state inside the vehicle. The control unit, In a state where the emergency stop control is not executed based on predetermined conditions, if it is determined that the risk of contact between the vehicle and an object is at or above a predetermined level based on a second detection value indicating the state outside the vehicle, and if it is determined that an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle based on the first detection value, Regardless of the operating status of the aforementioned emergency stop control, the aforementioned emergency stop control is forcibly executed. Vehicle control device.

2. The control unit, Based on the first detected value, if it is determined that the driver's operation on the target of the driving operation does not change for a predetermined time or longer, and if an emergency operation is detected, the emergency stop control is forcibly turned on. The vehicle control device according to claim 1.

3. The control unit, Based on the first detection value, if it is detected that the occupant has maintained a second riding posture, moving closer to the driver, from a first riding posture where the occupant is seated in the seat, for a predetermined period of time or longer, it is determined that the emergency operation is being performed. The vehicle control device according to claim 1.

4. The control unit, The seating position of the occupant is determined based on the seating detection value included in the first detection value, and the second riding posture is determined based on the seat belt fastening / unfastening detection value included in the first detection value. The vehicle control device according to claim 3.

5. A program that causes a computer mounted on a vehicle to execute driver assistance control, including emergency stop control that decelerates and stops the vehicle, Based on a first detection value indicating the state inside the vehicle, the system determines the state inside the vehicle. Based on a second detection value indicating the external condition of the vehicle, the level of risk of contact between the vehicle and the object is determined. If, under predetermined conditions, the emergency stop control is not executed, and the risk level is above a predetermined level, and it is determined that an occupant of the vehicle other than the driver is performing an emergency operation related to the operation of the vehicle, the emergency stop control will be forcibly executed regardless of the operational status of the emergency stop control. program.

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