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CN-121989962-A - Vehicle control device, vehicle control method, and storage medium

CN121989962ACN 121989962 ACN121989962 ACN 121989962ACN-121989962-A

Abstract

The present disclosure provides a vehicle control apparatus, a vehicle control method, and a storage medium. The vehicle control device (1) includes a driver state identifier (55) that identifies a driver state of the vehicle (2), a driver state determiner (56) that determines that the state of the driver is abnormal when the state of the driver does not satisfy a prescribed suitability criterion based on the identification result of the driver state identifier (55), an operation detector (58) that detects an operation on a driving operation member that constitutes a driving operation device (17) of the vehicle (2), and a travel controller (52) that performs travel control of the vehicle (2) based on the operation detected by the operation detector (58) and the determination result of the driver state determiner (56). When the operation detector (58) detects a specific operation, the driver status determiner (56) relaxes the applicability criterion.

Inventors

  • KOBAYASHI

Assignees

  • 本田技研工业株式会社

Dates

Publication Date
20260508
Application Date
20251028
Priority Date
20241108

Claims (10)

  1. 1. A vehicle control apparatus, the vehicle control apparatus comprising: A driver state identifier configured to identify a state of a driver of the vehicle; A driver state determiner configured to determine the state of the driver as abnormal when the state of the driver does not satisfy a prescribed suitability criterion based on a result of recognition by the driver state recognizer; an operation detector configured to detect an operation on a driving operation member of the vehicle, and A travel controller configured to execute travel control of the vehicle based on the operation detected by the operation detector and the determination result of the driver state determiner, wherein The driver state determiner is configured to modify the suitability criterion such that the suitability criterion is relaxed if the operation detector detects a specific operation in which the driving operation member is operated in a first direction and then operated in a second direction opposite to the first direction.
  2. 2. The vehicle control apparatus according to claim 1, further comprising an emergency controller configured to perform emergency control to decelerate and stop a vehicle when the driver state determiner determines that the state of the driver is abnormal, wherein The driver status determiner is configured to suspend modifying the suitability criteria while the emergency controller is executing the emergency control.
  3. 3. The vehicle control apparatus according to claim 1 or 2, wherein The driving operation member is an accelerator pedal or a brake pedal, The operation in the first direction is to step on the driving operation member, and the operation in the second direction is to release the driving operation member, and An amount of change in the operation in the second direction in the particular operation is less than or equal to a second amount of change threshold.
  4. 4. The vehicle control apparatus according to claim 3, wherein The change amount of the operation in the first direction among the specific operations is smaller than or equal to a first change amount threshold, and The second change amount threshold is smaller than the first change amount threshold.
  5. 5. The vehicle control apparatus according to claim 4, wherein the change amount of the operation in the first direction and the change amount of the operation in the second direction are operation amounts per unit time.
  6. 6. The vehicle control apparatus according to claim 1 or 2, wherein the driver state determiner is configured to modify the suitability criterion such that it is unlikely that the state of the driver is determined to be abnormal when the specific operation is performed.
  7. 7. The vehicle control apparatus according to claim 6, wherein the suitability criterion is that an improper state, in which the state of the driver identified by the driver state identifier does not satisfy a prescribed suitability condition, continues for a prescribed time threshold or more, and The driver state determiner is configured to increase the time threshold when the specific operation is performed.
  8. 8. The vehicle control apparatus according to claim 1 or 2, wherein The driving operation member is a steering wheel, The operation in the first direction is one of a clockwise operation and a counterclockwise operation of the steering wheel, and The operation in the second direction is the other of the clockwise operation and the counterclockwise operation of the steering wheel.
  9. 9. A vehicle control method, comprising the steps of: Identifying, by the computer, a status of a driver of the vehicle; Determining, by the computer, that the state of the driver is abnormal when the state of the driver does not satisfy a prescribed suitability criterion based on a recognition result of the computer; Detecting, by the computer, an operation on a driving operation member of the vehicle; Executing, by the computer, running control of the vehicle based on the operation detected by the computer and a result of determination by the computer; the suitability criterion is modified by the computer such that the suitability criterion is relaxed if a specific operation is detected by the computer in which the driving operation member is operated in a first direction and then operated in a second direction opposite to the first direction.
  10. 10. A non-transitory computer-readable storage medium including a control program, wherein the control program, when executed by a computer, performs a vehicle control method comprising the steps of: Identifying, by the computer, a status of a driver of the vehicle; Determining, by the computer, that the state of the driver is abnormal when it is determined, based on the identification of the computer, that the state of the driver does not meet a prescribed suitability criterion; Detecting, by the computer, an operation on a driving operation member of the vehicle; Executing, by the computer, running control of the vehicle based on the operation detected by the computer and a result of determination by the computer; the suitability criterion is modified by the computer such that the suitability criterion is relaxed if a specific operation is detected by the computer in which the driving operation member is operated in a first direction and then operated in a second direction opposite to the first direction.

Description

Vehicle control device, vehicle control method, and storage medium Technical Field The present invention relates to a vehicle control apparatus that controls running of a vehicle, and more particularly, to a vehicle control apparatus that performs vehicle running control based on a state of a vehicle driver, a vehicle control method, and a non-transitory computer-readable storage medium. Background In recent years, efforts have been actively made to construct sustainable traffic systems, taking into account the weaknesses among the traffic participants. In order to achieve this object, development to further improve traffic safety and convenience by developing driving assistance techniques is attracting attention. Conventionally, there have been provided a surrounding detector that detects a surrounding situation of a vehicle, and a travel controller that controls travel of the vehicle based on a detection result of the surrounding detector. For example, JP2024-8140A discloses a vehicle control apparatus that performs travel control including follow-up travel control that causes a vehicle to follow a preceding vehicle based on a surrounding situation of the vehicle, and performs emergency control when an abnormal state of a driver is detected from a face image of the driver captured by a driver camera (in-vehicle camera) during travel of the vehicle. JP2019-191754A discloses a driver state determiner that determines a state of a driver driving a vehicle. The driver state determiner includes a steering torque sensor and a pedal sensor that detects an operation amount of an operation pedal, and determines that the state of the driver is abnormal when the operation amount of the pedal changes by more than a prescribed amount while the steering torque changes by more than a first threshold. JP2022-144818A discloses a driving assistance device that cancels execution of automatic stop control in response to an operation by a driver. The apparatus executes automatic stop control to decelerate and stop the vehicle based on whether the driver is detected to be in the disabled state. The apparatus further includes an operation state detector that detects an operation state of an operation member of the vehicle, and cancels execution of the automatic stop control when the apparatus detects that the operation state of the operation member is changed a plurality of times while the automatic stop control is being executed. The change in the operation state is detected by a transition between a pedal depression state and a pedal release state. However, when an abnormality (abnormal state) of the driver is determined from the driver camera, the determination accuracy of the abnormal state is low as in the conventional technique described above. Therefore, the abnormal state of the driver may be excessively determined, and the notification of the detected abnormal state may be excessively performed. In order to suppress the excessive determination of the abnormal state of the driver, the abnormal state of the driver may be carefully determined. However, this increases the time required to determine the abnormal state of the driver, and the determination is delayed when the driver is actually in the abnormal state. Disclosure of Invention In view of the above background, an object of the present invention is to suppress excessive determination of an abnormal state and to more appropriately determine the abnormal state of a driver. In order to achieve the object, one aspect of the present invention provides a vehicle control apparatus including a driver state identifier configured to identify a state of a driver of a vehicle, a driver state determiner configured to determine that the state of the driver is abnormal when the state of the driver does not satisfy a prescribed suitability criterion based on an identification result of the driver state identifier, an operation detector configured to detect an operation on a driving operation member of the vehicle, and a running controller configured to perform running control of the vehicle based on the operation detected by the operation detector and a determination result of the driver state determiner. The driver state determiner is configured to modify the suitability criterion such that the suitability criterion is relaxed if the operation detector detects a specific operation in which the driving operation member is operated in a first direction and then operated in a second direction opposite to the first direction. Therefore, according to the above aspect, it is possible to suppress excessive determination of the abnormal state of the driver, and to more appropriately determine the abnormal state of the driver. Drawings FIG. 1 is a block diagram of a vehicle system according to an embodiment of the invention; FIG. 2 shows an image taken by a camera within a vehicle; fig. 3A is an explanatory diagram of an example of an improper driving state in an image captured by an in-v