Vehicle control apparatus

• US 10,220,825 B2
• Filed: 08/01/2017
• Issued: 03/05/2019
• Est. Priority Date: 08/04/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Otake, Hirotada, Takano, Masaki
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US15/665,749
• Publication Number:
  US 20180037214A1
• Time in Patent Office: 581 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/223 Posture, e.g. hand, foot, or seat position, turned or inclined
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/105 Speed

Abstract

A vehicle control apparatus includes a vehicle speed control unit for controlling the speed of a vehicle, and provisional and final anomaly determination units for determining whether or not a driver of the vehicle is in a provisional anomalous state or in a final anomalous state in which the driver has lost his/her ability to drive the vehicle. After the driver is determined to be in the provisional anomalous state, the vehicle speed control unit decelerates the vehicle at a first deceleration before the driver is determined to be in the final anomalous state. When the vehicle speed becomes lower than a second vehicle speed, the vehicle speed control unit maintains the vehicle speed at the second vehicle speed. After the driver is determined to be in the final anomalous state, the vehicle control apparatus decelerates the vehicle at a second deceleration and stops the vehicle.

Claims

1. A vehicle control apparatus comprising:

vehicle speed control means for controlling vehicle speed which is speed of a vehicle;

provisional anomaly determination means for determining, over a first time, whether or not a driver of the vehicle is in a provisional anomalous state in which the driver possibly has lost his/her ability to drive the vehicle, when the vehicle speed is equal to or higher than a first vehicle speed; and

final anomaly determination means for determining, over a second time, whether or not the driver is in a final anomalous state in which the driver has lost his/her ability to drive the vehicle, when the driver has been determined to be in the provisional anomalous state,

wherein the vehicle speed control means is configured;

to decelerate the vehicle at a first deceleration after a provisional anomaly determined time which is a point in time, when the driver is determined to be in the provisional anomalous state;

to maintain the vehicle speed at a second vehicle speed lower than the first vehicle speed when the vehicle speed becomes equal to or lower than the second vehicle speed before the second time elapses from the provisional anomaly determined time; and

to decelerate the vehicle at a second deceleration to stop the vehicle after a final anomaly determined time which is a point in time when the driver is determined to be in the final anomalous state.

2. The vehicle control apparatus according to claim 1, wherein the second deceleration is greater in magnitude than the first deceleration.

3. The vehicle control apparatus according to claim 1, wherein

the provisional anomaly determination means is configured to determine whether or not the driver is in the provisional anomalous state by determining whether or not at least one of a situation in which no steering operation is performed for the vehicle, a situation in which an accelerator operation amount of the vehicle does not change, and a situation in which a brake operation amount of the vehicle does not change continues for the first time;

and

the final anomaly determination means is configured to determine whether or not the driver is in the final anomalous state by determining whether or not at least one of the situation in which no steering operation is performed for the vehicle, the situation in which the accelerator operation amount of the vehicle does not change, and the situation in which the brake operation amount of the vehicle does not change continues for the second time after the driver has been determined to be in the provisional anomalous state.

4. The vehicle control apparatus according to claim 3, wherein the final anomaly determination means is configured to determine that the driver is normal and to invalidate the determination that the driver is in the provisional anomalous state when the situation in which the driver is determined to be in the provisional anomalous state ends before the second time elapses from the provisional anomaly determined time.