Vehicle control device
First Claim
1. A vehicle control device including control circuitry, the control circuitry configured to:
- control a vehicle in a first mode by carrying out a lateral control to follow a target travel line;
determine whether or not a driver of the vehicle is in a preliminary abnormal state based on a period after the driver is determined to be in a hands-free state during the first mode;
change a control mode from the first mode to a second mode by reducing a lateral control amount when it is determined that the driver is in the preliminary abnormal state;
determine whether or not the driver of the vehicle is in an abnormal state based on a period after the lateral control amount is reduced; and
control the vehicle in a third mode by decreasing a speed of the vehicle or by stopping the vehicle when it is determined that the driver is in the abnormal state.
1 Assignment
0 Petitions
Accused Products
Abstract
A driver is prevented from carrying out hands-free driving while lane keeping assist control is being carried out, thereby appropriately determining an abnormal state of the driver. When a steering wheel no-operation state continues for a first period or more, a driving support ECU sets a control mode of LKA to a “weaker mode”, thereby decreasing a control amount of the LKA. As a result, an own vehicle swerves within a travel lane, and the driver neglecting the steering wheel operation can be prompted to operate the steering wheel. Further, when the no-driving operation state continues for a second period or more, the driving support ECU establishes determination that the driver is in an abnormal state, returns the LKA to a “normal mode”, and decelerates and stops the own vehicle.
7 Citations
18 Claims
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1. A vehicle control device including control circuitry, the control circuitry configured to:
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control a vehicle in a first mode by carrying out a lateral control to follow a target travel line; determine whether or not a driver of the vehicle is in a preliminary abnormal state based on a period after the driver is determined to be in a hands-free state during the first mode; change a control mode from the first mode to a second mode by reducing a lateral control amount when it is determined that the driver is in the preliminary abnormal state; determine whether or not the driver of the vehicle is in an abnormal state based on a period after the lateral control amount is reduced; and control the vehicle in a third mode by decreasing a speed of the vehicle or by stopping the vehicle when it is determined that the driver is in the abnormal state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle control method, comprising:
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controlling, using control circuitry, a vehicle in a first mode by carrying out a lateral control to follow a target travel line; determining whether or not a driver of the vehicle is in a preliminary abnormal state based on a period after the driver is determined to be in a hands-free state during the first mode; changing a control mode from the first mode to a second mode by reducing a lateral control amount when it is determined that the driver is in the preliminary abnormal state; determining whether or not the driver of the vehicle is in an abnormal state based on a period after the lateral control amount is reduced; and controlling the vehicle in a third mode by decreasing a speed of the vehicle or by stopping the vehicle when it is determined that the driver is in the abnormal state. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification