Travel control apparatus and travel control method

• US 10,583,843 B2
• Filed: 03/28/2016
• Issued: 03/10/2020
• Est. Priority Date: 04/03/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Tamagaki, Mitsuo, Tanaka, Hiroaki, Shimonomoto, Ifushi, Kamiya, Akira, Mori, Takuya, Fujisawa, Yuki, Kotani, Ayako
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US15/561,927
• Publication Number:
  US 20180111628A1
• Time in Patent Office: 1,443 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60Q 1/46 for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
• CPC Class Codes: B60T 7/14 operated upon collapse of driver deadman's devices for electrically propelled vehicles B60L3/02
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 2050/0096 Control during transition between modes
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• 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 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2302/05 : Leading to automatic stopping of the vehicle
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A travel control apparatus includes: an abnormality information acquisition section that acquires information indicating that an abnormality of a driver of a vehicle is detected; a status determination section that makes a determination that the driver is in a driving difficulty state, when the abnormality of the driver is detected continuously; and an evacuation control section that initiates an automatic evacuation control stopping automatically the vehicle when the status determination section makes a determination that the driver is in the driving difficulty state. The travel control apparatus further includes an assistance control section that initiates a driving assistance control during an interval from when the abnormality is detected to when the driving difficulty state is determined; the driving assistance control includes at least activating a lane departure prevention function of the vehicle.

Claims

1. A travel control apparatus comprising:

an abnormality information acquisition section that acquires information indicating that an abnormality of a driver of a vehicle is detected;

a status determination section that

makes a tentative determination that the driver is in an abnormal state in response to the abnormality of the driver being continuously detected a first threshold period of time,

makes a formal determination that the driver is in the abnormal state in response to the abnormality of the driver being continuously detected a second threshold period of time longer than the first threshold period of time, and

makes a determination that the driver is in a driving difficulty state, in response to the abnormality of the driver being detected continuously after making the formal determination;

an evacuation control section that initiates an automatic evacuation control in response to the status determination section determining that the driver is in the driving difficulty state, the automatic evacuation control stopping automatically the vehicle; and

an assistance control section that initiates a driving assistance control during an interval from when the status determination section makes the tentative determination that the driver is in the abnormal state to when the status determination section makes the formal determination that the driver is in the abnormal state, the driving assistance control including at least activating a lane departure prevention function of the vehicle, the lane departure prevention function controlling steering of the vehicle to keep the vehicle traveling in a lane by applying a steering force.

2. The travel control apparatus according to claim 1, wherein

after the abnormality of the driver is detected,

the assistance control section activates, from among a plurality of assistance functions activated under the driving assistance control, the lane departure prevention function prior to any assistance function different from the lane departure prevention function.

3. The travel control apparatus according to claim 2, further comprising:

an abnormality notification section that notifies the driver of a content of the abnormality that is detected, in response to the assistance control section initiating the driving assistance control.

4. The travel control apparatus according to claim 1, wherein

the assistance control section

activates, from among a plurality of assistance functions activated under the driving assistance control, the lane departure prevention function before the status determination section makes the formal determination that the driver is in the abnormal state, and

activates an assistance function different from the lane departure prevention function in response to the status determination section making the formal determination that the driver is in the abnormal state.

5. The travel control apparatus according to claim 4, wherein

the assistance control section activates at least a cruise control function, as the different assistance function, in order to control either (i) a traveling speed of the vehicle or (ii) an inter-vehicle distance to a preceding vehicle.

6. The travel control apparatus according to claim 4, further comprising:

a switching notification section that gives the driver an advance notice of switching to the automatic evacuation control in response to the status determination section making the formal determination that the driver is in the abnormal state.

7. The travel control apparatus according to claim 6, wherein

in response to being instructed by the driver to switch to the automatic evacuation control after the advance notice of switching is given by the switching notification section, the status determination section makes the determination that the driver is in the driving difficulty state.

8. The travel control apparatus according to claim 6, wherein

the switching notification section gives the driver the advance notice of switching to the automatic evacuation control by asking the driver in a selection manner to select either (i) execution of switching to the automatic evacuation control, or (ii) no execution of switching to the automatic evacuation control.

9. The travel control apparatus according to claim 1, wherein

the travel control apparatus is mounted in the vehicle together with an evacuation spot search apparatus, the travel control apparatus further comprising:

a search control section that causes the evacuation spot search apparatus to start a search for the evacuation spot during an interval from when the abnormality of the driver is detected to when the status determination section makes the determination that the driver is in the driving difficulty state.

10. The travel control apparatus according to claim 1, further comprising:

a manipulation reception section that receives a driving manipulation by the driver,

the manipulation reception section executing a reception prohibition on the driving manipulation after the automatic evacuation control is initiated,

the reception prohibition in which the driving manipulation is prohibited from being received.

11. The travel control apparatus according to claim 10, wherein

upon detecting an input to a cancel switch disposed in the interior of the vehicle, the manipulation reception section cancels the reception prohibition on the driving manipulation.

12. The travel control apparatus according to claim 1, wherein

the assistance control section stops the driving assistance control if the manipulation reception section receives the driving manipulation after the driving assistance control is initiated.

13. The travel control apparatus according to claim 1, further comprising:

a vehicle exterior notification section that reports the driver being in the driving difficulty state to a different vehicle traveling in vicinity of the vehicle in response to the status determination section making the determination that the driver is in the driving difficulty state.

14. The travel control apparatus according to claim 13, wherein

the vehicle exterior notification section notifies the different vehicle of possibility of switching to the automatic evacuation control during an interval from when the abnormality is detected to when the state determination section makes the determination that the driver is in the driving difficulty state.

15. A travel control method to initiate an automatic evacuation control stopping automatically a vehicle for a driver of the vehicle is in a driving difficulty state, the method being executed by at least one processor and comprising:

an abnormality information acquiring that acquires information indicating that an abnormality of the driver is detected;

a status determining that

makes a tentative determination that the driver is in an abnormal state in response to the abnormality of the driver being continuously detected a first threshold period of time,

makes a formal determination that the driver is in the abnormal state in response to the abnormality of the driver being continuously detected a second threshold period of time longer than the first threshold period of time, and

makes a determination that the driver is in the driving difficulty state, in response to the abnormality of the driver being detected continuously after making the formal determination;

an evacuation controlling that initiates the automatic evacuation control in response to the status determining determining that the driver is in the driving difficulty state; and

an assistance controlling that initiates a driving assistance control during an interval from when the tentative determination that the driver is in the abnormal state is made to when the formal determination that the driver is in the abnormal state is made, the driving assistance control including at least activating a lane departure prevention function of the vehicle, the lane departure prevention function controlling steering of the vehicle to keep the vehicle traveling in a lane by applying a steering force.

16. A travel control apparatus comprising:

at least one processor configured to;

acquire information indicating that an abnormality of a driver of a vehicle is detected;

make a tentative determination that the driver is in an abnormal state in response to the abnormality of the driver being continuously detected for a first threshold period of time;

make a formal determination that the driver is in the abnormal state in response to the abnormality of the driver being continuously detected for a second threshold period of time longer than the first threshold period of time;

make a determination that the driver is in a driving difficulty state, in response to the abnormality of the driver being detected continuously after making the formal determination;

initiate an automatic evacuation control in response to determining that the driver is in the driving difficulty state, the automatic evacuation control stopping automatically the vehicle; and

initiate a driving assistance control during an interval from when it is determined in the tentative determination that the driver is in the abnormal state to when it is determined in the formal determination that the driver is in the abnormal state, the driving assistance control including at least activating a lane departure prevention function of the vehicle, the lane departure prevention function controlling steering of the vehicle to keep the vehicle traveling in a lane by applying a steering force.

17. A travel control apparatus comprising:

at least one processor configured to;

acquire information indicating that an abnormality of a driver of the vehicle is detected, from a driver status monitor configured to capture an image of the driver to automatically detect the abnormality of the driver;

make a determination that the driver is in a driving difficulty state, in response to the abnormality of the driver being detected continuously; and

initiate an automatic evacuation control in response to determining that the driver is in the driving difficulty state, the automatic evacuation control stopping automatically the vehicle,

wherein the at least one processor is further configured to;

activate a lane departure prevention function of the vehicle and a cruise control function of the vehicle at substantially the same time during an interval from when the abnormality of the driver is detected to when the driving difficulty state of the driver is determined; and

together with activating the lane departure prevention function and the cruise control function, output notification request information to a human machine interface (HMI) controller controlling a notification device which issues a notification to an occupant on a front passenger seat of the vehicle, the notification request information causing the notification indicative of activation of the lane departure prevention function and the cruise control function to be issued.

18. A system comprising:

at least one processor; and

a human machine interface (HMI) controller configured to control a notification device which issues a notification to an occupant on a front passenger seat of the vehicle, wherein

the at least one processor is configured to;

acquire information indicating that an abnormality of a driver of the vehicle s detected, from a driver status monitor configured to capture an image of the driver to automatically detect the abnormality of the driver;

make a determination that the driver is in a driving difficulty state in response to the abnormality of the driver being detected continuously; and

initiate an automatic evacuation control in response to determining that the driver is in the driving difficulty state, the automatic evacuation control stopping automatically the vehicle,

wherein the at least one processor is further configured to;

activate a lane departure prevention function of the vehicle and a cruise control function of the vehicle at substantially the same time during an interval from when the abnormality of the driver is detected to when the driving difficulty state of the driver is determined; and

together with activating the lane departure prevention function and the cruise control function, output notification request information that causes the notification indicative of activation of the lane departure prevention function and the cruise control function to be issued,

wherein

based on the notification request information, the HMI controller controls the notification device to issue the notification indicative of the activation of the lane departure prevention function and the cruise control function to the occupant on the front passenger seat.