CN111746439A - Vehicle control system - Google Patents

Abstract

A vehicle control system is provided. When a control device for automatic driving makes a vehicle stop in an emergency, the safety of a driver and articles in the vehicle is improved. In a parking maintenance process (ST8) after a vehicle is stopped by an automatic driving control unit (35) executing a parking process, when an opening operation is detected by an opening operation sensor (61) (ST 11: YES), a window control unit (72) drives a window of a driver's seat to open (ST 15). Therefore, the rescuer can speak to the driver to confirm the state of the driver, and if the rescuer needs to rescue, the rescuer can rescue the driver from the window, or enter the vehicle through the window to open the door from the vehicle interior, and rescue the driver from the door opening. Further, when the vehicle is stopped for a reason other than a state requiring assistance, such as fatigue driving or driving unaccustomed by the driver, the door is not opened immediately by the opening operation of the opening operation reception member, and therefore, the safety of the driver and the articles in the vehicle is improved.

Description

Vehicle control system

Technical Field

The present disclosure relates to a vehicle control system that performs automatic driving.

Background

According to the definition of SAE J3016(2016), the level of autonomous driving of the vehicle is set to 6 stages of level 0 (no autonomous driving) to level 5 (full autonomous driving). Further, according to non-patent document 1, it is required to set the following minimum risk policy (MRM) in the autonomous vehicle of class 3: when it is determined that it is difficult for the system to continue the automated driving and that the driving cannot be handed over from the system to the driver, the vehicle is automatically and safely stopped.

In connection with this, a parking-time vehicle control device is known which executes an emergency parking function of detecting an abnormality in the state of the driver and automatically parking the vehicle (patent document 1). When a vehicle is parked in a safe place such as a shoulder by the emergency stop function, the vehicle control device intermittently locks the door on the side of the lane where the vehicle is traveling so as to suppress the driver from inadvertently jumping out of the vehicle to the lane where the vehicle is traveling. In this case, the vehicle control device locks the door on the side of the travel lane so that the door cannot be opened from the inside of the vehicle but can be opened from the outside of the vehicle when the vehicle stops, and allows a rescuer and the like to open the door of the vehicle when the rescuer and the like arrive.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-131202

Non-patent document

Non-patent document 1: the people's automobile safety technology ガイドライン "from the national province of China" Can, 9 years 2018, p.5

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional vehicle control device for parking, when the vehicle is urgently parked by the emergency parking function (execution of parking processing) during automatic driving, the door on the traveling lane side can be opened from the outside of the vehicle. Therefore, when the vehicle is stopped in an emergency due to the driver being in a state requiring rescue, such as cardioplegia, the rescue activity can be smoothly performed, which is effective from the viewpoint of human life protection. On the other hand, when the vehicle is stopped urgently for a reason other than a state requiring assistance, such as fatigue driving by the driver or unaccustomed driving by the driver, the driver or articles in the vehicle are exposed to danger in a state where the door can be opened from outside the vehicle.

In view of the above-described background, an object of the present invention is to provide a vehicle control system capable of improving safety of a driver and articles in a vehicle when a control device for performing automatic driving makes the vehicle stop urgently.

Means for solving the problems

In order to solve the above problem, one embodiment of the present invention is a vehicle control system (1) including: a control device (15) that performs steering, acceleration, and deceleration of the vehicle; an intervention detection device (11) that detects an intervention of a driver to driving; and an opening operation sensor (61) that detects an opening operation for opening a door with respect to an opening operation reception member provided outside the vehicle, the control device including: an automatic driving control unit (35) that executes a parking process for stopping the vehicle when a predetermined condition that the control device or the driver cannot continue the traveling of the vehicle is satisfied during the traveling of the vehicle; and a window control unit (72) that controls an opening/closing operation of a window (63) provided in the door, wherein the window control unit drives the window to open when the opening operation sensor detects the opening operation after the automatic driving control unit executes the parking process to stop the vehicle (ST 11: "YES") (ST 15).

According to this configuration, when the opening operation reception means receives the opening operation after the vehicle is stopped by executing the parking process, the window control unit drives the window to open. Therefore, the rescuer can speak into the driver to confirm the state of the driver, and if the rescuer needs to rescue, the rescuer can rescue the driver from the window, or enter the vehicle through the window to open the door from the vehicle interior, and rescue the driver from the door opening. Further, even when the vehicle is stopped for a reason other than a state requiring assistance, such as fatigue driving or driving unaccustomed by the driver, the door is not opened immediately by the opening operation of the opening operation receiving member, and therefore, the safety of the driver and the articles in the vehicle is improved. This makes it possible to protect the driver from the human life and to improve the safety of the driver and the articles in the vehicle.

In the above-described configuration, the control device (15) may further include a door lock control unit (71), the door lock control unit (71) controlling a locking operation of a door lock device (62) provided in the door, and the door lock control unit may lock the door lock device (ST14) when the opening operation is detected by the opening operation sensor (61) after the automatic driving control unit (35) executes the parking process to stop the vehicle (ST 11: "yes").

According to this configuration, the door lock device is locked by the door lock control unit when the vehicle is stopped, or even when the door lock device is unlocked thereafter and the opening operation is accepted by the opening operation acceptance means, the door lock device is locked by the door lock control unit. Therefore, the door is not opened immediately by the opening operation of the opening operation reception member, and the safety of the driver and the articles in the vehicle is improved.

In the above-described configuration, the control device (15) may further include a door lock control unit (71), the door lock control unit (71) controlling an unlocking operation of a door lock device (62) provided in the door, and the door lock control unit (71) may unlock the door lock device (62) when the opening operation is detected by the opening operation sensor (61) after the automatic driving control unit (35) executes the parking process to stop the vehicle (ST 18).

According to this configuration, the rescuer can smoothly rescue the driver by immediately unlocking the door lock device by the opening operation of the opening operation reception member.

In the above-described configuration, the control device 15 may further include a door lock control unit 71, the door lock control unit 71 controlling an unlocking operation of a door lock device 62 provided in the door, and when the automatic driving control unit 35 stops the vehicle by executing the parking process and the window control unit 72 drives the window 63 to open (ST15), the controller detects the opening operation 2 nd time by the opening operation sensor 61 (ST 17: "yes"), the door lock control unit (71) unlocks the door lock device (62) (ST 18).

According to this configuration, the door is not immediately opened by the opening operation of the opening operation receiving member, but the door lock device is unlocked by the 2 nd opening operation to open the door. Therefore, when the driver needs to be rescued, the rescuer can smoothly rescue the driver.

In the above-described configuration, the control device (15) may further include an occupant state determination unit (52), the occupant state determination unit (52) determining the state of the driver based on information acquired from the intervention detection device (11), and the automatic driving control unit (35) may output an intervention request requesting the driver to intervene in the driving when the occupant state determination unit determines that the driver is in an abnormal state.

According to this configuration, when the occupant state determination unit determines that the driver is in the abnormal state and the driver does not intervene in the driving in accordance with the intervention request output in response to the determination, the automatic driving control unit executes the parking process to stop the vehicle. In this way, when the driver is in an abnormal state, the window is driven to open when the opening operation is received by the opening operation receiving means after the vehicle has stopped. Therefore, the door is not opened immediately by an unintended opening operation of the opening operation reception member, and safety of the driver and the articles in the vehicle is improved.

In order to solve the problem, one embodiment of the present invention is a vehicle control system (1) including: a control device (15) that performs steering, acceleration, and deceleration of the vehicle; an intervention detection device (11) that detects an intervention of a driver to driving; a vehicle sensor (7) that detects a state of the vehicle; an outside world recognition device (6) that detects a state of the outside world of the vehicle; and an opening operation sensor (61) that detects an opening operation for opening a door with respect to an opening operation reception member provided outside the vehicle, the control device including: an automatic driving control unit (35) that executes a parking process for stopping the vehicle when a predetermined condition that the control device or the driver cannot continue the traveling of the vehicle is satisfied during the traveling of the vehicle; an occupant state determination unit (52) that determines the state of the driver on the basis of information acquired from the intervention detection device; a vehicle state determination unit (51) that determines the state of the vehicle on the basis of information acquired from the vehicle sensor and the external world recognition device; a window control unit (72) that controls the opening and closing operation of a window (63) provided in the door; and a door lock control unit (71) that controls an unlocking operation of a door lock device (62) provided in the door, wherein the automatic driving control unit outputs an intervention request requesting the driver to intervene in the driving when the occupant state determination unit determines that the driver is in an abnormal state and when the vehicle state determination unit determines that the vehicle is in an abnormal state, and wherein the window control unit drives the window to open (ST15) when the opening operation sensor detects the opening operation (ST 11: "yes") after the vehicle is stopped by executing the parking processing when the occupant state determination unit determines that the driver is in an abnormal state (ST 12: "yes"), and after the vehicle is stopped by executing the parking processing when the vehicle state determination unit determines that the vehicle is in an abnormal state (ST 12: "no"), when the opening operation is detected by the opening operation sensor (ST 11: YES), the door lock control unit unlocks the door lock device (ST 19).

According to this configuration, when the parking process is executed because the driver is in an abnormal state, the drive window is opened when the opening operation reception means receives the opening operation after the vehicle stops. Thus, when the vehicle is stopped due to an abnormal state of the driver, protection of the driver's person and improvement of safety of the driver and the vehicle interior can be achieved at the same time. On the other hand, when the vehicle is stopped due to an abnormal state of the vehicle, the door lock device is unlocked when the opening operation reception means receives an opening operation after the vehicle is stopped. Thus, when the vehicle is stopped due to an abnormal state of the vehicle, an operation without discomfort such as unlocking the door lock is realized as usual. In this way, even when the vehicle is stopped by executing the same parking process, the operation of the vehicle according to the release operation differs depending on the cause of the stop of the traveling, and therefore, it is possible to realize an appropriate vehicle operation according to the situation.

In the above-described occupant state determination unit, the control device (15) may further include an interior lamp control unit (73), the interior lamp control unit (73) controlling lighting of an interior lamp (64) provided in the vehicle, and the interior lamp control unit may light the interior lamp (ST16) when the opening operation sensor (61) detects the opening operation after the occupant state determination unit (52) determines that the driver is in an abnormal state (ST 12: yes) and executes the parking process to stop the vehicle (ST 11: yes).

According to this configuration, when the opening operation reception means receives an opening operation after the vehicle is stopped when the driver is in an abnormal state, the window is opened and the room lamp is turned on, thereby improving visibility when the driver in the vehicle is rescued.

ADVANTAGEOUS EFFECTS OF INVENTION

As described above, according to the present invention, it is possible to provide a vehicle control system that improves the safety of a driver and articles in a vehicle when a control device that performs autonomous driving makes the vehicle stop urgently.

Drawings

Fig. 1 is a functional configuration diagram of a vehicle equipped with a vehicle control system according to an embodiment.

Fig. 2 is a flowchart of parking processing of the vehicle control system according to the embodiment.

Fig. 3 is a flowchart of a rescue support process that is a part of the parking maintenance process shown in fig. 2.

Description of the reference symbols

1: vehicle control system

6: external recognition device

7: vehicle sensor

11: passenger monitoring device (intervention detection device)

15: control device

35: automatic driving control part

36: abnormal state determination unit

51: vehicle state determination unit

52: occupant state determination unit

61: open operation sensor

62: door lock device

63: electric window device (Window)

64: indoor lamp

71: door lock control unit

72: window control unit

73: indoor lamp control part

Detailed Description

Hereinafter, embodiments of a vehicle control system according to the present invention will be described with reference to the drawings. Next, an example will be described in which the vehicle control system of the present invention is applied to a system that controls a vehicle traveling in a country or region where left-side traveling is adopted.

As shown in fig. 1, a vehicle control system 1 is included in a vehicle system 2 mounted on a vehicle. The vehicle system 2 includes a propulsion device 3, a brake device 4, a steering device 5, an external recognition device 6, a vehicle sensor 7, a communication device 8, a navigation device 9 (map device), a driving operation device 10, an occupant monitoring device 11, an HMI12 (Human Machine Interface), an automatic driving level changeover switch 13, an external notification device 14, and a control device 15. The respective components of the vehicle system 2 are connected to each other by a communication unit such as a CAN 16(Controller Area Network) so as to be able to transmit signals.

The propulsion device 3 is a device that applies driving force to a vehicle, and includes, for example, a power source and a transmission. The power source includes at least one of an internal combustion engine such as a gasoline engine or a diesel engine and an electric motor. The brake device 4 is a device for applying a braking force to a vehicle, and includes, for example, a caliper for pressing a pad against a brake rotor, and an electric cylinder for supplying hydraulic pressure to the caliper. The brake device 4 may include a parking brake device that restricts rotation of the wheel by a cable. The steering device 5 is a device for changing the steering angle of the wheels, and includes, for example, a rack and pinion mechanism for steering the wheels and an electric motor for driving the rack and pinion mechanism. The propulsion device 3, the braking device 4 and the steering device 5 are controlled by a control device 15.

The external recognition device 6 is a device that detects an object outside the vehicle, or the like. The environment recognition device 6 includes a sensor, for example, a radar 17, a laser radar 18(LIDAR), and an outside-vehicle camera 19, which detect an object or the like outside the vehicle by capturing electromagnetic waves or light from the periphery of the vehicle. In addition, the external world identification device 6 may be a device that receives a signal from outside the vehicle and detects an object or the like outside the vehicle. The external world identification device 6 outputs the detection result to the control device 15.

The radar 17 emits an electric wave such as a millimeter wave to the periphery of the vehicle, and detects the position (distance and direction) of an object by capturing the reflected wave. At least 1 radar 17 is mounted at an arbitrary position of the vehicle. The radar 17 preferably includes at least a front radar that irradiates radio waves toward the front of the vehicle, a rear radar that irradiates radio waves toward the rear of the vehicle, and a pair of left and right side radars that irradiate radio waves toward the sides of the vehicle.

The laser radar 18 irradiates light such as infrared rays around the vehicle, and detects the position (distance and direction) of an object by capturing the reflected light. At least 1 laser radar 18 is provided at an arbitrary position of the vehicle.

The vehicle exterior camera 19 captures an image of the periphery of the vehicle including an object (for example, a surrounding vehicle or a pedestrian) existing around the vehicle, a guardrail, a curb, a wall, a center separation zone, the shape of a road, a road mark plotted on the road, and the like. The vehicle exterior camera 19 may be a digital camera using a solid-state imaging device such as a CCD or a CMOS, for example. At least 1 vehicle exterior camera 19 is provided at an arbitrary position of the vehicle. The exterior camera 19 includes at least a front camera that captures an image of the front of the vehicle, and may further include a rear camera that captures an image of the rear of the vehicle and a pair of side cameras that capture the left and right sides of the vehicle. The vehicle exterior camera 19 may be a stereo camera, for example.

The vehicle sensor 7 includes a vehicle speed sensor that detects a speed of the vehicle, an acceleration sensor that detects an acceleration, a yaw rate sensor that detects an angular velocity around a vertical axis, an orientation sensor that detects an orientation of the vehicle, and the like. The yaw rate sensor is, for example, a gyro sensor.

The communication device 8 performs communication between the control device 15 and the navigation device 9 and a peripheral vehicle or a server located outside the vehicle. The control device 15 can perform wireless communication with the nearby vehicle via the communication device 8. Further, the control device 15 can communicate with a server that provides traffic control information via the communication device 8. Further, the control device 15 can perform communication with a portable terminal held by a person existing outside the vehicle via the communication device 8. Further, the control device 15 can perform communication with an emergency notification center that receives an emergency notification from the vehicle via the communication device 8.

The navigation device 9 is a device that acquires the current position of the vehicle and performs route guidance to a destination, and includes a GNSS reception unit 21, a map storage unit 22, a navigation interface 23, and a route determination unit 24. The GNSS receiver 21 specifies the position (latitude and longitude) of the vehicle from a signal received from an artificial satellite (positioning satellite). The map storage unit 22 is configured by a known storage device such as a flash memory or a hard disk, and stores map information. The navigation interface 23 receives an input of a destination or the like from the occupant, and presents various information to the occupant by display or voice. The navigation interface 23 may include a touch panel display, a speaker, and the like. In another embodiment, the GNSS receiver 21 may be configured as a part of the communication device 8. The map storage unit 22 may be configured as a part of the control device 15, or may be configured as a part of a server device that can communicate via the communication device 8.

The map information includes road information such as the type of a road such as an expressway, a toll road, a national road, and a prefecture road, the number of lanes on the road, the center position (three-dimensional coordinates including longitude, latitude, and height) of each lane, the shape of a road mark such as a road dividing line or a lane boundary, the presence or absence of a step, a curb, a ditch, and the like, the position of an intersection, the positions of a junction and a branch point of a lane, an area of an emergency stop zone, the width of each lane, and a sign provided on the road. The map information may include traffic control information/address information (address/zip code), facility information, telephone number information, and the like.

The route determination unit 24 determines a route to the destination based on the position of the vehicle specified by the GNSS reception unit 21, the destination input from the navigation interface 23, and the map information. In determining the route, the route determination unit 24 may determine the route by referring to the positions of the merging point and the branch point of the lanes in the map information, and including the target lane, which is the lane on which the vehicle should travel.

The driving operation device 10 receives an input operation performed by a driver to control the vehicle. The driving operation device 10 includes, for example, a steering wheel, an accelerator pedal, and a brake pedal. The driving operation device 10 may include a shift lever, a parking brake lever, and the like. Each driving operation device 10 is provided with a sensor for detecting an operation amount. The driving operation device 10 outputs a signal indicating the operation amount to the control device 15.

The occupant monitoring device 11 monitors the state of an occupant in the vehicle compartment. The occupant monitoring device 11 includes, for example, an indoor camera 26 that captures an image of an occupant seated in a seat in a vehicle interior, and a grip sensor 27 provided in a steering wheel. The indoor camera 26 is a digital camera using a solid-state imaging device such as a CCD or a CMOS. The grip sensor 27 is a sensor that detects whether the driver is gripping the steering wheel and outputs a detection signal indicating the presence or absence of gripping. The grip sensor 27 may be formed by, for example, a capacitance sensor or a piezoelectric element provided in the steering wheel. The occupant monitoring device 11 may include a heart rate sensor provided in a steering wheel or a seat, and a seating sensor provided in the seat. In addition, the occupant monitoring device 11 may be a wearable device that is worn by the occupant and that can detect vital sign information including at least one of the heart rate and the blood pressure of the wearing occupant. In this case, the occupant monitoring device 11 may be configured to be able to communicate with the control device 15 by a known communication means based on a wireless method. The occupant monitoring device 11 outputs the captured image and the detection signal to the control device 15.

The vehicle exterior notification device 14 is a device that notifies the outside of the vehicle by sound or light, and includes, for example, a warning lamp and a horn. A Front light (Front light) or a Tail light (Tail light), a brake light, a hazard light, and an interior light may also function as a warning light.

The HMI12 notifies various kinds of information to the occupant by display and voice, and receives an input operation of the occupant. The HMI12 includes, for example, at least one of a display device 31, a sound generating device 32 such as a buzzer or a speaker, and an input interface 33 such as a GUI switch or a mechanical switch on a touch panel, wherein the display device 31 is a touch panel or a display lamp including a liquid crystal or an organic EL. The navigation interface 23 may function as the HMI 12.

The automatic driving level changeover switch 13 is a switch for receiving an instruction to start automatic driving from the occupant. The automatic driving level switching switch 13 may be a mechanical switch or a GUI switch displayed on a touch panel, and is disposed at an appropriate position in the vehicle interior. The automatic driving level changeover switch 13 may be constituted by the input interface 33 of the HMI12, or may be constituted by the navigation interface 23.

The control device 15 is an Electronic Control Unit (ECU) composed of a CPU, a ROM, a RAM, and the like. The control device 15 executes various vehicle controls by executing arithmetic processing in accordance with a program by the CPU. The controller 15 may be configured as 1 piece of hardware, or may be configured as a unit configured by a plurality of pieces of hardware. At least a part of each functional unit of the control device 15 may be realized by hardware such as an LSI, an ASIC, or an FPGA, or may be realized by a combination of software and hardware.

The control device 15 performs automatic driving control (hereinafter, referred to as automatic driving) of at least level 0 to level 3 in combination with various vehicle controls. The rank is a rank obtained based on the definition of SAE J3016, and is determined in association with the degree of intervention for the driving operation of the driver and the monitoring of the vehicle surroundings.

In the automatic driving at level 0, the control device 15 does not control the vehicle, and the driver performs all driving operations. That is, automatic driving at a level of 0 means so-called manual driving.

In the automatic driving at level 1, the control device 15 performs a part of the driving operations, and the driver performs the remaining driving operations. For example, the level 1 automatic driving includes constant speed driving and inter-vehicle distance control (ACC; Adaptive cruise control), and Lane Keeping support control (LKAS; Lane Keeping Assistance System). The level 1 automatic driving is performed when the following conditions are satisfied: there is no abnormality in various devices (e.g., the external world recognition device 6, the vehicle sensor 7) required to perform the level 1 autonomous driving.

In the automatic driving at level 2, the control device 15 performs all driving operations. The level 2 automatic driving is performed when the following conditions are satisfied: the driver monitors the surroundings of the vehicle, and the vehicle is located in a predetermined area and there is no abnormality in various devices required to perform the level 2 automatic driving.

In the automatic driving at level 3, the control device 15 performs all driving operations. The automatic driving of level 3 is performed when the following conditions are satisfied: the driver is in a posture capable of monitoring the surroundings of the vehicle as needed, the vehicle is located in a predetermined area, and there is no abnormality in various devices required to perform the level 3 automatic driving. The condition for executing the level 3 automatic driving includes, for example, when the vehicle is traveling on a congested road. Whether or not the vehicle is traveling on a congested road may be determined based on traffic control information provided from a server outside the vehicle, or may be determined based on whether or not the vehicle speed acquired by a vehicle speed sensor is equal to or less than a predetermined slow travel determination value (for example, 30km/h) within a predetermined time range.

In this way, in the automatic driving of the level 1 to the level 3, the control device 15 executes at least one of steering, acceleration, deceleration, and periphery monitoring. When the automatic driving mode is set, the control device 15 executes automatic driving of the rank 1 to the rank 3. Hereinafter, steering, acceleration, and deceleration are referred to as driving operations, and driving operations and periphery monitoring are referred to as driving, as needed.

In the present embodiment, when the control device 15 receives an instruction to execute automated driving, the automated driving level changing switch 13 selects automated driving of a level according to the environment in which the vehicle is traveling based on the detection result of the external world recognition device 6 and the position of the vehicle acquired by the navigation device 9, and changes the level. However, the control device 15 may change the rank in accordance with an input to the automatic driving rank switching switch 13.

As shown in fig. 1, the control device 15 includes an automatic driving control unit 35, an abnormal state determination unit 36, a state management unit 37, a travel control unit 38, and a storage unit 39.

The automated driving control unit 35 includes an external environment recognition unit 40, a vehicle position recognition unit 41, and an action planning unit 42. The environment recognition unit 40 recognizes an obstacle located in the periphery of the vehicle, the shape of a road, the presence or absence of a pedestrian path, and a road mark based on the detection result of the environment recognition device 6. The obstacle includes, for example, a guardrail, an electric pole, a nearby vehicle, a pedestrian, or the like. The environment recognizing unit 40 can acquire the states of the peripheral vehicle such as the position, speed, and acceleration from the detection result of the environment recognizing device 6. The position of the nearby vehicle may be identified as a representative point such as the position of the center of gravity or the angular position of the nearby vehicle, or a region represented by the outline of the nearby vehicle.

The vehicle position recognition unit 41 recognizes a driving lane, which is a lane in which the vehicle is driving, and a relative position and an angle of the vehicle with respect to the driving lane. The vehicle position recognition unit 41 recognizes the traveling lane, for example, based on the map information held by the map storage unit 22 and the position of the vehicle acquired by the GNSS reception unit 21. Further, the relative position and angle of the vehicle with respect to the traveling lane may be recognized by extracting the dividing line of the periphery of the vehicle drawn on the road surface from the map information and comparing the shape of the dividing line with the shape of the dividing line captured by the vehicle exterior camera 19.

The action planning unit 42 sequentially generates action plans for causing the vehicle to travel along the route. More specifically, first, the action planning unit 42 determines an event for the vehicle to travel in the target lane determined by the route determination unit 24 without contacting the obstacle. The events include: a constant speed driving event of driving in the same driving lane at a fixed speed; a follow-up event in which a preceding vehicle that is traveling in the same travel lane is followed at a speed equal to or lower than a set speed set by an occupant or a speed determined according to a travel environment of the vehicle; a lane change event that changes a driving lane of a vehicle; an overtaking event for overtaking a preceding vehicle; a merging event for merging vehicles at a merging point of a road; a branch event for causing the vehicle to travel in a direction of a destination at a branch point on a road; an automatic driving end event for ending automatic driving and setting manual driving; and a stop event in which the vehicle is stopped when a predetermined condition indicating that it is difficult to continue driving by the control device 15 or the driver is satisfied while the vehicle is traveling.

The conditions under which the action planning unit 42 determines the parking event include the following cases: during traveling in the autonomous driving mode, the input of the driver to the indoor camera 26, the grip sensor 27, or the autonomous driving level changing switch 13 in accordance with the intervention request (passing request) for the driver for driving is not detected. The intervention request is a warning as follows: notifying the driver that a part of the driving authority is transferred, and requesting the driver to perform at least one of a driving operation and vehicle periphery monitoring corresponding to the transferred driving authority. The condition for the action planning unit 42 to determine the parking event may include the following cases: while the vehicle is traveling, the action planning unit 42 determines that the driver has not performed the driving operation and the vehicle surroundings monitoring corresponding to the driving authority to be taken charge. The condition for the action planning unit 42 to determine the parking event may include the following: during the traveling of the vehicle, the action planning unit 42 determines that the driver is in an abnormal state in which the driving operation cannot be executed, such as a heart rate stopped state, based on a signal from the heart rate sensor or the indoor camera 26, for example.

The action planning unit 42 further generates a target trajectory on which the vehicle should travel in the future based on the determined event. The target track is obtained by sequentially arranging track points, which are points to which the vehicle should arrive at each time. The action planning unit 42 may generate the target trajectory based on the target velocity and the target acceleration set for each event. At this time, the information of the target velocity and the target acceleration is expressed by the interval of the track points.

The travel control unit 38 controls the propulsion device 3, the braking device 4, and the steering device 5 so that the vehicle passes through the target track generated by the action planning unit 42 at a predetermined timing.

The storage unit 39 is configured by ROM, RAM, and the like, and stores information necessary for processing by the automatic driving control unit 35, the abnormal state determination unit 36, the state management unit 37, and the travel control unit 38.

The abnormal state determination unit 36 includes a vehicle state determination unit 51 and an occupant state determination unit 52. The vehicle state determination unit 51 analyzes signals of various devices (for example, the environment recognition device 6 and the vehicle sensor 7) that affect the automatic driving of the level being executed, and determines whether or not an abnormality that makes it difficult to maintain the automatic driving being executed has occurred in the various devices.

The occupant state determination unit 52 determines whether or not the state of the driver is in an abnormal state based on a signal from the occupant monitoring device 11. The abnormal state includes the following states: in automatic driving in which the driver is under the obligation to steer at a level of 1 or less, it is difficult for the driver to steer. The state in which the driver is difficult to steer specifically includes: a state in which the driver is asleep, a state in which the driver is immobilized or unconscious due to illness or injury, a state in which the heartbeat of the driver is stopped, and the like. The occupant state determination unit 52 may determine that the state of the driver is in the abnormal state when no input is made from the grip sensor 27 by the occupant during automatic driving in which the driver is under the sense of being under the level 1. Further, the occupant state determination section 52 determines the open/close state of the eyelid of the driver from the extracted face image. When the state in which the driver's eyelids are closed continues for a predetermined time or when the number of times of eyelids closed per unit time is equal to or greater than a predetermined threshold value, the occupant state determination unit 52 determines that the driver is asleep, feeling very sleepy, unconscious, or in a heartbeat-stopped state, that the driver is in a state in which driving operation is difficult, and that the state of the driver is in an abnormal state. The occupant state determination unit 52 may further acquire the posture of the driver from the captured image, and when the posture of the driver is not suitable for the driving operation and the posture is maintained in a state in which the posture is not changed within a predetermined time range, may determine that the driver is in a state in which the driver is immobilized due to illness or injury, and the state of the driver is in an abnormal state.

In addition, in automatic driving at a level having a peripheral monitoring obligation, that is, automatic driving at a level 2 or less, the abnormal state includes a state in which the driver does not fulfill the obligation of the vehicle peripheral monitoring. The state in which the driver is not in compliance with the obligation of monitoring the surroundings of the vehicle includes any one of a state in which the driver is not holding the steering wheel and a state in which the driver's line of sight is not directed toward the front of the vehicle. The occupant state determination unit 52 detects whether the driver is gripping the steering wheel, for example, based on a signal from the grip sensor 27, and determines that the driver is in an abnormal state in which the driver is not in an obligation to monitor the surroundings of the vehicle when the driver is not gripping the steering wheel. The occupant state determination unit 52 determines whether or not the state of the driver is abnormal based on the image captured by the indoor camera 26. For example, the occupant condition determination unit 52 extracts the face area of the driver from the captured image by using a known image analysis means. The occupant condition determination unit 52 further extracts the inner corner of the eye, the outer corner of the eye, and an iris portion including the pupil (hereinafter referred to as a black eye) from the extracted face region. The occupant state determination unit 52 acquires the line of sight direction of the driver from the extracted positions of the inner corner of the eye, the outer corner of the eye, and the black eye, the contour shape of the black eye, and the like, and determines that the driver is in a state in which the driver is not in compliance with the obligation of monitoring the surroundings of the vehicle when the line of sight of the driver is not directed forward of the vehicle.

In addition, in the case of the automatic driving at the level without the surrounding monitoring obligation, that is, the automatic driving at the level 3, the abnormal state means a state in which the driving shift cannot be performed promptly when the driving shift request is made to the driver. The state in which the driving shift is not possible includes a state in which the system monitoring is not possible, and the state in which the system monitoring is not possible is a state in which the driver cannot monitor a screen display or the like in which the warning display is performed, and includes a state in which the driver is asleep and watching the rear. In the present embodiment, the abnormal state includes the following states in the level 3 autonomous driving: when the driver is notified to monitor the surroundings of the vehicle, the driver cannot be under the obligation to monitor the surroundings of the vehicle. In the present embodiment, the occupant condition determination unit 52 displays a predetermined screen on the display device 31 of the HMI12, and instructs the driver to view the display device 31. Then, the occupant condition determination unit 52 detects the line of sight of the driver by the indoor camera 26, and determines that the vehicle surroundings monitoring is in a state in which the line of sight of the driver is not oriented toward the display device 31 of the HMI 12.

The occupant state determination unit 52 detects whether the driver is gripping the steering wheel, for example, based on a signal from the grip sensor 27, and determines that the driver is in an abnormal state that does not satisfy the obligation of monitoring the surroundings of the vehicle when the driver is not gripping the steering wheel. The occupant state determination unit 52 determines whether or not the state of the driver is abnormal based on the image captured by the indoor camera 26. For example, the occupant condition determination unit 52 extracts the face area of the driver from the captured image by using a known image analysis means. The occupant condition determination unit 52 further extracts the inner corner of the eye, the outer corner of the eye, and an iris portion including the pupil (hereinafter referred to as a black eye) from the extracted face region. The occupant state determination unit 52 acquires the line of sight direction of the driver from the extracted positions of the inner corner of the eye, the outer corner of the eye, and the black eye, the contour shape of the black eye, and the like, and determines that the driver is in a state in which the driver is not in compliance with the obligation of monitoring the surroundings of the vehicle when the line of sight of the driver is not directed forward of the vehicle.

The state management unit 37 determines the level of the automatic driving based on at least one of the vehicle position, the operation of the automatic driving level changeover switch 13, and the determination result of the abnormal state determination unit 36. Further, the state management unit 37 controls the action planning unit 42 according to the determined level, and performs automatic driving according to each level. For example, when the level 1 autonomous driving is performed and the constant speed travel control is executed, the state management unit 37 limits the event determined by the action planning unit 42 to only the constant speed travel event.

The state management unit 37 performs automatic driving according to the set level, and also performs level up and level down.

More specifically, the state management unit 37 raises the level when the condition for performing the automated driving of the level after the transition is satisfied and an input for instructing the automated driving level changing switch 13 to raise the level of the automated driving is performed.

The state management unit 37 performs intervention request processing when a condition for performing automatic driving at an ongoing level is satisfied or when an input for instructing lowering of the level is made to the automatic driving level changeover switch 13. In the intervention request process, the state managing unit 37 first notifies the driver of a delivery request. The notification to the driver is performed by displaying a message or an image on the display device 31 or generating a sound or a warning sound from the sound generation device 32. The notification to the driver may be continued for a predetermined time after the start of the intervention request process. Note that the notification to the driver may be continued until the occupant monitoring device 11 detects an input.

The case where the condition for performing automatic driving at the executing level is not satisfied includes: when the vehicle moves to an area where only automatic driving at a level lower than the level currently being executed can be executed; and when the abnormal state determination unit 36 determines that an abnormality that makes it difficult to continue the automatic driving has occurred in the driver or the vehicle.

After notifying the driver, the state management unit 37 detects whether or not there is an input indicating the intervention of the driver in driving from the indoor camera 26 or the grip sensor 27. The method of detecting whether or not an input is present is determined depending on the level after the transition. When shifting to level 2, the state management unit 37 extracts the direction of the driver's line of sight from the image acquired by the indoor camera 26, and determines that there is an input indicating intervention of the driver in driving when the driver's line of sight is directed forward of the vehicle. When the state management unit 37 detects the grip of the steering wheel by the driver using the grip sensor 27 when the shift to the level 1 or the level 0 is made, it is determined that there is an input indicating intervention in driving. That is, the indoor camera 26 and the grip sensor 27 function as an intervention detection device that detects the intervention of the driver in driving. Further, the state management unit 37 may detect whether or not there is an input indicating intervention in driving, based on an input to the automatic driving level changeover switch 13.

The state management unit 37 lowers the level when detecting an input indicating intervention in driving within a predetermined time from the start of the intervention request processing. In this case, the level of the lowered automated driving may be level 0 or the highest level in the executable range.

When the input corresponding to the intervention of the driver in the driving is not detected within a predetermined time from the execution of the intervention request processing, the state management unit 37 causes the action planning unit 42 to generate a parking event. A parking event is an event that causes a vehicle control to back up and park the vehicle in a safe location (e.g., an emergency parking belt, roadside belt, shoulder, parking area, etc.). The series of steps performed in this parking event is referred to herein as the MRM (minimum Risk manager: minimum Risk strategy).

After the parking event is generated, the control device 15 shifts from the automatic driving mode to the automatic parking mode, and the action planning unit 42 executes the parking process. Hereinafter, the outline of the parking process will be described with reference to fig. 2.

In the parking process, a notification process is first executed (ST 1). In the notification process, the action planning unit 42 operates the vehicle exterior notification device 14 to perform notification to the outside of the vehicle. For example, the action planning unit 42 operates a horn included in the vehicle exterior notification device 14 to periodically generate a warning sound. The notification process continues until the parking process ends. After the notification processing is completed, the action planning unit 42 may operate the speaker according to the situation to continuously generate the warning sound.

Then, the rollback processing is executed (ST 2). The rollback processing is processing for limiting events that can be generated by the action planning unit 42. The retraction process prohibits the generation of an event of changing lanes to a passing lane, a passing event, a merging event, and the like, for example. Further, the rollback process may also limit the upper limit speed and the upper limit acceleration of the vehicle in various events as compared to the case where the parking process is not executed.

Next, a parking area determination process is performed (ST 3). The parking area determination process refers to the map information based on the vehicle position and extracts a plurality of parking areas suitable for parking, such as shoulders or evacuation spaces in the traveling direction of the vehicle. Then, 1 parking area is selected from the plurality of parking areas according to the size of the parking area, the distance between the parking area and the vehicle position, and the like.

Subsequently, the shift processing is executed (ST 4). In the moving process, a route for reaching a parking area is determined, various events for traveling on the route are generated, and a target track is determined. The travel control unit 38 controls the propulsion device 3, the brake device 4, and the steering device 5 based on the target trajectory determined by the action planning unit 42. Thereby, the vehicle travels along the route to reach the parking area.

Subsequently, the parking position determination process is executed (ST 5). In the parking position determination process, the parking position is determined based on the obstacle, road mark, and the like located in the periphery of the vehicle recognized by the external world recognition unit 40. In addition, in the parking position determination process, there is a case where the parking position cannot be determined in the parking area due to the presence of the surrounding vehicle or the obstacle. When the parking position cannot be determined in the parking position determination process (no in ST 6), the parking area determination process (ST3), the movement process (ST4), and the parking position determination process (ST5) are sequentially repeated.

If the parking position can be determined in the parking position determination process (yes at ST 6), a parking execution process is executed (ST 7). The action planning unit 42 generates a target trajectory in the parking execution process based on the current position and the parking position of the vehicle. The travel control unit 38 controls the propulsion device 3, the braking device 4, and the steering device 5 according to the target trajectory determined by the action planning unit 42. Thereby, the vehicle moves to the parking position and stops at the parking position.

The parking maintaining process is executed after the parking executing process is executed (ST 8). In the parking maintaining process, the travel control unit 38 drives the parking brake device in accordance with a command from the action planning unit 42 to maintain the vehicle at the parking position. Then, the action planning unit 42 may transmit the emergency report to the emergency report center via the communication device 8. After the parking maintaining process is completed, the parking process is ended.

In this way, the automated driving control unit 35 of the control device 15 executes the parking process of stopping the vehicle when the input of the driver to the intervention detection device (the indoor camera 26, the grip sensor 27) according to the request for intervention in the driving by the driver is not detected during the running under the automated driving.

In this parking maintenance process, the control device 15 performs a rescue support process for enabling a rescuer located outside the vehicle to smoothly rescue the driver inside the vehicle and improving the safety of the driver and the articles inside the vehicle. Hereinafter, the equipment provided in the vehicle for the rescue support processing and the rescue support processing will be described in detail.

As shown in fig. 1, the vehicle system 2 further has an opening operation sensor 61, a door lock device 62, a power window device 63, and an interior lamp 64. The opening operation sensor 61 detects an opening operation for opening a corresponding door with respect to an opening operation receiving member provided outside the vehicle body. The opening operation receiving member may be, for example, a door handle provided rotatably outside the door, or a button or lever provided on the door or a vehicle body portion near the door. The opening operation reception members are provided on a door of a driver seat, a door of a passenger seat, a door of a rear seat, and the like. The door of the driver seat is provided in the vehicle body so as to be capable of opening and closing a door opening for getting on and off the driver seat. The door of the front passenger seat is provided in the vehicle body so as to be capable of opening and closing a door opening for the front passenger seat and the rear passenger seat. The door of the rear seat is provided in the vehicle body so as to be capable of opening and closing a door opening for the upper and lower rear seats. The rear seat door may not be provided. The opening operation sensor 61 is provided in each opening operation receiving member.

The opening operation sensor 61 may be constituted by an unlock sensor that receives an input for unlocking a door lock device 62 provided in the corresponding door. The unlock sensor may be, for example, a contact sensor provided at a portion of the door handle that is grasped by a hand when the user opens the door.

The door lock device 62 is provided inside each door, and selectively sets the corresponding door to a locked state and an unlocked state. The door lock device 62 is configured to selectively obtain a state (unlocked state) in which release of engagement of a latch provided in a corresponding door with respect to a striker on the vehicle body side is permitted, and a state (locked state) in which release of engagement is not permitted. When the door lock device 62 is in the unlocked state, the door can be opened by releasing the release operation receiving member to release the engagement of the latch with the striker. When the door lock device 62 is in the locked state, even if the opening operation receiving member is opened, the engagement of the latch with the striker is not released, and the state where the door cannot be opened is maintained. The door lock devices 62 can cooperate with each other to selectively set all the doors to the locked state and the unlocked state.

The power window device 63 is provided inside each door, and opens and closes a window provided in the corresponding door. The window is slidably provided in the door so as to open and close a window opening formed in an upper portion of the door. Each window opening is smaller than the corresponding door opening.

The room lamp 64 is provided in a vehicle interior such as a ceiling portion, and illuminates the vehicle interior. The room lamp 64 may be an LED or an incandescent lamp, and may be configured to be capable of adjusting the illuminance.

The control device 15 further includes a door lock control unit 71, a window control unit 72, and an indoor lamp control unit 73. The door lock controller 71 controls the unlocking operation and the locking operation of the door lock device 62. The door lock control unit 71 unlocks or locks the door lock device 62 based on the detection signal of the opening operation sensor 61 under a predetermined condition.

In the case where the unlock operation sensor 61 is constituted by the unlock sensor as described above, in the normal state, the door lock control unit 71 wirelessly communicates with the electronic key outside the vehicle based on the detection signal of the unlock sensor, and compares the ID acquired from the electronic key with the authorized ID stored in the storage unit 39. When the ID acquired from the electronic key matches the authorized ID, the door lock control unit 71 unlocks the door lock device 62. When the electronic key is not present in the vicinity of the vehicle body, the door lock control unit 71 does not unlock the door lock device 62 and maintains the locked state of the door lock device 62 even if the detection signal is obtained from the unlock sensor.

The window control unit 72 drives the corresponding power window device 63 to control the opening and closing of the window in accordance with an input to a window operation input unit provided in the vehicle interior. The window control unit 72 drives the power window device 63 to open the window of the driver's seat based on the detection signal of the opening operation sensor 61 under a predetermined condition.

The room lamp control unit 73 controls turning on and off of the room lamp 64 based on a detection signal of a room lamp switch or a door open/close switch provided in the vehicle interior. The room lamp control unit 73 turns on the room lamp 64 based on the detection signal of the opening operation sensor 61 under a predetermined condition.

Fig. 3 is a flowchart of a rescue support process that is a part of the parking maintenance process shown in fig. 2. In the rescue support process, it is first determined whether or not an opening operation is detected by any of the opening operation sensors 61 (any of the doors of the driver seat, the passenger seat, and the rear seat) (ST 11). If no opening operation is detected by any of the opening operation sensors 61 (determination of ST11 is no), the process is repeated. When the open operation is detected by any of the open operation sensors 61 (the determination of ST11 is yes), it is determined whether the cause of the intervention request that triggers the parking process is an abnormal state of the driver (ST 12).

If the cause of the intervention request is the abnormal state of the driver (yes) in the determination of ST12, it is determined whether any of the door lock devices 62 is in the unlocked state (ST 13). If any of the door lock devices 62 is in the unlocked state in the determination at ST13 (yes), the door lock control unit 71 performs the locking process of the door lock device 62 (ST 14). In the locking process of the door lock device 62, the door lock control unit 71 locks the door lock device 62 in the unlocked state.

If all the door lock devices 62 are locked in the determination at ST13 (no), the window control unit 72 performs a process of opening the driver's seat window (ST 15). When any of the door lock devices 62 is in the unlocked state (the determination at ST13 is yes), the window opening process at ST15 is performed after the locking process of the door lock device 62 in the unlocked state (ST 14). In the window opening process, the window control unit 72 drives the driver's seat window to open. The window opening process (ST15) may be performed simultaneously with the locking process (ST14) of the door lock device 62 or may be performed before the locking process (ST14) of the door lock device 62.

Next, the indoor lamp control unit 73 performs a lighting process of the indoor lamp 64 (ST 16). In this lighting process, the room lamp control unit 73 lights the room lamp 64 at the highest luminous intensity. The lighting process (ST16) of the interior lamp 64 may be performed before the locking process (ST14) of the door lock device 62 or the opening process (ST15) of the window, or simultaneously.

Then, it is determined whether or not the 2 nd opening operation is detected by any of the opening operation sensors 61 (ST 17). If no opening operation is detected by any of the opening operation sensors 61 (determination of ST17 is no), the process is repeated. When the 2 nd opening operation is detected by the optional opening operation sensor 61 (the determination at ST17 is yes), the door lock control unit 71 performs an unlocking process of the door lock device 62 (ST 18). In this unlocking process, the door lock control unit 71 unlocks all the door lock devices 62. Alternatively, the door lock control unit 71 may unlock the door lock device 62 of the driver's seat or the door lock device 62 of the door that has been opened. After the unlocking process at ST18 is completed, the rescue support process is terminated.

If the cause of the intervention request is not the abnormal state of the driver (no) in the determination of ST12, that is, if the cause of the intervention request is the abnormality of the vehicle, the unlocking process of the door lock device 62 is performed by the door lock control unit 71 (ST 19). In this unlocking process, the door lock control unit 71 unlocks all the door lock devices 62. Alternatively, the door lock control unit 71 may unlock the door lock device 62 of the driver's seat or the door lock device 62 of the door that has been opened.

Next, the indoor lamp control unit 73 performs a lighting process of the indoor lamp 64 (ST 20). In this lighting process, the room lamp control unit 73 lights the room lamp 64 at the highest luminous intensity. The lighting process of the indoor lamp 64 (ST16) may be performed before the unlocking process of the door lock device 62 (ST19), or simultaneously. After the lighting process at ST20 is completed, the rescue support process is ended.

The operational effects of the vehicle control system 1 configured as described above will be described below.

In the parking maintenance process (ST8) after the automatic driving control unit 35 executes the parking process to stop the vehicle, when the open operation is detected by the open operation sensor 61 (ST 11: "yes"), the window control unit 72 drives the window of the driver's seat to open (ST 15). Therefore, the rescuer can speak into the driver to confirm the state of the driver and if rescue is necessary, save the driver from the window, or enter the vehicle through the window to open the door from the vehicle interior and save the driver from the door opening. Further, when the vehicle is stopped for a reason other than a state requiring assistance, such as fatigue driving or unaccustomed driving by the driver, the door is not opened immediately by the opening operation of the opening operation receiving member, and therefore, the safety of the driver and the articles in the vehicle is improved. This makes it possible to protect the driver from the human life and to improve the safety of the driver and the articles in the vehicle.

In the parking maintaining process (ST8), when the open operation is detected by the open operation sensor 61 (ST 11: "yes"), the door lock controller 71 locks the door lock device 62 (ST 14). Thus, the door lock device 62 is locked when the vehicle is stopped, or even if the door lock device 62 is unlocked thereafter, the door lock device 62 is locked when the opening operation receiving member receives the opening operation. Therefore, the door is not opened immediately by the opening operation of the opening operation reception member, and the safety of the driver and the articles in the vehicle is improved.

In the parking maintaining process (ST8), when the opening operation sensor 61 detects the 2 nd opening operation after the window opening process in ST15 (ST 17: "yes"), the door lock controller 71 unlocks the door lock device 62 (ST 18). Thus, the door is not immediately opened by the opening operation of the opening operation reception member, but the door lock device 62 is unlocked by the 2 nd opening operation to open the door. Therefore, when the driver needs to be rescued, the rescuer can smoothly rescue the driver.

The control device 15 includes an occupant state determination unit 52, the occupant state determination unit 52 determining the state of the driver based on the information acquired from the occupant monitoring device 11, and the automatic driving control unit 35 outputs an intervention request when the occupant state determination unit 52 determines that the driver is in an abnormal state. That is, when the occupant state determination unit 52 determines that the driver is in an abnormal state and the driver does not intervene in driving in accordance with an intervention request output in response to the determination, the automatic driving control unit 35 executes the parking process to stop the vehicle. When the driver is in the abnormal state (ST 12: "YES"), the driver's seat window is driven to open (ST15) when the opening operation is received by the opening operation receiving means after the vehicle is stopped (ST 11: "YES"). Therefore, the door is not opened immediately by an unintended opening operation of the opening operation reception member, and safety of the driver and the articles in the vehicle is improved.

The automatic driving control unit 35 outputs intervention requests when the occupant state determination unit 52 determines that the driver is in an abnormal state and when the vehicle state determination unit 51 determines that the vehicle is in an abnormal state. When the occupant state determination unit 52 determines that the driver is in the abnormal state (ST 12: "YES"), the window control unit 72 drives the window of the driver's seat to open by detection based on the opening operation of the opening operation sensor 61 (ST 11: "YES") (ST 15). On the other hand, when the vehicle state determination unit 51 determines that the vehicle is in the abnormal state (ST 12: "NO"), the door lock controller 71 unlocks the door lock device 62 by detection of the opening operation by the opening operation sensor 61 (ST 11: "YES") (ST 19).

Therefore, when the driver performs the parking process due to the abnormal state (ST 12: "YES"), the driver's seat window is driven to open, so that the protection of the driver's person and the improvement of the safety of the driver and the vehicle interior can be both achieved. On the other hand, when the parking process is executed because it is determined that the vehicle is in the abnormal state (ST 12: "NO"), an operation without discomfort such as unlocking the door lock is realized as usual. In this way, even when the vehicle is stopped by executing the same parking process, the operation of the vehicle according to the release operation differs depending on the cause of the stop of the traveling, and therefore, it is possible to realize an appropriate vehicle operation according to the situation.

When the open operation is detected by the open operation sensor 61 after the occupant state determination unit 52 determines that the driver is in the abnormal state and the vehicle is stopped by executing the parking process (ST 11: "yes"), the indoor lamp control unit 73 turns on the indoor lamp 64 (ST 16). When the driver is in the abnormal state (ST 12: "YES"), the opening operation reception means receives an opening operation (ST 11: "YES") after the vehicle is stopped, and the window of the driver's seat is opened and driven (ST15) and the room lamp 64 is turned on (ST 16). This can improve visibility when rescuing the driver in the vehicle.

< modification example >

Next, a modified example of the present invention will be described. In this modification, in the parking maintaining process (ST8), when the open operation is detected by the open operation sensor 61 (ST 11: "yes"), the window controller 72 drives the driver's seat window to open (ST15), and the door lock controller 71 unlocks the door lock device 62 (ST 18). Thus, the rescuer can smoothly rescue the driver by immediately unlocking the door lock device 62 by the opening operation of the opening operation receiving member.

The description of the specific embodiments is completed above, but the present invention is not limited to the above embodiments and can be widely modified. For example, in the above-described embodiment, it is determined whether or not the opening operation is detected by any of the opening operation sensors 61 in ST11 of fig. 3, but it may be determined whether or not the opening operation is detected by the opening operation sensor 61 of the driver's seat. Similarly, ST17 in fig. 3 may determine whether or not the opening operation of the 2 nd time is detected by the opening operation sensor 61 in the driver's seat. Note that, in ST13 in fig. 3, instead of determining whether any of the door lock devices 62 is in the unlocked state, it may be determined whether the door lock device 62 in the driver's seat is in the unlocked state. In this case, when the door lock device 62 at the driver's seat is in the unlocked state (ST 13: "yes"), the door lock control unit 71 may lock the door lock device 62 at the driver's seat or may lock all the door lock devices 62 in the unlocked state in the locking process at ST 14. In addition, the specific configuration, arrangement, number, specific contents and sequence of the respective members and portions, and the like can be appropriately changed without departing from the scope of the present invention. On the other hand, all of the components shown in the above embodiments are not necessarily essential, and can be appropriately selected.

Claims (8)

1. A vehicle control system characterized in that,

the vehicle control system includes:

a control device that performs steering, acceleration, and deceleration of the vehicle;

an intervention detection device that detects an intervention of a driver to driving; and

an opening operation sensor that detects an opening operation for opening a door with respect to an opening operation reception member provided outside the vehicle,

the control device has:

an automatic driving control unit that executes a parking process for stopping the vehicle when a predetermined condition that the control device or the driver cannot continue the traveling of the vehicle is satisfied during the traveling of the vehicle; and

a window control unit for controlling opening and closing operations of a window provided in the door,

the window control unit drives the window to open when the opening operation is detected by the opening operation sensor after the vehicle is stopped by the automatic driving control unit executing the parking process.

2. The vehicle control system according to claim 1,

the control device further comprises a door lock control unit for controlling the locking operation of a door lock device provided in the door,

the door lock control unit locks the door lock device when the opening operation sensor detects the opening operation after the vehicle is stopped by the automatic driving control unit executing the parking process.

3. The vehicle control system according to claim 1,

the control device further comprises a door lock control unit for controlling an unlocking operation of a door lock device provided in the door,

the door lock control unit unlocks the door lock device when the open operation is detected by the open operation sensor after the vehicle is stopped by the automatic driving control unit executing the parking process.

4. The vehicle control system according to claim 1,

the control device further comprises a door lock control unit for controlling an unlocking operation of a door lock device provided in the door,

the door lock control unit unlocks the door lock device when the opening operation sensor detects the 2 nd opening operation after the vehicle is stopped by the automatic driving control unit executing the parking process and the window control unit drives the window to open.

5. The vehicle control system according to any one of claims 1 to 4,

the control device further includes an occupant state determination unit that determines the state of the driver based on the information acquired from the intervention detection device,

the automatic driving control portion outputs an intervention request requesting the driver to intervene in the driving when it is determined by the occupant state determination portion that the driver is in an abnormal state.

6. The vehicle control system according to claim 5,

the control device further includes an interior lamp control unit that controls lighting of interior lamps provided in the vehicle,

the indoor lamp control section turns on the indoor lamp when the open operation is detected by the open operation sensor after the vehicle is stopped by executing the parking process due to the determination that the driver is in the abnormal state by the occupant state determination section.

7. A vehicle control system characterized in that,

the vehicle control system includes:

a control device that performs steering, acceleration, and deceleration of the vehicle;

an intervention detection device that detects an intervention of a driver to driving;

a vehicle sensor that detects a state of the vehicle;

an outside world recognition device that detects a state of an outside world of the vehicle; and

an opening operation sensor that detects an opening operation for opening a door with respect to an opening operation reception member provided outside the vehicle,

the control device has:

an automatic driving control unit that executes a parking process for stopping the vehicle when a predetermined condition that the control device or the driver cannot continue the traveling of the vehicle is satisfied during the traveling of the vehicle;

an occupant state determination unit that determines the state of the driver based on information acquired from the intervention detection device;

a vehicle state determination unit that determines a state of the vehicle based on information acquired from the vehicle sensor and the external world recognition device;

a window control unit that controls opening and closing operations of a window provided in the door; and

a door lock control unit for controlling an unlocking operation of a door lock device provided in the door,

the automatic driving control portion outputs an intervention request requesting the driver to intervene in the driving when it is determined by the occupant state determination portion that the driver is in an abnormal state and when it is determined by the vehicle state determination portion that the vehicle is in an abnormal state,

the window control portion drives the window to open when the opening operation is detected by the opening operation sensor after the vehicle is stopped by executing the parking process due to the determination that the driver is in the abnormal state by the occupant state determination portion,

the door lock control unit unlocks the door lock device when the open operation is detected by the open operation sensor after the vehicle is stopped by executing the parking process because the vehicle state determination unit determines that the vehicle is in the abnormal state.

8. The vehicle control system according to claim 7,

the control device further includes an interior lamp control unit that controls lighting of interior lamps provided in the vehicle,

the indoor lamp control section turns on the indoor lamp when the open operation is detected by the open operation sensor after the vehicle is stopped by executing the parking process due to the determination that the driver is in the abnormal state by the occupant state determination section.

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