JP7144351B2 - vehicle control system - Google Patents

Description

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

According to the definition of SAE J3016 (2016), the level of automated driving of vehicles is set in six stages from level 0 (no automated driving) to level 5 (fully automated driving). In addition, according to Non-Patent Document 1, when the system determines that it is difficult to continue automatic driving for a level 3 automatic driving vehicle and the driving is not handed over to the driver from the system, the vehicle is automatically operated. It is required to set a minimum risk maneuver (MRM) to safely stop at.

In relation to this, there is known a stop-time vehicle control device that detects an abnormality in the driver's state and executes an emergency stop function for automatically stopping the vehicle (Patent Document 1). When the vehicle stops in a safe place such as the shoulder of the road due to the emergency stop function, this vehicle control system prevents the driver from erroneously jumping out of the vehicle into the driving lane. Lock. At this time, the stop-time vehicle control device can open the door of the vehicle from the outside of the vehicle, but not from the inside of the vehicle, so that the rescuer can open the door of the vehicle when the rescuer or the like comes. Lock the door on the driving lane side.

JP 2018-131202 A

Automobile Bureau, Ministry of Land, Infrastructure, Transport and Tourism, “Safety Technical Guidelines for Self-Driving Vehicles,” September 2018, p. 5

However, in the conventional stop-time vehicle control device, when the vehicle is brought to an emergency stop by the emergency stop function (execution of stop processing) during automatic operation, the door on the driving lane side can be opened from outside the vehicle. Therefore, when the vehicle is stopped urgently because the driver is in a state requiring rescue such as heart attack, rescue operations can be smoothly performed, which is effective from the viewpoint of human life protection. On the other hand, if the vehicle comes to an emergency stop for reasons other than those requiring rescue, such as the driver falling asleep at the wheel or the driver driving unaccustomedly, opening the door from outside the vehicle poses a danger to the driver and items inside the vehicle. will be exposed to

In view of such a background, it is an object of the present invention to provide a vehicle control system that can improve the safety of the driver and items in the vehicle when a control device that performs automatic driving stops the vehicle in an emergency.

In order to solve such problems, one embodiment of the present invention is a vehicle control system (1) comprising a controller (15) for steering, accelerating and decelerating a vehicle, and an opening operation sensor (61) for detecting an opening operation for opening the door with respect to an opening operation receiving member provided outside the vehicle, and The control device executes a stop process for stopping the vehicle when a predetermined condition is satisfied that it is difficult for the control device or the driver to continue driving the vehicle while the vehicle is running. A control unit (35) and a window control unit (72) for controlling opening/closing operation of a window (63) provided in the door, and the vehicle is stopped by execution of the stop processing by the automatic driving control unit. After that, when the opening operation sensor detects the opening operation (ST11: Yes), the window control section drives the window to open (ST15).

According to this configuration, the window is driven to open by the window control unit when the opening operation receiving member receives the opening operation after the vehicle has stopped due to the execution of the stop processing. Therefore, the rescuer can confirm the condition of the driver by calling out to the driver, and if there is a need to rescue the driver, the rescuer can rescue the driver through the window, or access the inside of the vehicle through the window and open the door from inside the vehicle. It can be opened and rescue the driver from the door opening. In addition, even if the vehicle stops due to a cause other than a situation requiring rescue, such as the driver falling asleep while driving or driving unaccustomedly, the door does not open immediately by opening the opening operation receiving member. Increased safety for the driver and items in the vehicle. As a result, it is possible to achieve both the protection of the life of the driver and the improvement of the safety of the driver and the articles in the vehicle.

In the above configuration, the control device (15) further includes a door lock control section (71) that controls the locking operation of the door lock device (62) provided on the door, and the automatic operation control section (35) When the opening operation sensor (61) detects the opening operation after the vehicle has stopped by executing the stopping process (ST11: Yes), the door lock control unit locks the door lock device (ST14). ) is good.

According to this configuration, when the vehicle stops or after that, even if the door lock device is unlocked, the door lock device is locked by the door lock control unit when the opening operation receiving member receives the opening operation. be. Therefore, since the door does not open immediately by the opening operation to the opening operation receiving member, the safety of the driver and the articles in the vehicle is improved.

In the above configuration, the control device (15) further includes a door lock control section (71) for controlling an unlocking operation of a door lock device (62) provided on the door, and the automatic operation control section (35) When the opening operation sensor (61) detects the opening operation after the vehicle has stopped due to the execution of the stopping process, the door lock control unit (71) unlocks the door lock device (62). (ST18).

According to this configuration, the door lock device is unlocked immediately by the opening operation on the opening operation receiving member, and the rescuer can smoothly rescue the driver.

In the above configuration, the control device (15) further includes a door lock control section (71) for controlling an unlocking operation of a door lock device (62) provided on the door, and the automatic operation control section (35) After the vehicle is stopped by the execution of the stop processing by and after the window (63) is driven to open (ST15) by the window control unit (72), the opening operation sensor (61) performs the second operation of the When the opening operation is detected (ST17: Yes), the door lock control section (71) preferably unlocks the door lock device (62) (ST18).

According to this configuration, the opening operation of the opening operation receiving member does not immediately open the door, while the second opening operation unlocks the door lock device and opens the door. Therefore, when it is necessary to rescue the driver, the rescuer can smoothly rescue the driver.

In the above configuration, the control device (15) further includes an occupant state determination unit (52) that determines the state of the driver based on information received from the intervention detection device (11), and the automatic driving control unit In (35), when the passenger state determination unit determines that the driver is in an abnormal state, a request for intervention in the driving may be output to the driver.

According to this configuration, when the driver's abnormal state is determined by the occupant state determination unit and the driver does not intervene in driving in response to the intervention request output in response to this, the automatic driving control unit Stop the vehicle by executing a stop process. When the driver is in an abnormal state as described above, the window is driven to open when the opening operation receiving member receives the opening operation after the vehicle stops. Therefore, the door will not be opened immediately by an unexpected opening operation to the opening operation receiving member, thereby improving the safety of the driver and the articles in the vehicle.

Also to solve the problem, one embodiment of the present invention is a vehicle control system (1) comprising a controller (15) for steering, accelerating and decelerating a vehicle, An intervention detection device (11) for detecting intervention, a vehicle sensor (7) for detecting the state of the vehicle, an external world recognition device (6) for detecting the state of the external world of the vehicle, and an external world recognition device (6) provided outside the vehicle. and an opening operation sensor (61) for detecting an opening operation for opening the door with respect to the opening operation receiving member, and the control device controls the operation of the vehicle by the control device or the driver while the vehicle is running. When a predetermined condition that it is difficult to continue running is satisfied, an automatic driving control unit (35) that executes a stop process for stopping the vehicle, and the driving based on information received from the intervention detection device a vehicle state determination unit (52) for determining the state of the vehicle based on information received from the vehicle sensor and the external recognition device; and a window provided in the door. A window control unit (72) for controlling the opening and closing operation of (63), and a door lock control unit (71) for controlling unlocking and locking operations of a door lock device (62) provided on the door, The automatic driving control unit instructs the driver to start driving when the passenger 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. is output, and after the vehicle stops due to the execution of the stop processing due to the judgment that the driver is in an abnormal state by the passenger state judgment unit (ST12: Yes), the opening operation sensor When the opening operation is detected (ST11: Yes), the window control section drives the window to open (ST15), and the vehicle state determination section determines that the vehicle is in an abnormal state (ST12: No). After the vehicle has stopped due to the execution of the vehicle stop process, when the opening operation sensor detects the opening operation (ST11: Yes), the door lock control unit unlocks the door lock device ( ST19).

According to this configuration, when the vehicle stop processing is executed because the driver is in an abnormal state, the windows are driven to open when the opening operation reception member receives the opening operation after the vehicle stops. As a result, when the vehicle stops due to the driver's abnormal condition, it is possible to both protect the life of the driver and improve the safety of the driver and objects in the vehicle. On the other hand, when the vehicle stop processing is executed due to the determination that the vehicle is in an abnormal state, the door lock device is unlocked when the opening operation reception member receives the opening operation after the vehicle stops. As a result, when the vehicle stops due to an abnormal condition of the vehicle, the doors are unlocked as usual, which is a comfortable operation. In this manner, even when the vehicle is stopped by executing the same stopping process, the vehicle operation in response to the opening operation differs depending on the cause of the stoppage, so appropriate vehicle operation according to the situation is possible.

In the configuration including the occupant state determination unit, the control device (15) further includes an interior light control unit (73) for controlling lighting of an interior light (64) provided in the vehicle, and the occupant state determination unit After the vehicle is stopped by executing the stop processing resulting from the determination (52) that the driver is in an abnormal state (ST12: Yes), the opening operation sensor (61) detects the opening operation. If so (ST11: Yes), the interior light control unit may turn on the interior light (ST16).

According to this configuration, when the driver is in an abnormal state, when the opening operation receiving member receives the opening operation after the vehicle has stopped, the window is driven to open and the interior lamp is turned on, so that the inside of the vehicle is illuminated. Improves visibility when rescuing a driver in

As described above, according to the present invention, it is possible to provide a vehicle control system that can improve the safety of the driver and articles in the vehicle when the control device for automatic driving causes the vehicle to stop in an emergency.

1 is a functional configuration diagram of a vehicle equipped with a vehicle control system according to an embodiment; Flowchart of stop processing of the vehicle control system according to the embodiment Flowchart of rescue assistance processing that is part of the vehicle stop maintenance processing shown in FIG.

An embodiment of a vehicle control system according to the present invention will be described below with reference to the drawings. An example in which the vehicle control system according to the present invention is applied to a system for controlling a vehicle traveling in a country or region where left-hand driving is adopted will be described below.

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 braking 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 HMI 12 ( (Human Machine Interface), automatic driving level changeover switch 13 , vehicle outside alarm device 14 , and control device 15 . Each component of the vehicle system 2 is connected to each other by a communication means 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 the vehicle, and includes, for example, a power source and a transmission. The power source has 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 that applies a braking force to the vehicle, and includes, for example, a brake caliper that presses a pad against the brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper. The brake device 4 may include a parking brake device that regulates the rotation of the wheels by means of wire cables. The steering device 5 is a device for changing the steering angle of the wheels, and has, 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 world recognition device 6 is a device that detects an object or the like outside the vehicle. The external world recognition device 6 includes sensors such as a radar 17, a lidar 18 (LIDAR), and an exterior camera 19 that detect objects outside the vehicle by capturing electromagnetic waves and light from the surroundings of the vehicle. The external world recognition device 6 may also be a device that receives a signal from outside the vehicle and detects an object or the like outside the vehicle. The external world recognition device 6 outputs the detection result to the control device 15 .

The radar 17 detects the position (distance and direction) of an object by emitting radio waves such as millimeter waves around the vehicle and capturing the reflected waves. At least one radar 17 is attached to an arbitrary portion of the vehicle. The radar 17 includes at least a front radar that emits radio waves toward the front of the vehicle, a rear radar that emits radio waves toward the rear of the vehicle, and a pair of left and right side radars that emit radio waves toward the sides of the vehicle. is preferred.

The lidar 18 detects the position (distance and direction) of an object by irradiating the surroundings of the vehicle with light such as infrared light and capturing the reflected light. At least one rider 18 is provided at an arbitrary location of the vehicle.

The exterior camera 19 captures objects around the vehicle (for example, surrounding vehicles and pedestrians), guardrails, curbs, walls, median strips, road shapes, and road markings drawn on the road. Take an image. The exterior camera 19 may be, for example, a digital camera using a solid-state imaging device such as CCD or CMOS. At least one exterior camera 19 is provided at an arbitrary location of the vehicle. The exterior camera 19 preferably includes at least a front camera that captures an image of the front of the vehicle, and further includes a rear camera that captures the rear of the vehicle and a pair of side cameras that capture the left and right sides of the vehicle. The exterior camera 19 may be, for example, a stereo camera.

The vehicle sensors 7 include a vehicle speed sensor that detects vehicle speed, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity about a vertical axis, and a direction sensor that detects vehicle direction. A yaw rate sensor is, for example, a gyro sensor.

The communication device 8 mediates communication between the control device 15 and the navigation device 9 and surrounding vehicles and servers located outside the vehicle. The control device 15 can perform wireless communication with surrounding vehicles via the communication device 8 . Also, the control device 15 can communicate with a server that provides traffic regulation information via the communication device 8 . Furthermore, the control device 15 can communicate with a portable terminal possessed by a person outside the vehicle via the communication device 8 . In addition, the control device 15 can communicate with an emergency call center that receives emergency calls from vehicles via the communication device 8 .

The navigation device 9 acquires the current position of the vehicle and performs route guidance to a destination, etc., and has a GNSS receiver 21 , a map storage 22 , a navigation interface 23 and a route determination unit 24 . The GNSS receiver 21 identifies the position (latitude and longitude) of the vehicle based on signals received from artificial satellites (positioning satellites). The map storage unit 22 is configured by a known storage device such as flash memory or hard disk, and stores map information. The navigation interface 23 accepts inputs such as a destination from the passenger, and presents various information to the passenger through display and voice. The navigation interface 23 may include, for example, a touch panel display and a speaker. In other embodiments, GNSS receiver 21 may be configured as part of communication device 8 . Further, the map storage unit 22 may be configured as part of the control device 15 or may be configured as part of a server device capable of communicating via the communication device 8 .

Map information includes road types such as highways, toll roads, national roads, and prefectural roads, the number of lanes on the road, the center position of each lane (three-dimensional coordinates including longitude, latitude, and height), road division lines and lanes. The shape of road markings such as boundaries, the presence or absence of sidewalks, curbs, fences, etc., the location of intersections, the location of merging and branching points of lanes, the area of emergency parking zones, the width of each lane, and road signs, etc. Contains information. The map information may also include traffic regulation information, address information (address/zip code), facility information, telephone number information, and the like.

The route determining unit 24 determines a route to the destination based on the vehicle position specified by the GNSS receiving unit 21, the destination input from the navigation interface 23, and map information. When determining a route, the route determining unit 24 may refer to the positions of merging and branching points of lanes in the map information, and determine the target lane, which is the lane in which the vehicle should travel.

The driving operation device 10 receives input operations performed by the 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 also include a shift lever, a parking brake lever, and the like. Each driving operation device 10 is equipped with a sensor that detects the amount of operation. The driving operation device 10 outputs a signal indicating the amount of operation to the control device 15 .

The occupant monitoring device 11 monitors the condition of the occupants in the passenger compartment. The occupant monitoring device 11 has, for example, an interior camera 26 that captures an image of an occupant sitting on a seat inside the vehicle, and a grip sensor 27 provided on the steering wheel. The indoor camera 26 is, for example, a digital camera using a solid-state imaging device such as CCD or CMOS. The gripping sensor 27 is a sensor that detects whether or not the driver is gripping the steering wheel, and outputs the presence or absence of gripping as a detection signal. The grip sensor 27 may be formed by, for example, a capacitance sensor or a piezoelectric element provided on the steering wheel. The occupant monitoring device 11 may include a heart rate sensor provided on the steering wheel or seat, or a seating sensor provided on the seat. In addition, the occupant monitoring device 11 may be a wearable device worn by the occupant and capable of detecting vital information including at least one of heart rate and blood pressure of the occupant wearing the device. At this time, the occupant monitoring device 11 is preferably configured to be able to communicate with the control device 15 by a known wireless communication means. The occupant monitoring device 11 outputs captured images and detection signals to the control device 15 .

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

The HMI 12 notifies the occupant of various types of information through display and sound, and accepts input operations by the occupant. The HMI 12 includes, for example, at least one of a display device 31 such as a touch panel including a liquid crystal or an organic EL or an indicator lamp, a sound generation device 32 such as a buzzer or a speaker, and an input interface 33 such as a GUI switch on the touch panel or a mechanical switch. include. The navigation interface 23 may be configured to function as the HMI 12 .

The automatic driving level changeover switch 13 is a switch that receives an instruction to start execution of automatic driving from a passenger. The automatic driving level changeover switch 13 may be a mechanical switch or a GUI switch displayed on a touch panel, and is arranged at an appropriate place inside the vehicle. The automatic driving level changeover switch 13 may be configured by the input interface 33 of the HMI 12 or may be configured by the navigation interface 23 .

The control device 15 is an electronic control unit (ECU) including a CPU, a ROM, a RAM, and the like. The control device 15 executes various vehicle controls by executing arithmetic processing according to a program by the CPU. The control device 15 may be configured as one piece of hardware, or may be configured as a unit composed of a plurality of pieces of hardware. Moreover, at least part of each functional unit of the control device 15 may be implemented by hardware such as LSI, ASIC, or FPGA, or may be implemented by a combination of software and hardware.

The control device 15 performs at least level 0 to level 3 automatic driving control (hereinafter referred to as automatic driving) by combining various vehicle controls. The levels are based on the definition of SAE J3016 and are defined in relation to the degree of intervention of the driver in driving maneuvers and vehicle surroundings monitoring.

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

In level 1 automatic driving, the control device 15 performs part of the driving operation, and the driver performs the rest of the driving operation. For example, Level 1 automated driving includes constant speed driving and adaptive cruise control (ACC) and lane keeping assistance system (LKAS). Level 1 automatic driving is executed when a condition is satisfied that there is no abnormality in various devices (for example, the external world recognition device 6 and the vehicle sensor 7) required for executing level 1 automatic driving.

In level 2 automatic operation, the control device 15 performs all driving operations. Level 2 automated driving is performed when the driver monitors the surroundings of the vehicle, the vehicle is within a predetermined area, and the various devices required for level 2 automated driving have no abnormalities. executed.

In level 3 automatic driving, the control device 15 performs all driving operations. Level 3 automated driving is a posture in which the driver can monitor the surroundings of the vehicle as necessary, the vehicle is within a predetermined area, and various devices required to execute level 3 automated driving. is executed when the condition that there is no abnormality is met. Conditions under which level 3 automatic driving is executed include, 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 regulation information provided by a server outside the vehicle. , a predetermined slowness determination value (for example, 30 km/h) or less.

Thus, in automatic driving at levels 1 to 3, the control device 15 executes at least one of steering, acceleration, deceleration, and surrounding monitoring. The control device 15 executes level 1 to level 3 automatic operation when in the automatic operation mode. Hereinafter, steering, acceleration, and deceleration are referred to as driving operations, and driving operations and surroundings monitoring are referred to as driving, as required.

In the present embodiment, when the control device 15 receives an automatic driving execution instruction in the automatic driving level changeover switch 13, the vehicle Select the level of automatic driving according to the driving environment and change the level. However, the control device 15 may change the level according to the input to the automatic driving level changeover switch 13 .

As shown in FIG. 1 , the control device 15 has an automatic operation control section 35 , an abnormal state determination section 36 , a state management section 37 , a travel control section 38 and a storage section 39 .

The automatic driving control unit 35 includes an external world recognition unit 40 , a vehicle position recognition unit 41 and an action planning unit 42 . Based on the detection result of the external world recognition device 6, the external world recognition unit 40 recognizes obstacles located around the vehicle, the shape of the road, the presence or absence of sidewalks, and road markings. Obstacles include, for example, guardrails, utility poles, surrounding vehicles, and people such as pedestrians. The external world recognizing unit 40 can acquire states such as positions, velocities, and accelerations of surrounding vehicles from the detection results of the external world recognizing device 6 . The position of the surrounding vehicle may be recognized as a representative point such as the position of the center of gravity or the corner position of the surrounding vehicle, or an area represented by the outline of the surrounding vehicle.

The own vehicle position recognition unit 41 recognizes the travel lane, which is the lane in which the vehicle is traveling, and the relative position and angle of the vehicle with respect to the travel lane. The own vehicle position recognition unit 41 may recognize the driving lane, for example, based on the map information held by the map storage unit 22 and the vehicle position acquired by the GNSS reception unit 21 . Also, it is preferable to extract the lane markings drawn on the road surface around the vehicle from the map information and compare the shape of the lane markings captured by the exterior camera 19 to recognize the relative position and angle of the vehicle with respect to the driving lane. .

The action planning unit 42 sequentially creates action plans for driving the vehicle along the route. More specifically, the action planning unit 42 first determines an event for the vehicle to travel in the target lane determined by the route determination unit 24 without contacting any obstacles. Events include a constant-speed driving event in which the vehicle drives in the same driving lane at a constant speed, and the preceding vehicle driving in the same driving lane at a speed equal to or lower than the speed set by the occupant or determined based on the driving environment of the vehicle. A following event that follows a vehicle, a lane change event that changes the driving lane of the vehicle, an overtaking event that overtakes the preceding vehicle, a merging event that merges the vehicle at a road junction, and a vehicle that runs in the desired direction at a road junction When a branching event, an automatic driving end event to end automatic driving and switch to manual driving, and a predetermined condition indicating that it is difficult for the controller 15 or the driver to continue driving while the vehicle is running are satisfied. contains a stop event that stops the vehicle.

The conditions for the action planning unit 42 to determine a stop event include the indoor camera 26, the grip sensor 27, or the driver's response to the driver's intervention request (handover request) during automatic driving. A case where an input to the automatic driving level changeover switch 13 is not detected is included. The intervention request is a warning that notifies the driver that part of the driving authority will be transferred, and requests the driver to perform at least one of driving operation corresponding to the transferred driving authority and vehicle surroundings monitoring. be. The condition for the action planning unit 42 to determine the stop event is when the action planning unit 42 determines that the driving operation corresponding to the driving authority that the driver should assume and the monitoring of the surroundings of the vehicle are not being executed while the vehicle is running. should be included. Further, the conditions for the action planning unit 42 to determine the stop event include, for example, when the action planning unit 42 determines whether the driver is in a heartbeat stop state or the like based on a signal from the heartbeat sensor or the indoor camera 26 while the vehicle is running. It is preferable to include the case where it is determined that there is an abnormality in which the driving operation cannot be executed.

The action planning unit 42 also generates a target trajectory on which the vehicle should travel in the future based on the determined event. The target trajectory is a sequence of trajectory points that the vehicle should reach at each time. The action planning unit 42 may generate the target trajectory based on the target speed and target acceleration set for each event. At this time, the information of the target velocity and target acceleration is expressed by the interval of the trajectory 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 the target trajectory generated by the action planning unit 42 at the scheduled time.

The storage unit 39 is composed of ROM, RAM, etc., and stores information required for processing of the automatic operation control unit 35, the abnormal state determination unit 36, the state management unit 37, and the travel control unit 38.

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 the signals of various devices (for example, the external world recognition device 6 and the vehicle sensor 7) that affect the level of automatic driving in progress, and determines whether it is difficult to maintain the automatic driving in progress in various devices. determine whether or not any abnormalities have occurred.

The occupant state determination unit 52 determines whether or not the driver is in an abnormal state based on the signal from the occupant monitoring device 11 . The abnormal state includes a state in which it is difficult for the driver to steer the vehicle in automatic driving at level 1 or lower, in which the driver is obliged to steer the vehicle. Conditions in which it is difficult for the driver to steer include, specifically, the condition in which the driver is asleep, the condition in which the driver cannot move due to illness or injury, or the condition in which the driver is unconscious, and the condition in which the driver is in cardiac arrest. Including status, etc. The occupant state determination unit 52 determines that the driver is in an abnormal state when there is no input from the occupant to the grip sensor 27 during automatic driving in which the driver of level 1 or lower is obliged to steer the vehicle. may Also, the occupant state determination unit 52 determines whether the driver's eyelids are opened or closed from the extracted face image. The occupant state determination unit 52 determines that the driver is sleeping when the state in which the driver's eyelids are closed continues for a predetermined time or when the number of times the eyelids are closed per unit time is equal to or greater than a predetermined threshold. , feeling very sleepy, unconscious, or in cardiac arrest, making it difficult for the driver to drive, even if it is determined that the driver is in an abnormal state. good. The occupant state determination unit 52 further obtains the driver's posture from the captured image, and if the driver's posture is not suitable for driving operation and the state in which the posture does not change has been maintained for a predetermined period of time, driving is prohibited. It may be determined that the driver is in an abnormal state because the driver is unable to move due to illness or injury.

Further, in automatic driving at a level where there is an obligation to monitor the surroundings, that is, in automatic driving at level 2 or lower, the abnormal state includes a state in which the driver neglects the obligation to monitor the surroundings of the vehicle. The state in which the driver neglects the obligation to monitor the surroundings of the vehicle includes either the state in which the driver does not grip the steering wheel or the state in which the line of sight of the driver does not face the front of the vehicle. For example, based on a signal from the gripping sensor 27, the occupant state determination unit 52 detects whether or not the driver is gripping the steering wheel. It is determined that the vehicle is in an abnormal state where the duty to monitor the surroundings of the vehicle is neglected. Also, the occupant state determination unit 52 determines whether or not the driver is in an abnormal state based on the image captured by the indoor camera 26 . For example, the occupant state determination unit 52 extracts the driver's face region from the captured image using a known image analysis means. The occupant state determination unit 52 further extracts an iris portion (hereinafter referred to as black eye) including the inner and outer corners of the eye and the pupil from the extracted face area. The occupant state determination unit 52 acquires the direction of the line of sight of the driver based on the extracted positions of the inner and outer corners of the eyes, the iris of the eye, the contour shape of the iris, and the like. It is determined that the driver is neglecting the obligation to monitor the surroundings of the vehicle.

In addition, in a level of automated driving where there is no obligation to monitor the surroundings, that is, in level 3 automated driving, an abnormal state is a state in which the driver cannot quickly change driving when a request to change driving occurs. means. The state in which the driver cannot take turns includes the state in which the system cannot be monitored, and the state in which the system cannot be monitored is the state in which the driver cannot monitor the screen display, etc. that displays the alarm, and the state in which the driver is sleeping. , and looking backwards. In the present embodiment, in Level 3 automated driving, the abnormal condition includes a condition in which the driver is unable to perform the vehicle surroundings monitoring duty when notified to perform the vehicle surroundings monitoring. In this embodiment, the occupant state determination unit 52 displays a predetermined screen on the display device 31 of the HMI 12 and instructs the driver to look at the display device 31 . Thereafter, the occupant state determination unit 52 detects the line of sight of the driver by the indoor camera 26, and when it is determined that the line of sight of the driver is not directed toward the display device 31 of the HMI 12, the duty of monitoring the surroundings of the vehicle cannot be fulfilled. determined to be in a state

For example, based on a signal from the gripping sensor 27, the occupant state determination unit 52 detects whether or not the driver is gripping the steering wheel. It is determined that the vehicle is in an abnormal state where the duty to monitor the surroundings of the vehicle is neglected. Also, the occupant state determination unit 52 determines whether or not the driver is in an abnormal state based on the image captured by the indoor camera 26 . For example, the occupant state determination unit 52 extracts the driver's face region from the captured image using a known image analysis means. The occupant state determination unit 52 further extracts an iris portion (hereinafter referred to as black eye) including the inner and outer corners of the eye and the pupil from the extracted face area. The occupant state determination unit 52 acquires the direction of the line of sight of the driver based on the extracted positions of the inner and outer corners of the eyes, the iris of the eye, the contour shape of the iris, and the like. It is determined that the driver is neglecting the obligation to monitor the surroundings of the vehicle.

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

The state management unit 37 raises and lowers the level in addition to executing automatic operation according to the set level.

More specifically, the state management unit 37 is operated when the conditions for automatic operation at the post-transition level are satisfied and an input instructing the automatic operation level changeover switch 13 to increase the level of automatic operation is performed. , increase the level.

When the conditions for automatic driving at the level being executed are not satisfied, or when the automatic driving level changeover switch 13 receives an input instructing the automatic driving level switch 13 to lower the level, the state management unit 37 performs intervention request processing. In the intervention request process, the state management unit 37 first notifies the driver of the handover request. Notification to the driver may be performed by displaying a message or an image on the display device 31 or by generating a voice or warning sound from the sound generating device 32 . The notification to the driver may be configured to continue for a predetermined period of time after the intervention request process is started. Further, the notification to the driver may be configured to continue until the input is detected by the occupant monitoring device 11 .

When the conditions for performing automatic driving at the level being executed are not satisfied, when the vehicle moves to a region where only automatic driving at a level lower than the level currently being executed can be performed, or when the abnormal state determination unit 36 determines whether the driver or This includes when it is determined that an abnormality has occurred that makes it difficult for the vehicle to continue autonomous driving.

After notifying the driver, the state management unit 37 detects whether there is an input from the driver to the indoor camera 26 or the grip sensor 27 indicating an intervention in driving. The method of detecting the presence or absence of input is determined depending on the level after transition. When shifting to level 2, the state management unit 37 extracts the line-of-sight direction of the driver from the image acquired by the indoor camera 26, and if the line-of-sight of the driver is directed to the front of the vehicle, the driver changes to driving. It is determined that there is an input indicating the intervention of When shifting to level 1 or level 0, the state management unit 37 determines that there is an input indicating an intervention in driving when the gripping sensor 27 detects that the driver is gripping the steering wheel. In other words, the indoor camera 26 and the grip sensor 27 function as an intervention detection device that detects the driver's intervention in driving. Further, the state management unit 37 may detect whether 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 an input indicating intervention in driving is detected within a predetermined time from the start of the intervention request process. At this time, the level of automatic driving after the descent may be level 0 or the highest possible level.

The state management unit 37 causes the action planning unit 42 to generate a stop event when an input corresponding to the driver's willingness to accept is not detected within a predetermined time after execution of the intervention request process. A stop event is an event that causes the vehicle to stop at a safe location (eg, an emergency parking strip, roadside strip, shoulder, parking area, etc.) while degenerating vehicle control. Here, a series of procedures executed in this stop event is called MRM (Minimal Risk Maneuver).

When the stop event is generated, the control device 15 shifts from the automatic driving mode to the automatic stopping mode, and the action planning section 42 executes the stopping process. The outline of the stop processing will be described below with reference to FIG. 2 .

In the stop processing, the notification processing is executed first (ST1). 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 activates a horn included in the vehicle exterior alarm device 14 to periodically generate a warning sound. The notification process continues until the stop process ends. After the notification process is finished, the action planning unit 42 may operate the horn depending on the situation to continue generating the warning sound.

Next, degeneracy processing is executed (ST2). The degeneracy process is a process of limiting the events that the action planning unit 42 can generate. The degeneracy process prohibits generation of, for example, a lane change event to an overtaking lane, an overtaking event, a merging event, and the like. Further, the degeneracy process may limit the upper limit speed and upper limit acceleration of the vehicle in various events, compared to when the stop process is not executed.

Next, a stop area determination process is executed (ST3). The stopping area determination process refers to map information based on the vehicle position, and extracts a plurality of stopping areas that are areas suitable for stopping such as road shoulders and evacuation spaces in the running direction of the own vehicle. Then, one vehicle stop area is selected from a plurality of vehicle stop areas based on the size of the vehicle stop area, the distance between the vehicle stop area and the vehicle position, and the like.

Next, movement processing is executed (ST4). In the movement processing, a route to reach the stop area is determined, various events for traveling along the route are generated, and a target trajectory is determined. The travel control unit 38 controls the propulsion device 3 , the braking device 4 and the steering device 5 based on the target trajectory determined by the action planning unit 42 . As a result, the vehicle travels along the route and reaches the stop area.

Next, stop position determination processing is executed (ST5). In the stop position determination process, the stop position is determined based on obstacles positioned around the vehicle recognized by the external world recognition unit 40, road markings, and the like. It should be noted that, in the stop position determination process, there are cases where the stop position cannot be determined within the stop area due to the presence of surrounding vehicles or obstacles. If the stop position cannot be determined in the stop position determination process (NO in ST6), the stop area determination process (ST3), the movement process (ST4), and the stop position determination process (ST5) are repeated in order.

If the stop position can be determined in the stop position determination process (Yes in ST6), the stop execution process is executed (ST7). In the stop execution process, the action planning unit 42 generates a target trajectory based on the current vehicle position and the stop position. The travel control unit 38 controls the propulsion device 3 , the braking device 4 and the steering device 5 based on the target trajectory determined by the action planning unit 42 . As a result, the vehicle moves toward the stop position and stops at the stop position.

After the vehicle stop execution process is executed, the vehicle stop maintenance process is executed (ST8). In the vehicle stop maintenance process, the travel control unit 38 drives the parking brake device according to the command from the action planning unit 42 to maintain the vehicle at the stop position. After that, the action planner 42 may send an emergency call to the emergency call center via the communication device 8 . When the vehicle stop maintenance process is completed, the vehicle stop process ends.

In this way, the automatic driving control unit 35 of the control device 15 detects an intervention detection device (indoor camera 26, grip sensor 27) from the driver in response to a request for intervention in driving to the driver during automatic driving. is not detected, stop processing for stopping the vehicle is executed.

In this vehicle stop maintenance process, the control device 15 performs a rescue support process to enable a rescuer outside the vehicle to smoothly rescue the driver inside the vehicle and to improve the safety of the driver and articles inside the vehicle. . Equipment provided in the vehicle for the rescue support process and the rescue support process will be described in detail below.

As shown in FIG. 1, the vehicle system 2 further includes an opening operation sensor 61, a door lock device 62, a power window device 63 and an interior light 64. The opening operation sensor 61 detects an opening operation for opening a corresponding door with respect to an opening operation reception member provided outside the vehicle body. The opening operation receiving member may be, for example, a door handle provided rotatably on the outside of the door, or a button or lever provided on the door or on a portion of the vehicle body near the door. The opening operation reception member is provided on each of the driver's door, the front passenger's door, the rear seat door, and the like. The door of the driver's seat is provided on the vehicle body so that a door opening for getting in and out of the driver's seat can be opened and closed. A passenger seat door is provided on the vehicle body so that a door opening for getting in and out of the passenger seat can be opened and closed. The door of the rear seat is provided on the vehicle body so that the door opening for getting on and off the rear seat can be opened and closed. Rear seat doors may not be provided. The opening operation sensor 61 is provided on each of the opening operation receiving members.

The opening operation sensor 61 may be configured by an unlock sensor that receives an input for unlocking the door lock device 62 provided on the corresponding door. The unlocking sensor may be, for example, a contact sensor provided on a portion of the door handle that the user grips when opening the door.

A door lock device 62 is provided inside each of the doors to selectively lock and unlock the corresponding door. The door lock device 62 selectively allows a door latch provided on a corresponding door to be disengaged from a striker on the vehicle body side (unlocked state) or disallows disengagement (locked state). It is configured to be able to take When the door lock device 62 is in the unlocked state, the opening operation receiving member is operated to release the engagement of the door latch with the striker, thereby enabling the door to be opened. When the door lock device 62 is in the locked state, even if the opening operation receiving member is operated to open, the engagement of the door latch with the striker is not released, and the unopenable state of the door is maintained. In addition, these door lock devices 62 can be linked to selectively lock and unlock all the doors.

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

The interior light 64 is provided in the interior of the vehicle, for example, on the ceiling, and illuminates the interior of the vehicle. The room light 64 may be an LED or an incandescent bulb, and preferably configured to be adjustable in luminous intensity.

The control device 15 further includes a door lock control section 71 , a window control section 72 and an interior light control section 73 . The door lock control unit 71 controls unlocking and locking operations of the door lock device 62 . The door lock control unit 71 unlocks or locks the door lock device 62 according to the detection signal of the opening operation sensor 61 under predetermined conditions.

When the opening operation sensor 61 is configured by an unlocking sensor as described above, in a normal state, the door lock control unit 71 wirelessly communicates with the electronic key outside the vehicle according to the detection signal of the unlocking sensor, The ID received from the electronic key is collated with the regular ID stored in the storage unit 39 . If the ID received from the electronic key matches the regular ID, the door lock controller 71 unlocks the door lock device 62 . When the electronic key is not 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 it receives a detection signal from the unlock sensor.

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

The interior light control unit 73 controls the lighting and extinguishing of the interior light 64 according to the detection signals of the interior light switch and door open/close switch provided in the vehicle interior. The interior light control unit 73 turns on the interior light 64 according to the detection signal of the opening operation sensor 61 under predetermined conditions.

FIG. 3 is a flowchart of a rescue assistance process that is part of the vehicle stop maintenance process shown in FIG. In the rescue support process, first, it is determined whether or not an opening operation has been detected by any of the opening operation sensors 61 (of the driver's seat, passenger's seat, and rear seat doors) (ST11). If none of the opening operation sensors 61 detect the opening operation (determination in ST11 is No), this process is repeated. When the opening operation is detected by any of the opening operation sensors 61 (determination in ST11 is Yes), it is determined whether or not the cause of the intervention request that triggered the stop processing is the driver's abnormal condition ( ST12).

If it is determined in ST12 that the cause of the intervention request is the driver's abnormal condition (Yes), it is determined whether or not any door lock device 62 is unlocked (ST13). If any of the door lock devices 62 is unlocked (Yes) in the determination of ST13, the door lock control section 71 performs the locking process of the door lock devices 62 (ST14). In the locking process of the door lock device 62, the door lock control section 71 locks the door lock device 62 in the unlocked state.

If all the door lock devices 62 are locked (No) in the determination of ST13, the driver's seat window is opened by the window control unit 72 (ST15). If any of the door lock devices 62 is unlocked (Yes in ST13), the window opening processing of ST15 is performed after the lock processing of the unlocked door lock devices 62 (ST14). will be In the window opening process, the window control unit 72 drives the window of the driver's seat to open. The window opening process (ST15) may be performed simultaneously with the locking process of the door lock device 62 (ST14) or before the locking process of the door lock device 62 (ST14).

Subsequently, the interior lamp 64 is turned on by the interior lamp controller 73 (ST16). In this lighting process, the interior light controller 73 lights the interior light 64 with the highest luminosity. The process of turning on the room light 64 (ST16) may be performed before or at the same time as the process of locking the door lock device 62 (ST14) or the process of opening the window (ST15).

Thereafter, it is determined whether or not a second opening operation has been detected by any of the opening operation sensors 61 (ST17). If none of the opening operation sensors 61 detect the opening operation (determination in ST17 is No), this process is repeated. When the second opening operation is detected by any of the opening operation sensors 61 (determination in ST17 is Yes), unlocking processing of the door lock device 62 is performed by the door lock control section 71 (ST18). In this unlocking process, the door lock control section 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 opened door. When the unlocking process of ST18 is completed, the rescue support process ends.

In the determination of ST12, if the cause of the intervention request is not the abnormal state of the driver (No), that is, if the cause of the intervention request is the vehicle abnormality, the unlocking process of the door lock device 62 by the door lock control section 71 is performed. is performed (ST19). In this unlocking process, the door lock control section 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 opened door.

Subsequently, lighting processing of the interior lamp 64 by the interior lamp control section 73 is performed (ST20). In this lighting process, the interior light controller 73 lights the interior light 64 with the highest luminosity. The process of turning on the room light 64 (ST16) may be performed before or at the same time as the process of unlocking the door lock device 62 (ST19). When the lighting process of ST20 is completed, the rescue support process ends.

The effects of the vehicle control system 1 configured in this way will be described below.

In the vehicle stop maintenance process (ST8) after the vehicle has stopped due to the execution of the vehicle stop process by the automatic driving control unit 35, when the opening operation sensor 61 detects the opening operation (ST11: Yes), the window control unit 72 is placed in the driver's seat. window is driven to open (ST15). Therefore, the rescuer can confirm the condition of the driver by calling out to the driver, and if there is a need to rescue the driver, the rescuer can rescue the driver through the window, or access the inside of the vehicle through the window and open the door from inside the vehicle. It can be opened and rescue the driver from the door opening. In addition, even if the vehicle stops due to a cause other than a situation requiring rescue, such as the driver falling asleep while driving or driving unaccustomedly, the door does not open immediately by opening the opening operation receiving member. Increased safety for the driver and items in the vehicle. As a result, it is possible to achieve both the protection of the life of the driver and the improvement of the safety of the driver and the articles in the vehicle.

In the vehicle stop maintenance process (ST8), when the opening operation sensor 61 detects the opening operation (ST11: Yes), the door lock control section 71 locks the door lock device 62 (ST14). Thus, when the vehicle stops or after that, even if the door lock device 62 is unlocked, the door lock device 62 is locked when the opening operation receiving member receives the opening operation. Therefore, since the door does not open immediately by the opening operation to the opening operation receiving member, the safety of the driver and the articles in the vehicle is improved.

In the vehicle stop maintenance process (ST8), after the window opening process of ST15, if the opening operation sensor 61 detects the second opening operation (ST17: Yes), the door lock control unit 71 unlocks the door lock device 62. Lock it (ST18). As a result, the door is not opened immediately by the opening operation on the opening operation receiving member, but the door lock device 62 is unlocked by the second opening operation, and the door is opened. Therefore, when it is necessary to rescue the driver, the rescuer can smoothly rescue the driver.

The control device 15 includes an occupant state determination unit 52 that determines the state of the driver based on the information received from the occupant monitoring device 11. If so, output an intervention request. That is, when the driver's abnormal state is determined by the occupant state determination unit 52 and the driver does not intervene in driving in response to the intervention request output in response to this, the automatic driving control unit 35 performs stop processing. to stop the vehicle. When the driver is in an abnormal state as described above (ST12: Yes), the window of the driver's seat is driven to open (ST15) when the opening operation receiving member receives the opening operation after the vehicle stops (ST11: Yes). ). Therefore, the door will not be opened immediately by an unexpected opening operation to the opening operation receiving member, thereby improving the safety of the driver and the articles in the vehicle.

The automatic driving control unit 35 outputs an intervention request when the passenger 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. If it is determined by the occupant state determination unit 52 that the driver is in an abnormal state (ST12: Yes), the opening operation sensor 61 detects the opening operation (ST11: Yes), and the window control unit 72 moves to the driver's seat. window is driven to open (ST15). On the other hand, when the vehicle state determination unit 51 determines that the vehicle is in an abnormal state (ST12: No), the door lock control unit 71 detects the opening operation by the opening operation sensor 61 (ST11: Yes). The door lock device 62 is unlocked (ST19).

Therefore, when the vehicle stop process is executed due to the driver being in an abnormal state (ST12: Yes), the driver's seat window is driven to open, thereby protecting the life of the driver and It is possible to achieve both an improvement in the safety of articles. On the other hand, when the vehicle stop processing is executed due to the determination that the vehicle is in an abnormal state (ST12: No), the door is unlocked as usual, which is a comfortable operation. In this manner, even when the vehicle is stopped by executing the same stopping process, the vehicle operation in response to the opening operation differs depending on the cause of the stoppage, so appropriate vehicle operation according to the situation is possible.

When the opening operation sensor 61 detects the opening operation after the vehicle is stopped by the execution of the stopping process resulting from the determination that the driver is in an abnormal state by the passenger state determination unit 52 (ST11: Yes), the interior lights The control unit 73 turns on the interior light 64 (ST16). When the driver is in an abnormal state as described above (ST12: Yes), when the opening operation reception member receives an opening operation after the vehicle stops (ST11: Yes), the driver's seat window is driven to open (ST15). and turning on the room light 64 (ST16). This improves the visibility when rescuing the driver in the vehicle.

<Modification>
Next, modified examples of the present invention will be described. In this modification, when the opening operation sensor 61 detects the opening operation in the vehicle stop maintaining process (ST8) (ST11: Yes), the window control unit 72 drives the window of the driver's seat to open (ST15), and the door The lock controller 71 unlocks the door lock device 62 (ST18). As a result, the door lock device 62 is unlocked immediately by the opening operation on the opening operation receiving member, and the rescuer can smoothly rescue the driver.

Although the specific embodiments have been described above, the present invention is not limited to the above embodiments and can be widely modified. For example, in the above embodiment, it is determined in ST11 of FIG. 3 whether or not an opening operation has been detected by any of the opening operation sensors 61. It may be determined whether or not Similarly, in ST17 of FIG. 3, it may be determined whether or not the second opening operation has been detected by the opening operation sensor 61 of the driver's seat. Further, in ST13 of FIG. 3, instead of determining whether or not any of the door lock devices 62 is unlocked, it is determined whether or not the door lock device 62 of the driver's seat is unlocked. good too. In this case, when the door lock device 62 of the driver's seat is unlocked (ST13: Yes), the door lock control unit 71 locks the door lock device 62 of the driver's seat in the unlocking process of ST14. Alternatively, all door lock devices 62 in the unlocked state may be locked. In addition, the specific configuration, arrangement and quantity of each member and part, the specific content and order of each process, etc. can be changed as appropriate within the scope of the present invention. On the other hand, not all of the components shown in the above embodiments are essential, and can be selected as appropriate.

1 Vehicle Control System 6 External Recognition Device 7 Vehicle Sensor 11 Occupant Monitoring Device (Intervention Detection Device)
15 control device 35 automatic operation control unit 36 abnormal state determination unit 51 vehicle state determination unit 52 occupant state determination unit 61 opening operation sensor 62 door lock device 63 power window device (window)
64 interior light 71 door lock control section 72 window control section 73 interior light control section

Claims (7)

A vehicle control system,
a controller for steering, accelerating, and decelerating the vehicle ;
an opening operation sensor for detecting an opening operation for opening the door with respect to an opening operation receiving member provided outside the vehicle;
The control device is
When a predetermined condition is satisfied that it is difficult for the control device or the driver to continue running the vehicle while the vehicle is running, an automatic driving control unit that performs a stop process for stopping the vehicle;
a window control unit that controls opening and closing operations of a window provided on the door ;
a door lock control unit for controlling a locking operation of a door lock device provided on the door ;
When the opening operation sensor detects the opening operation after the vehicle stops due to the execution of the stopping process by the automatic driving control unit, the window control unit drives the window to open,
The door lock control unit locks the door lock device when the opening operation sensor detects the opening operation after the vehicle stops due to the execution of the stopping process by the automatic driving control unit. vehicle control system. The door lock control unit further controls an unlocking operation of the door lock device,
The door lock control unit unlocks the door lock device when the opening operation sensor detects the opening operation after the vehicle has stopped due to the execution of the stopping process by the automatic driving control unit. The vehicle control system according to claim 1, wherein: A vehicle control system,
a controller for steering, accelerating, and decelerating the vehicle ;
an opening operation sensor for detecting an opening operation for opening the door with respect to an opening operation receiving member provided outside the vehicle;
The control device is
When a predetermined condition is satisfied that it is difficult for the control device or the driver to continue running the vehicle while the vehicle is running, an automatic driving control unit that performs a stop process for stopping the vehicle;
a window control unit that controls opening and closing operations of a window provided on the door ;
a door lock control unit that controls an unlocking operation of a door lock device provided on the door ;
When the opening operation sensor detects the opening operation after the vehicle stops due to the execution of the stopping process by the automatic driving control unit, the window control unit drives the window to open,
When the opening operation sensor detects the opening operation for the second time after the vehicle has stopped due to the execution of the stopping process by the automatic driving control unit and after the window has been driven to open by the window control unit. 1. A vehicle control system , wherein said door lock control unit unlocks said door lock device . further comprising an intervention detection device that detects an intervention of the driver in driving,
The control device further includes an occupant state determination unit that determines the state of the driver based on the information received from the intervention detection device,
The automatic driving control unit outputs a request for intervention in the driving to the driver when the passenger state determination unit determines that the driver is in an abnormal state. 4. The vehicle control system according to any one of 3 . The control device further includes an interior light control unit that controls lighting of an interior light provided in the vehicle,
When the opening operation sensor detects the opening operation after the vehicle is stopped by the execution of the vehicle stop processing caused by the determination that the driver is in an abnormal state by the passenger state determination unit, the interior light is 5. The vehicle control system according to claim 4 , wherein the control unit turns on the interior light. A vehicle control system,
a controller for steering, accelerating, and decelerating the vehicle;
an intervention detection device that detects a driver's intervention in driving;
a vehicle sensor that detects the state of the vehicle;
an external world recognition device that detects the state of the external world of the vehicle;
an opening operation sensor for detecting an opening operation for opening the door with respect to an opening operation receiving member provided outside the vehicle;
The control device is
When a predetermined condition is satisfied that it is difficult for the control device or the driver to continue driving the vehicle while the vehicle is running, an automatic driving control unit that performs a stop process for stopping the vehicle;
an occupant state determination unit that determines the state of the driver based on information received from the intervention detection device;
a vehicle state determination unit that determines the state of the vehicle based on information received from the vehicle sensor and the external recognition device;
a window control unit that controls opening and closing operations of a window provided on the door;
a door lock control unit for controlling unlocking and locking operations of a door lock device provided on the door;
The automatic driving control unit, 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, outputs an intervention request to
When the opening operation sensor detects the opening operation after the vehicle has stopped due to the execution of the vehicle stop processing caused by the determination that the driver is in an abnormal state by the passenger state determination unit, the window control is performed. drives the window to open;
When the opening operation sensor detects the opening operation after the vehicle has stopped due to the execution of the stopping process resulting from the determination that the vehicle is in an abnormal state by the vehicle state determination unit, the door lock control is performed. unlocking the door lock device. The control device further includes an interior light control unit that controls lighting of an interior light provided in the vehicle,
When the opening operation sensor detects the opening operation after the vehicle has stopped due to the execution of the vehicle stop processing caused by the determination that the driver is in an abnormal state by the passenger state determination unit, the interior light is 7. The vehicle control system according to claim 6 , wherein the control unit turns on the interior light.

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