Vehicle control device, vehicle control method, and storage medium storing a vehicle control program

1 . A vehicle control device for autonomously driving a vehicle comprising:

a detection unit that is configured to detect a motion of a driver of the vehicle, a behavior of the vehicle, and biological information of the driver during a manual driving mode of the vehicle in which the driver is operating the vehicle;

an abnormal sign determination unit that is configured to determine whether there is an abnormal sign on the driver during the manual driving mode based on the motion of the driver, the behavior of the vehicle, and the biological information of the driver;

a vehicle controller that is configured to:

transition the vehicle from the manual driving mode to an autonomous driving mode according to a situation of the abnormal sign on the driver; and

operate the vehicle in the autonomous driving mode by performing at least a first one of a plurality of driving assistance controls if a travel environment of the vehicle includes a first condition; and

a driving assistance determination unit that is configured to restrict from use during the autonomous driving mode at least a second one of the driving assistance controls if the travel environment of the vehicle includes a second condition that is different from the first condition,

wherein the driving assistance determination unit is configured to not restrict from use during the autonomous driving mode any of the driving assistance controls if the travel environment of the vehicle includes the first condition.

2 . The vehicle control device according to claim 1 , wherein

the detection unit includes a posture detection unit that is configured to detect a posture in which the driver is in an abnormal state, a motion detection unit that is configured to detect a motion that is the abnormal sign on the driver, a vehicle behavior detection unit that is configured to detect an abnormal behavior of the vehicle associated with the abnormal sign on the driver, and a biological information detection unit that is configured to detect biological information that is the abnormal sign on the driver,

the vehicle control device further includes an abnormality determination unit that is configured to determine whether the driver is in the abnormal state by using at least a detection result of the posture detection unit, and

the vehicle controller is configured to activate any of the driving assistance controls that are unrestricted from a time when it is determined that the driver has the abnormal sign to a time when it is determined that the driver is in the abnormal state.

3 . The vehicle control device according to claim 2 , wherein

the plurality of driving assistance controls includes at least one of speed limit control of the vehicle, erroneous driving operation reduction control, collision warning control, collision reduction braking control, collision avoidance control, lane deviation warning control, and lane deviation suppression control.

4 . The vehicle control device according to claim 3 , wherein

the vehicle controller is configured to change an execution threshold for the driving assistance controls to make it easier to execute the driving assistance controls when a preset time has elapsed since the time when it is determined that the driver has the abnormal sign.

5 . The vehicle control device according to claim 3 ,

wherein

when the driving assistance determination unit determines that execution of the at least the second one of the driving assistance controls is restricted, the vehicle controller is configured to execute at least deceleration control of the vehicle.

6 . The vehicle control device according to claim 2 , wherein

the vehicle controller is configured to change an execution threshold for the driving assistance controls to make it easier to execute the driving assistance controls when a preset time has elapsed since the time when it is determined that the driver has the abnormal sign.

7 . The vehicle control device according to claim 2 ,

wherein

when the driving assistance determination unit determines that execution of the at least second one of the driving assistance controls is restricted, the vehicle controller is configured to execute at least deceleration control of the vehicle.

8 . A vehicle control method for autonomously driving a vehicle comprising:

detecting a motion of a driver of the vehicle, a behavior of the vehicle, and biological information of the driver during a manual driving mode of the vehicle in which the driver is operating the vehicle;

determining whether there is an abnormal sign on the driver during the manual driving mode based on the motion of the driver, the behavior of the vehicle, and the biological information of the driver;

transitioning the vehicle from the manual driving mode to an autonomous driving mode according to a situation of the abnormal sign on the driver; and

driving the vehicle in the autonomous driving mode by performing at least a first one of a plurality of driving assistance controls if a travel environment of the vehicle includes a first condition;

restricting from use during the autonomous driving mode at least a second one of the driving assistance controls if the travel environment of the vehicle includes a second condition that is different from the first condition; and

not restricting from use during the autonomous driving mode any of the driving assistance controls if the travel environment of the vehicle includes the first condition.

9 . A non-transitory computer-readable storage medium storing a vehicle control program for causing a computer to execute autonomous driving vehicle control, the vehicle control program comprising:

detecting a motion of a driver of a vehicle, a behavior of the vehicle, and biological information of the driver during a manual driving mode of the vehicle in which the driver is operating the vehicle;

determining whether there is an abnormal sign on the driver during the manual driving mode based on the motion of the driver, the behavior of the vehicle, and the biological information of the driver;

transitioning the vehicle from the manual driving mode to an autonomous driving mode according to a situation of the abnormal sign on the driver;

driving the vehicle in the autonomous driving mode by performing at least a first one of a plurality of driving assistance controls if a travel environment of the vehicle includes a first condition;

restricting from use during the autonomous driving mode at least a second one of the driving assistance controls if the travel environment of the vehicle includes a second condition that is different from the first condition; and

not restricting from use during the autonomous driving mode any of the driving assistance controls if the travel environment of the vehicle includes the first condition.