Vehicle control device
If a vehicle controller makes a gripping request, a grip determination unit changes a determination level (voltage threshold) of a grip sensor that is positioned in a particular area of a disposed area where a steering wheel is disposed, in a manner that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped, compared with a determination level (voltage threshold) of the grip sensor that is positioned in an area other than an area in a particular direction.
1. A vehicle control device comprising:
a plurality of grip sensors provided along a steering wheel and configured to detect a gripped state of the steering wheel by a vehicle occupant;
a grip determination unit configured to determine whether the vehicle occupant grips the steering wheel on a basis of a detection result from one or more of the grip sensors; and
a vehicle controller configured to make a gripping request if a transition from a state where the vehicle occupant in an own vehicle does not need to grip the steering wheel to a state where the vehicle occupant needs to grip the steering wheel is performed,
wherein if the vehicle controller makes the gripping request, the grip determination unit is configured to change a determination level of the one or more grip sensors that are positioned in a particular area of a disposed area where the steering wheel is disposed, by increasing voltage thresholds of the one or more grip sensors that are positioned in the particular area, in a manner that the voltage thresholds of the one or more grip sensors that are in the particular area become higher than voltage thresholds of one or more of the grip sensors that are positioned in an area other than the particular area.
2. The vehicle control device according to claim 1 , wherein:
the vehicle controller is configured to control the own vehicle in a first control state where the vehicle occupant needs to grip the steering wheel and a second control state where the vehicle occupant does not need to grip the steering wheel, and make the gripping request when a transition from the second control state to the first control state is performed; and
if a travel time of the own vehicle becomes a predetermined time after the determination level is changed, or if a travel distance of the own vehicle becomes a predetermined distance after the determination level is changed, the grip determination unit is configured to change the determination level of the one or more of the grip sensors that are positioned in the particular area, in a manner that the voltage thresholds of the one or more grip sensors that are in the particular area become higher than voltage thresholds of one or more of the grip sensors that are positioned in an area other than the particular area.
3. The vehicle control device according to claim 2 ,
wherein if the travel time of the own vehicle becomes the predetermined time after the determination level is changed, or if the travel distance of the own vehicle becomes the predetermined distance after the determination level is changed, the grip determination unit is configured to equalize the determination level of the one or more grip sensors that are positioned in the particular area, with the determination level of the grip sensor that is positioned in the area other than the particular area.
4. The vehicle control device according to claim 1 , wherein: the own vehicle is configured to make a transition between an automated driving state where the vehicle controller performs a steering operation and a normal driving state where the vehicle occupant performs the steering operation; and the vehicle control device further comprises a learning unit configured to learn a position of the particular area, or the determination level of the one or more grip sensors during the automated driving.
5. The vehicle control device according to claim 4 , wherein the learning unit is configured to learn when the own vehicle stops.
6. The vehicle control device according to claim 1 , wherein the grip determination unit is configured to change the determination level of the one or more grip sensors that are positioned in an area that is lower than a center of the steering wheel, by increasing voltage thresholds of the one or more grip sensors that are positioned in the particular area, in a manner that the voltage thresholds of the one or more grip sensors that are in the particular area become higher than voltage thresholds of the one or more grip sensors that are positioned in an area other than the area that is lower than the center of the steering wheel.
7. The vehicle control device according to claim 1 , wherein:
the one or more grip sensor are an electrostatic capacitance sensor; and
the grip determination unit is configured to use a voltage threshold of the electrostatic capacitance sensor as the determination level, corresponding to a criterion for determining whether the steering wheel is gripped or not gripped, and increase the voltage thresholds of the one or more grip sensors that are positioned in the particular area, in a manner that the voltage thresholds of the one or more grip sensors that are in the particular area become higher than voltage thresholds of one or more of the grip sensors that are positioned in an area other than the particular area.