Control assist vehicle
A drive assist controller verifies the driving intention of a driver on the basis of whether or not the driver is contacting the steering wheel when a lane-maintaining control is being executed. An automatic driving controller verifies the driving intention of the driver on the basis of whether or not the driver is gripping the steering wheel when automatic driving is being performed. This configuration makes it possible to appropriately determine the driving intention of a driver, by changing the method of verifying the driving intention of the driver between cases when the driver has driving authority and cases when the vehicle has driving authority.
1. A control assisted vehicle, comprising:
a first controller configured to execute a first automated control including a first steering control assist in which an authority for driving is on a side of a driver;
a second controller configured to execute a second automated control including a second steering control assist in which the authority for driving is on a side of the vehicle;
a detector configured to distinguish between and detect a contact state in which the driver contacts a steering wheel, and a grasped state in which the steering wheel is grasped by the driver;
a determination unit configured to determine whether or not to transfer the authority for driving from the vehicle to the driver; and
a warning unit,
wherein the first controller is configured to issue a warning by the warning unit in a case that, during execution of the first steering control assist, the contact state is not detected by the detector, and
the second controller is configured to issue a warning by the warning unit in a case that, during execution of the second steering control assist, it is determined by the determination unit that the authority for driving is to be transferred from the vehicle to the driver, and the grasped state is not detected by the detector.
2. The control assisted vehicle according to claim 1 , wherein the detector is configured to distinguish between the contact state and the grasped state by a difference in electrostatic capacitance.
3. The control assisted vehicle according to claim 1 , wherein the first controller is configured to terminate the first automated control within a predetermined time period after having issued the warning by the warning unit, and
the second controller is configured to issue the warning by the warning unit together with executing a deceleration control of the vehicle.