Vehicle control apparatus, vehicle, acceleration-and-deceleration control method, and vehicle control program
A vehicle control apparatus performs an acceleration suppressing control to suppress an acceleration of a vehicle, when a distracted state detected based on a driver's seat image continues for a predetermined first time. The distracted state is a state in which an attentiveness for driving of the driver is impaired. The vehicle control apparatus performs a deceleration control to decelerate the vehicle to stop the vehicle, when the distracted state continues for a predetermined second time that is longer than the first time.
1. A vehicle control apparatus comprising a control unit, capable of communicating with a driver's seat camera device configured to obtain a driver's seat image by taking a picture of a driver sitting in a driver's seat of a vehicle, which controls an acceleration and a deceleration of said vehicle, said control unit configured to:
perform an acceleration suppressing control to suppress an acceleration of said vehicle, when a distracted state detected based on said driver's seat image continues for a predetermined first time, said distracted state being a state in which an attentiveness for driving of said driver is impaired; and
perform a deceleration control to decelerate said vehicle to stop said vehicle, when said distracted state continues for a predetermined second time that is longer than said first time,
wherein, said control unit is configured to:
start a second alert notification for enhancing said attentiveness at a start time point of said acceleration suppressing control; and
determine that said distracted state continues for said second time so as to start performing said deceleration control, when said distracted state continues for a predetermined third determination time from a start time point of said second alert notification.
2. The vehicle control apparatus according to claim 1 ,
wherein, said control unit is configured to:
start a first alert notification for enhancing said attentiveness, when said distracted state continues for a predetermined first determination time; and
determine that said distracted state continues for said first time so as to start performing said acceleration suppressing control, when said distracted state continues for a predetermined second determination time from a start time point of said first alert notification.
3. The vehicle control apparatus according to claim 1 ,
wherein, said control unit is configured to:
end said acceleration suppressing control and start performing a jerk limiting control to control said vehicle in such a manner that a jerk that is a differential value of an acceleration of said vehicle with respect to time does not exceed a predetermined threshold, when said driver is no longer in said distracted state before said distracted state continues for the predetermined third determination time.
4. The vehicle control apparatus according to claim 1 ,
wherein, said control unit is configured to:
once starting said deceleration control, continue performing said deceleration control until a predetermined operation is performed even when said driver is no longer in said distracted state.
5. The vehicle control apparatus according to claim 1 , further comprising an object sensor which detects an object present in front of said vehicle,
wherein, said control unit is configured to:
perform said acceleration suppressing control, even before said distracted state continues for said first time, when a predetermined condition becomes satisfied, said predetermined condition being a condition to be satisfied when a relationship between said object detected by said object sensor and said vehicle has changed, and thus, necessity of monitoring a surrounding of said vehicle by said driver is increased as compared to a state before said relationship has changed.
6. The vehicle control apparatus according to claim 5 ,
wherein, said control unit is configured to:
perform a constant speed control to cause an acceleration of said vehicle to coincide with a target acceleration that lets a speed of said vehicle become equal to a set vehicle speed, when said object sensor does not detect a forward vehicle traveling in front of said vehicle;
perform an inter-vehicle-distance maintaining control to cause an acceleration of said vehicle to coincide with a target acceleration that maintains an inter vehicle distance to said forward vehicle at a set inter vehicle distance, when said object sensor detects said forward vehicle; and
perform said acceleration suppressing control, when said forward vehicle that has been detected by said object sensor is no longer detected, and thus, determines that said predetermined condition becomes satisfied.
7. A vehicle comprising the vehicle control apparatus according to claim 1 .
8. An acceleration-and-deceleration control method for controlling an acceleration and a deceleration of a vehicle based on a state of a driver sitting in a driver's seat of said vehicle, comprising:
a first step of performing an acceleration suppressing control to suppress an acceleration of said vehicle, when a distracted state detected based on a driver's seat image obtained by a driver's seat camera device by taking a picture of said driver sitting in said driver's seat continues for a predetermined first time, said distracted state being a state in which an attentiveness for driving of said driver is impaired; and
a second step of performing a deceleration control to decelerate said vehicle to stop said vehicle, when said distracted state continues for a predetermined second time that is longer than said first time,
further comprising:
starting a second alert notification for enhancing said attentiveness at a start time point of said acceleration suppressing control; and
determining that said distracted state continues for said second time so as to start performing said deceleration control, when said distracted state continues for a predetermined third determination time from a start time point of said second alert notification.
9. A program storage device, readable by machine, storing a program for controlling an acceleration and a deceleration of a vehicle based on a state of a driver sitting in a driver's seat of said vehicle,
said program causing a computer to implement processes of:
a first step of performing an acceleration suppressing control to suppress an acceleration of said vehicle, when a distracted state detected based on a driver's seat image obtained by a driver's seat camera device by taking a picture of said driver sitting in said driver's seat continues for a predetermined first time, said distracted state being a state in which an attentiveness for driving of said driver is impaired; and
a second step of performing a deceleration control to decelerate said vehicle to stop said vehicle, when said distracted state continues for a predetermined second time that is longer than said first time,
further comprising:
starting a second alert notification for enhancing said attentiveness at a start time point of said acceleration suppressing control; and
determining that said distracted state continues for said second time so as to start performing said deceleration control, when said distracted state continues for a predetermined third determination time from a start time point of said second alert notification.