Vehicle control device
A vehicle controller is configured to: recognize a surrounding situation of a vehicle; execute first control of giving a first alarm to an occupant of the vehicle in response to a first condition being satisfied; execute second control of controlling braking or steering of the vehicle and giving a second alarm to the occupant in response to a second condition being satisfied; detect an abnormality of the occupant; execute third control of decelerating or stopping the vehicle and giving a third alarm in response to the abnormality of the occupant; and arrange execution of the first, second and third control. The vehicle controller executes the third control with priority over the first control when conditions of the first control and the third control are satisfied; and executes the second control with priority over the third control when conditions of the second control and the third control are satisfied.
1. A vehicle control device that controls a vehicle, the vehicle control device comprising:
a recognition circuit configured to recognize a surrounding situation of the vehicle;
a first control circuit configured to execute first control of giving a first alarm to an occupant of the vehicle in response to a first execution condition being satisfied based on a recognition result of the recognition circuit;
a second control circuit configured to execute second control of controlling braking or steering of the vehicle and giving a second alarm to the occupant in response to a second execution condition being satisfied based on the recognition result of the recognition circuit;
an occupant abnormality detection circuit configured to detect an abnormality of the occupant;
a third control circuit configured to execute third control of decelerating or stopping the vehicle and giving a third alarm in response to the abnormality of the occupant being detected by the occupant abnormality detection circuit; and
an arrangement circuit configured to arrange execution of the first control, the second control, and the third control,
wherein the arrangement circuit:
causes the third control to be executed with priority over the first control when execution conditions of the first control and the third control are satisfied; and
causes the second control to be executed with priority over the third control when execution conditions of the second control and the third control are satisfied.
2. The vehicle control device according to claim 1 ,
wherein the arrangement circuit:
continues the third control when the first execution condition is satisfied during execution of the third control; and
interrupts or stops the third control to execute the second control when the second execution condition is satisfied during the execution of the third control.
3. The vehicle control device according to claim 1 ,
wherein the occupant abnormality detection circuit detects the abnormality of the occupant in response to a first detection condition being satisfied and a second detection condition being further satisfied after the first detection condition is satisfied,
wherein the vehicle control device further comprises a fourth control circuit configured to execute fourth control of giving a fourth alarm to the occupant during a period from when the first detection condition is satisfied to when the second detection condition is satisfied, and
wherein the arrangement circuit:
is configured to arrange execution of the fourth control; and
causes the first control to be executed with priority over the fourth control when execution conditions of the first control and the fourth control are satisfied.
4. The vehicle control device according to claim 3 ,
wherein the arrangement circuit interrupts or stops the fourth control to execute the first control when the first execution condition is satisfied during execution of the fourth control.
5. The vehicle control device according to claim 1 ,
wherein the second control circuit:
is configured to be able to change the second execution condition in response to the abnormality of the occupant being detected by the occupant abnormality detection circuit; and
when the abnormality of the occupant is detected, changes the second execution condition such that the second control is more likely to be executed than when the abnormality of the occupant is not detected.