Driving control device
A driving control device includes a steering wheel configured to receive a steering operation, an approach sensor provided in the steering wheel and configured such that a detection value changes as a driver's hand approaches the steering wheel, a steering device configured to turn wheels according to the steering operation, and a controller configured to control the steering device. The controller is configured to estimate a change in a position of the driver's hand based on a change in the detection value of the approach sensor, estimate a moving mode of the driver's hand based on the estimated change in the position of the driver's hand, and cause the steering device to turn the wheels in a case where a vehicle speed is equal to or lower than a threshold value and the moving mode of the driver's hand is a mode along a circumferential direction.
1. A driving control device, comprising:
a steering wheel configured to receive a steering operation of a vehicle by a driver;
an approach sensor provided in the steering wheel and configured such that a detection value of the approach sensor changes as a driver's hand approaches the steering wheel;
a steering device configured to turn wheels according to the steering operation of the vehicle by the driver; and
a controller configured to control the steering device,
wherein the controller is configured to
estimate a change in a position of the driver's hand that has approached the steering wheel based on a change in the detection value of the approach sensor,
estimate a moving mode of the driver's hand that has approached the steering wheel based on the estimated change in the position of the driver's hand, and
cause the steering device to turn the wheels in a case where a vehicle speed of the vehicle is equal to or lower than a prescribed threshold value and the estimated moving mode of the driver's hand is a mode along a circumferential direction of the steering wheel.
2. The driving control device according to claim 1 , wherein the approach sensor includes a plurality of capacitive sensors configured such that capacitance thereof changes as the driver's hand approaches the steering wheel, and
the controller is configured to
estimate a time series change in the position of the driver's hand that has approached the steering wheel based on a change in the capacitance of the plurality of capacitive sensors, and
estimate a moving direction and moving speed of the driver's hand based on the estimated time series change in the position of the driver's hand.
3. The driving control device according to claim 2 , wherein the controller is configured to determine a turning direction and turning speed of the wheels based on the estimated moving direction and moving speed of the driver's hand.
4. The driving control device according to claim 1 , wherein the steering wheel includes an annular rim, and
the approach sensor includes a capacitive sensor configured such that capacitance thereof starts to change as the driver's hand approaches the rim in a state where the driver's hand is not in contact with the rim.
5. The driving control device according to claim 4 , wherein the controller is configured to cause the steering device to turn the wheels in a case where the vehicle speed of the vehicle is equal to or lower than the threshold value and the estimated moving mode of the driver's hand is a mode along a circumferential direction of the rim.
6. The driving control device according to claim 1 , wherein the steering wheel includes:
a hub provided on a rotation axis of the steering wheel;
an annular rim provided outside the hub with respect to a radial direction of the steering wheel; and
a plurality of spokes extending in the radial direction of the steering wheel to connect the hub and the rim, and
the approach sensor is composed of a plurality of capacitive sensors arranged in the hub and/or the plurality of spokes.
7. The driving control device according to claim 6 , wherein the plurality of spokes includes:
a right spoke extending rightward from the hub; and
a left spoke extending leftward from the hub,
the plurality of capacitive sensors includes:
a first right capacitive sensor arranged in the right spoke;
a second right capacitive sensor arranged below the first right capacitive sensor and extending in the right spoke and the hub;
a first left capacitive sensor arranged in the left spoke; and
a second left capacitive sensor arranged below the first left capacitive sensor and extending in the left spoke and the hub.
8. The driving control device according to claim 1 , wherein the approach sensor includes:
a right sensor arranged in a right portion of the steering wheel; and
a left sensor arranged in a left portion of the steering wheel, and
the controller is configured to invalidate an estimation result of the moving mode of the driver's hand in a case where a detection value of the right sensor and a detection value of the left sensor change alternately.