Vehicle control device for executing emergency stopping control
A vehicle control device has a control unit provided which executes driving support control including emergency stopping control for decelerating and stopping a vehicle when an abnormality occurs in a driver based on a first detection value indicating a state in a vehicle, and the control unit is configured to determine that a risk of contact between the vehicle and an object is equal to or higher than a predetermined level based on a second detection value indicating a state outside the vehicle in a state in which the emergency stopping control is not executed based on the predetermined condition, and to forcibly execute the emergency stopping control regardless of an operation state of the emergency stopping control when it is determined that an occupant of a vehicle other than the driver is performing an emergency operation related to driving of the vehicle based on the first detection value.
1 . A vehicle control device, comprising
a control unit implemented by a processor for executing driving support control including
emergency stopping control for decelerating and stopping a vehicle when an abnormality of a driver of the vehicle occurs,
the abnormality being detected based on a first detection value indicating a state in a cabin of the vehicle, wherein,
the control unit is configured to:
determine whether the emergency stopping control is in a disabled state based on a predetermined condition, the predetermined condition including a state in which an emergency stopping control switch is turned off;
determine whether a lane is detectable based on a second detection value indicating a state outside of the vehicle, in a case where it is determined that the emergency stopping control is in the disabled state;
determine whether a risk of contact between the vehicle and an object is equal to or greater than a predetermined level based on the second detection value, in a case where it is determined that the lane is not detectable;
determine whether an emergency operation related to driving of the vehicle is being performed by a passenger of the vehicle other than the driver based on the first detection value, in a case where it is determined that the risk of contact is equal to or greater than the predetermined level; and
forcibly enable and execute the emergency stopping control regardless of the emergency stopping control switch being turned off, in a case where it is determined that the emergency operation is being performed by the passenger of the vehicle other than the driver.
2 . The vehicle control device according to claim 1 , wherein
the control unit is further configured to determine that the emergency operation is being performed by the passenger when detection is made based on the first detection value that the passenger continues a second riding posture, in which the passenger is nearer to a side of the driver than in a first riding posture of sitting in a seat, for a predetermined amount of time or more.
3 . The vehicle control device according to claim 2 , wherein
the control unit is further configured to
determine a seating position of the passenger based on a seating-detection value included in the first detection value, and
determine the second riding posture based on a seatbelt fastening state detection value that is included in the first detection value.