Vehicle control device
To effectively improve the accuracy of abnormality determination of a driver, provided is a vehicle control device comprising a stop hold release control unit configured to execute a stop hold control for holding by activating a brake apparatus, and execute a release control for releasing a stop hold by the brake apparatus when a predetermined release condition is satisfied, an operation input acquiring unit for acquire an operation input of a driver, a driver abnormality determining unit for determining whether the driver is in an abnormal state, and a determination correction unit configured to execute a determination correction for making the driver abnormality determination unit easily determine that the driver is in the abnormal state, when the release control is executed by the stop hold release control unit and the operation input acquisition unit does not acquire the operation input.
1 . A vehicle control device comprising:
a memory storing instructions; and
at least one processor configured to execute the instructions to:
obtain driver state information and monitor whether a driver is in a specific condition based on the driver state information;
determine that the driver is in an abnormal state when the specific condition continues for at least a determination threshold time;
execute a brake hold control for holding a vehicle at a stop by maintaining a braking force by activating a brake apparatus, wherein the brake apparatus is a hydraulic brake apparatus, and the brake hold control being terminated when a predetermined release condition of the brake hold control is satisfied;
execute, when the brake hold control is terminated, a backup holding control for holding the vehicle at the stop;
execute a backup control for holding the vehicle in a stopped state by activating at least one of an electric parking brake apparatus or a parking lock apparatus;
detect, while the brake hold control is being executed, whether the backup holding control can be executed, and determine that a backup abnormal state has occurred when at least one of the electric parking brake apparatus and the parking lock apparatus is unable to operate, wherein
execute an operation change request process, when the predetermined release condition is satisfied and when the vehicle control device is in a predetermined state in which the vehicle control device cannot execute a backup control request to prompt the driver to perform a brake operation, and when the backup abnormal state is determined during execution of the brake hold control;
terminate the brake hold control, when a driver operation input in response to an operation change request is detected within a first threshold time from a start of the operation change request;
decrease the determination threshold time, when the driver operation input is not detected within a second threshold time longer than the first threshold time from the start of the operation change request; and
determine that the driver is in the abnormal state when the specific condition continues for at least the decreased determination threshold time.