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A driver is prevented from carrying out hands-free driving while lane keeping assist control is being carried out, thereby appropriately determining an abnormal state of the driver. When a steering wheel no-operation state continues for a first period or more, a driving support ECU sets a control mode of LKA to a “weaker mode”, thereby decreasing a control amount of the LKA. As a result, an own vehicle swerves within a travel lane, and the driver neglecting the steering wheel operation can be prompted to operate the steering wheel. Further, when the no-driving operation state continues for a second period or more, the driving support ECU establishes determination that the driver is in an abnormal state, returns the LKA to a “normal mode”, and decelerates and stops the own vehicle.

Titel:	Vehicle control device
Autor/in / Beteiligte Person:	TOYOTA JIDOSHA KABUSHIKI, KAISHA
Link:	View record in USPTO Patent Grants (Volltext)
Veröffentlichung:	2019
Medientyp:	Patent
Sonstiges:	Nachgewiesen in: USPTO Patent Grants Sprachen: English Patent Number: 10377,366 Publication Date: August 13, 2019 Appl. No: 15/647768 Application Filed: July 12, 2017 Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA (Toyota-shi, JP) Claim: 1. A vehicle control device including control circuitry, the control circuitry configured to: control a vehicle in a first mode by carrying out a lateral control to follow a target travel line; determine whether or not a driver of the vehicle is in a preliminary abnormal state based on a period after the driver is determined to be in a hands-free state during the first mode; change a control mode from the first mode to a second mode by reducing a lateral control amount when it is determined that the driver is in the preliminary abnormal state; determine whether or not the driver of the vehicle is in an abnormal state based on a period after the lateral control amount is reduced; and control the vehicle in a third mode by decreasing a speed of the vehicle or by stopping the vehicle when it is determined that the driver is in the abnormal state. Claim: 2. A vehicle control device according to claim 1 , wherein the control circuitry is configured to decelerate the vehicle at a target deceleration so as to stop the vehicle. Claim: 3. A vehicle control device according to claim 1 , wherein the first mode and the second mode are control modes of lane keeping assist, respectively. Claim: 4. A vehicle control device according to claim 3 , wherein the first and second modes are set by an abnormal-time driving support control routine implemented by the control circuitry, and the control circuitry is configured to implement the control mode of the lane keeping assist simultaneously with the abnormal-time driving support control routine. Claim: 5. A vehicle control device according to claim 4 , wherein: the control circuitry is configured to calculate the lateral control amount including: a curvature control amount calculated based on a curvature of a target travel line; a distance difference control amount calculated based on a distance difference in a road width direction between the target travel line and a position of the vehicle; and a yaw angle difference control amount calculated based on a difference angle between a direction of the target travel line and a direction of the vehicle; and the control circuitry is configured to decrease the lateral control amount by decreasing the distance difference control amount and the yaw angle difference control amount more than the curvature control amount. Claim: 6. A vehicle control device according to claim 5 , wherein the control circuitry is configured to decrease the distance difference control amount and the yaw angle difference control amount, and to avoid decreasing the curvature control amount. Claim: 7. A vehicle control device according to claim 6 , wherein the control circuitry is configured to avoid changing the lateral control amount when a recognition level at which the control circuitry is capable of recognizing the road is equal to or less than a threshold value. Claim: 8. A vehicle control device according to claim 3 , further comprising: lane departure alert means for recognizing the road ahead of the vehicle, calculating a lane departure alert control amount for carrying out driving support for the driver so that the vehicle does not depart from either side of the road, and carrying out steering control for the vehicle based on the lane departure alert control amount; and an operation device to be used by the driver to select whether or not each of the control circuitry and the lane departure alert means is to be operated. Claim: 9. A vehicle control device according to claim 8 , wherein the control circuitry is configured to operate the lane departure alert means and to stop the operation of the control mode of the lane keeping assist when the driver is in the preliminary abnormal state, the control mode of the lane keeping assist is implemented, and the operation of the lane departure alert means is not selected by the driver using the operation device. Claim: 10. A vehicle control method, comprising: controlling, using control circuitry, a vehicle in a first mode by carrying out a lateral control to follow a target travel line; determining whether or not a driver of the vehicle is in a preliminary abnormal state based on a period after the driver is determined to be in a hands-free state during the first mode; changing a control mode from the first mode to a second mode by reducing a lateral control amount when it is determined that the driver is in the preliminary abnormal state; determining whether or not the driver of the vehicle is in an abnormal state based on a period after the lateral control amount is reduced; and controlling the vehicle in a third mode by decreasing a speed of the vehicle or by stopping the vehicle when it is determined that the driver is in the abnormal state. Claim: 11. The vehicle control method according to claim 10 , further comprising: decelerating the vehicle at a target deceleration so as to stop the vehicle. Claim: 12. A vehicle control method according to claim 10 , wherein the first mode and the second mode are control modes of lane keeping assist, respectively. Claim: 13. A vehicle control method according to claim 12 , wherein the first and second modes are set by an abnormal-time driving support control routine implemented by the control circuitry, and the control mode of the lane keeping assist is implemented simultaneously with the abnormal-time driving support control routine. Claim: 14. A vehicle control method according to claim 13 , further comprising: calculating the lateral control amount including: a curvature control amount calculated based on a curvature of a target travel line; a distance difference control amount calculated based on a distance difference in a road width direction between the target travel line and a position of the vehicle; and a yaw angle difference control amount calculated based on a difference angle between a direction of the target travel line and a direction of the vehicle; and decreasing the lateral control amount by decreasing the distance difference control amount and the yaw angle difference control amount more than the curvature control amount. Claim: 15. A vehicle control method according to claim 14 , further comprising: decreasing the distance difference control amount and the yaw angle difference control amount; and avoiding decreasing the curvature control amount. Claim: 16. A vehicle control method according to claim 15 , further comprising: avoiding changing the lateral control amount when a recognition level at which the control circuitry is capable of recognizing the road is equal to or less than a threshold value. Claim: 17. A vehicle control meth according to claim 12 , further comprising: recognizing the road ahead of the vehicle, calculating a lane departure alert control amount for carrying out driving support for the driver so that the vehicle does not depart from either side of the road, and carrying out steering control for the vehicle based on the lane departure alert control amount using lane departure alert means; and selecting, using an operation device, whether or not each of the control circuitry and the lane departure alert means is to be operated. Claim: 18. A vehicle control device according to claim 17 , further comprising: operating the lane departure alert means; and stopping the operation of the control mode of the lane keeping assist when the driver is in the preliminary abnormal state, the control mode of the lane keeping assist is implemented, and the operation of the lane departure alert means is not selected by the driver using the operation device. Patent References Cited: 2006/0025918 February 2006 Saeki ; 2011/0015850 January 2011 Tange ; 2016/0107644 April 2016 Eigel ; 2017/0232973 August 2017 Otake ; 2018/0111628 April 2018 Tamagaki ; 2006-315491 November 2006 ; 2008-195402 August 2008 ; 4172434 October 2008 ; 2009-73462 April 2009 ; 2009-190464 August 2009 ; 2009-248599 October 2009 ; 4349210 October 2009 ; 2010-6279 January 2010 ; 4929777 May 2012 ; 2013-152700 August 2013 ; 2014-091380 May 2014 ; 2014-148293 August 2014 ; 2016-074253 May 2016 Assistant Examiner: Thomas, Ana D Primary Examiner: Black, Thomas G Attorney, Agent or Firm: Oblon, McClelland, Maier & Neustadt, L.L.P.

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Vehicle control device