JP2008037218A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device for controlling one's own vehicle so that it can be stopped safely even when an emergency abnormal condition occurs where a driver is difficult to drive the vehicle. <P>SOLUTION: When the driver does not respond via a microphone 18 to calling via a loud speaker 16, a CUP 41 determines that the driver is unconscious (S1-S2:YES). When the vehicle 2 is determined to travel on the lane of the most left-hand side (S5:YES) based on the navigation map information and one's own vehicle position data stored in a map information DB 25, CUP 41 urgently stops the vehicle 2 at the left end of the road by drive-controlling the brake 73, engine 74, transmission 75, and steering driving section 76 via a vehicle ECU (Electronic Control Unit) 71 (S6-S8) while making an appeal to other surrounding vehicles that the emergency abnormal condition occurs in the vehicle 2 and it urgently stops by blinking and lighting ramps such as the brake ramp or left direction indicator via the vehicle ECU 71. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle control apparatus that controls an own vehicle to be stopped at an edge of a road when an emergency situation occurs during traveling.

2. Description of the Related Art Conventionally, various vehicle control devices that control an own vehicle to be stopped at an edge of a road when an emergency occurs during traveling have been proposed.
For example, when the occurrence of an emergency is received by the emergency reception means, a stop position close to the current vehicle position detected by the vehicle position detection means at that time is searched, and the vehicle is guided to the searched stop position. There is a vehicle control device configured to do this (see, for example, Patent Document 1).
JP 2002-340597 A (paragraphs (0010) to (0048), FIGS. 1 to 4)

  However, in the vehicle control device described in Patent Document 1 described above, when an emergency abnormal state in which it is difficult for the driver to drive the vehicle occurs during driving, the driver safely stops the vehicle. There is a problem that can not be.

  Accordingly, the present invention has been made to solve the above-described problems, and even when an emergency abnormal state in which it is difficult for the driver to drive the vehicle occurs during traveling, the host vehicle is safely stopped. It is an object of the present invention to provide a vehicle control device that performs control so as to be possible.

  In order to achieve the object, the vehicle control device according to claim 1 includes an emergency abnormal state detection means (13) for detecting an emergency abnormal state of a driver who needs an emergency stop of the host vehicle (2), and the current state of the host vehicle. A current position detection means (11) for detecting a position; a map information storage means (12) for storing map information; and if the driver's emergency abnormal state is detected, the map information and the current position detection means Emergency stop control means (13, 71) for controlling the vehicle to move to the road edge side of the road and stop on the road edge side based on the current position information detected by It is characterized by that.

  Further, the vehicle control device according to claim 2 is a reporting means for notifying the emergency abnormal state to the outside when the driver abnormal emergency state is detected in the vehicle control device (1) according to claim 1. (17).

  According to a third aspect of the present invention, in the vehicle control device (1) according to the first or second aspect, the vehicle control device (1) according to the first or second aspect of the present invention is an obstacle detection means (51, 61) for detecting a vehicle existing around the host vehicle. And emergency stop notification means (71, 72) for notifying surrounding vehicles that the host vehicle is to be emergency stopped, and the emergency stop control means (13, 71) is provided via the obstacle detection means. When a vehicle is detected, the vehicle is notified to the surrounding vehicles through the emergency stop notification means that the own vehicle will stop emergency.

  According to a fourth aspect of the present invention, in the vehicle control device (1) according to the third aspect, the vehicle control device (1) according to the third aspect is configured to stop the vehicle from the travel lane of the own vehicle based on detection information of the obstacle detection means (51, 61). Judgment means (13) for determining whether or not the lane on the possible road edge side can be changed is provided, and the emergency stop control means (13, 71) can change the lane to the lane on the road edge side that can be stopped If it is determined that the lane is changed to the lane on the road edge side, the lane cannot be changed to the lane on the road edge side where the vehicle can be stopped. It is controlled to make an emergency stop.

  A vehicle control device according to a fifth aspect of the present invention is the vehicle control device (1) according to any one of the first to fourth aspects, further comprising vehicle speed detection means (21) for detecting a vehicle speed of the host vehicle, The emergency abnormal state detection means (13), when detecting abnormal acceleration or deceleration via the vehicle speed detection means, an inquiry means (16) for making an inquiry to the driver, and a driver's response to the inquiry. Response detecting means (13, 14, 18) for detecting that the driver is in an emergency abnormal state when the emergency abnormal state detecting means does not detect the response through the response detecting means. It is characterized by doing.

  A vehicle control device according to a sixth aspect is the vehicle control device (1) according to any one of the first to fourth aspects, further comprising a steering angle detection means (34) for detecting a steering angle of the host vehicle. The emergency abnormal state detection means (13) includes an inquiry means (16) for making an inquiry to the driver when an abnormal meandering operation is detected via the rudder angle detection means, and a driver's response to the inquiry. Response detection means (13, 14, 18) for detecting a response, and when the emergency abnormal state detection means does not detect the response via the response detection means, the driver is in an emergency abnormal state. It is characterized by being.

  The vehicle control device according to claim 7 is the vehicle control device (1) according to any one of claims 1 to 4, wherein the vehicle approach device (1) detects an abnormal approach to a vehicle existing around the host vehicle. A detecting means (51, 61), and the emergency abnormal condition detecting means (13) detects an abnormal approach to a vehicle existing around the own vehicle via the abnormal approach detecting means; Inquiry means (16) for making an inquiry and response detection means (13, 14, 18) for detecting a driver's response to the inquiry, wherein the emergency abnormal state detection means includes the response detection means. When the response is not detected via the driver, the driver is in an emergency abnormal state.

  The vehicle control device according to claim 8 is the vehicle control device (1) according to any one of claims 1 to 7, further comprising imaging means (51, 52) for imaging the driver. The abnormal state detecting means (13) has consciousness determining means (13) for determining whether or not there is a driver's consciousness through the imaging means, and the emergency abnormal state detecting means includes the consciousness determining means. The driver is in an emergency abnormal state when it is determined that the driver is not conscious.

  Furthermore, the vehicle control device according to claim 9 is the vehicle control device (1) according to any one of claims 1 to 5, wherein the driver inputs emergency stop instruction information for instructing an emergency stop. The emergency abnormal condition detecting means (13) includes an instruction means (14A), and the driver is in an emergency abnormal condition when the emergency stop instruction information is input.

In the vehicle control device according to claim 1 having the above-described configuration, when an emergency abnormal state of a driver who needs an emergency stop of the host vehicle is detected, the host vehicle is driven on the road based on the map information and the current position information. The vehicle is moved to the side of the road edge where the vehicle can be stopped, and is controlled to make an emergency stop on the road edge side.
As a result, even when an emergency abnormal state in which it is difficult for the driver to drive the vehicle occurs, the vehicle is moved to the road edge side of the driving road based on the map information and the current position information. The vehicle can be stopped on the edge side, and the host vehicle can be stopped safely.

  Further, in the vehicle control device according to claim 2, when an emergency abnormal state of a driver that requires an emergency stop of the host vehicle is detected, the driver is urgently notified by reporting the emergency abnormal state to the outside. Rescue is possible.

  In the vehicle control device according to claim 3, when the vehicle is detected via the obstacle detection unit when the vehicle stops urgently, the vehicle control device according to claim 3 indicates that the host vehicle is to stop urgently via the emergency stop notification unit. It becomes possible to notify the vehicle, and it is possible to reliably notify the surrounding vehicles of an emergency and stop the host vehicle more safely.

  Further, in the vehicle control device according to claim 4, it is determined whether or not the lane can be changed from the traveling lane of the own vehicle to the lane on the road edge side that can be stopped based on the detection information of the obstacle detection means, and the vehicle can be stopped When it is determined that the lane can be changed to the lane on the road edge side, it is possible to change the lane to the lane on the road edge side and make an emergency stop, and it is possible to make the emergency stop more safely. On the other hand, if it is determined that the lane cannot be changed to the lane on the road edge side where the vehicle can be stopped, the vehicle is controlled to make an emergency stop in the traveling lane of the host vehicle. It is possible to stop at.

  In the vehicle control device according to the fifth aspect, the driver is inquired when abnormal acceleration or deceleration is detected via the vehicle speed detection means. When there is no response to this question, the driver is assumed to be in an emergency abnormal state, so that it is possible to accurately detect the driver's emergency abnormal state that requires an emergency stop of the host vehicle.

  In the vehicle control device according to the sixth aspect, when an abnormal meandering operation is detected via the rudder angle detection means, the driver is inquired. When there is no response to this question, the driver is assumed to be in an emergency abnormal state, so that it is possible to accurately detect the driver's emergency abnormal state that requires an emergency stop of the host vehicle.

  In the vehicle control device according to the seventh aspect, when an abnormal approach to a vehicle existing around the host vehicle is detected via the abnormal approach detection means, the driver is inquired. When there is no response to this question, the driver is assumed to be in an emergency abnormal state, so that it is possible to accurately detect the driver's emergency abnormal state that requires an emergency stop of the host vehicle.

  In the vehicle control device according to the eighth aspect, it is determined whether or not there is a driver's consciousness through an imaging unit that images the driver. When it is determined that the driver is not conscious, it is assumed that the driver is in an emergency abnormal state. Therefore, it is possible to accurately detect the driver's emergency abnormal state that requires an emergency stop of the host vehicle. .

  Further, in the vehicle control device according to claim 9, when the driver inputs emergency stop instruction information for instructing emergency stop via the emergency stop instruction means, the driver is assumed to be in an emergency abnormal state. It becomes possible to accurately detect an emergency abnormal state of a driver who needs an emergency stop of the host vehicle. In addition, even when an emergency abnormal state in which it is difficult for the driver to drive the vehicle occurs after the driver gives an emergency stop, the vehicle is placed on the road edge side of the driving road based on the map information and the current position information. The vehicle can be moved and traveled to the road edge side, and the vehicle can be safely stopped.

  Hereinafter, a vehicle control device according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

  First, a schematic configuration of a vehicle on which a navigation device according to the present embodiment is mounted will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a vehicle 2 on which a navigation device 1 according to the present embodiment is mounted.

As shown in FIG. 1, a camera ECU (Electronic Control Unit) 51 that drives and controls a CCD camera or the like is electrically connected to the navigation control unit 13 of the navigation device 1 installed on the vehicle 2. Further, on the left side and the right side of the front end of the vehicle 2, and the left side of the rear end and the right side of the rear end, a vehicle exterior camera 53 constituted by a CCD camera or the like is installed. Also, a driver camera 52 composed of a CCD camera or the like is installed in the vicinity of the room mirror.
The navigation control unit 13 is electrically connected to a radar ECU (Electronic Control Unit) 61 that drives and controls a millimeter wave radar or the like. Further, millimeter wave radars 62 are installed at the front end center position and the rear end center position of the vehicle 2. The navigation control unit 13 is provided with a vehicle ECU (Electronic Control Unit) 71 that controls driving of lamps 72 (see FIG. 2) such as brake lamps and direction indicators.

  The navigation device 1 is provided on the center console or the panel surface of the vehicle 2. The navigation device 1 displays a map and a search route to the destination on the liquid crystal display 15, and outputs voice guidance related to route guidance through the speaker 16. Further, the navigation device 1 can detect other vehicles around the vehicle 2 by transmitting a control signal to the camera ECU 51 when a predetermined condition is satisfied. In addition, when the predetermined condition is satisfied, the navigation device 1 can transmit a control signal to the radar ECU 61 to detect the distance to the other vehicle approaching the front and rear of the vehicle 2 and the relative speed of the other vehicle. . Further, when the predetermined condition is satisfied, the navigation device 1 transmits a control signal to the vehicle ECU 71, and each lamp 72 (see FIG. 2) such as a brake lamp and a direction indicator of the vehicle 2, engine output, Automatic operation control can be performed by controlling the shift pattern of the transmission, the steering angle of the steering wheel, and the brake.

Further, the camera ECU 51 detects the surrounding vehicle and the like by performing image processing on the video signal of each vehicle-mounted camera 53 based on the control signal received from the navigation device 1. In addition, the camera ECU 51 performs electronic processing for detecting a driver's movement by performing image processing on the video signal of the driver camera 52 based on a control signal received from the navigation device 1 to detect an unconscious state of the driver. In the unit, the driver camera 52 and each outside camera 53 are connected.
The radar ECU 61 is an electronic control unit that measures the distance and relative speed between the front and rear vehicles based on the detection signal of the millimeter wave radar 62 based on the control signal received from the navigation device 1. It is connected. The vehicle ECU 71 is an electronic control unit that drives and controls the lamps 72, the brake 73 (see FIG. 2) and the like based on the control signal received from the navigation device 1, and the lamps 72, the brake 73, and the engine 74. A transmission 75, a steering drive unit 76, and the like are connected (see FIG. 2).

  Next, the configuration related to the control system of the vehicle 2 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram schematically showing a control system centered on the navigation device 1 mounted on the vehicle 2.

  As shown in FIG. 2, the control system of the vehicle 2 is configured based on a navigation device 1, a camera ECU 51, a radar ECU 61, and a vehicle ECU 71 electrically connected to the navigation device 1. Is connected to a predetermined peripheral device.

  The navigation device 1 includes a current position detection processing unit 11 that detects a current position of the own vehicle (hereinafter referred to as “own vehicle position”), a data recording unit 12 that records various data, and input information. Based on the navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display 15 for displaying information such as a map to the operator, and voice guidance for route guidance. It comprises a communication device 17 that communicates with an output speaker 16 and an information center such as a road traffic information center (VICS: registered trademark), a microphone 18 that receives voice input from a driver, and the like. . The navigation control unit 13 is connected to a vehicle speed sensor 21 that detects the traveling speed of the vehicle.

The navigation device 1 collects information on traffic control systems such as the police and the Japan Highway Public Corporation from the road traffic information center (VICS) via the communication device 17 and creates information on traffic congestion, traffic regulation information, etc. The road traffic information can be received every predetermined time. The road traffic information is, for example, detailed information on road traffic information such as road traffic information related to road traffic congestion, traffic regulation information due to road construction, construction work, and the like. In the case of road traffic information, the detailed information includes the VICS link ID, the actual length of the traffic jam, the expected time of traffic jam cancellation, etc., and in the case of traffic regulation information, the continuation of the VICS link ID, road construction, building construction, etc. It is a period, a traffic stop, a one-sided alternate traffic, a traffic regulation type such as a lane regulation, a traffic regulation time zone, and the like.
Further, the navigation device 1 is configured to be able to transmit an emergency rescue signal composed of own vehicle position information and the like together with a vehicle ID for identifying the vehicle 2 as will be described later to an information center (not shown) via the communication device 17. ing. Thereby, when the information center receives an emergency rescue signal composed of the vehicle ID and the own vehicle position information, the information center is configured to make an emergency call about the vehicle 2 from the information center to the fire department or the like. .

  The communication device 17 is, for example, a LAN (Local Area Network), a WAN (Wide Area Network), an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, a communication network such as the Internet, etc. It can be used by connecting to other communication systems. It can also be used by connecting to a communication system using CS broadcasting, BS broadcasting, terrestrial digital television broadcasting, FM multiplex broadcasting, etc. by a broadcasting satellite. Further, it can be used by connecting to a communication system such as a non-stop automatic toll payment system (ETC) or a narrow area communication system (DSRC) used in an intelligent road traffic system (ITS).

Below, each component which comprises the navigation apparatus 1 is demonstrated.
As shown in FIG. 2, the current location detection processing unit 11 includes a GPS 31, a geomagnetic sensor 32, a distance sensor 33, a steering sensor 34, a gyro sensor 35 as an orientation detection unit, an altimeter (not shown), and the like. It is possible to detect the position, direction, distance to a target (for example, an intersection), and the like.

  Specifically, the GPS 31 detects the current position and current time of the vehicle on the earth by receiving radio waves generated by an artificial satellite, and the geomagnetic sensor 32 measures the vehicle by measuring the geomagnetism. The azimuth is detected, and the distance sensor 33 detects a distance between predetermined positions on the road. Here, as the distance sensor 33, for example, the rotational speed of a wheel (not shown) of the vehicle is measured, a sensor that detects the distance based on the measured rotational speed, the acceleration is measured, and the measured acceleration is 2 A sensor that integrates the times and detects the distance can be used.

  The steering sensor 34 detects the rudder angle of the host vehicle. Here, as the steering sensor 34, for example, an optical rotation sensor attached to a rotating portion of a steering wheel (not shown), a rotation resistance sensor, an angle sensor attached to a wheel, or the like is used.

  And the gyro sensor 35 detects the turning angle of the own vehicle. Here, as the gyro sensor 35, for example, a gas rate gyro, a vibration gyro, or the like is used. Further, by integrating the turning angle detected by the gyro sensor 35, the vehicle direction can be detected.

  The data recording unit 12 is a driver for reading out an external storage device and a hard disk (not shown) as a recording medium, a map information DB 25 and a predetermined program stored in the hard disk, and writing predetermined data in the hard disk. And a recording head (not shown). In this embodiment, a hard disk is used as an external storage device and a storage medium of the data recording unit 12. However, in addition to the hard disk, a magnetic disk such as a flexible disk can be used as the external storage device. Also, a memory card, magnetic tape, magnetic drum, CD, MD, DVD, optical disk, MO, IC card, optical card, etc. can be used as an external storage device.

  The map information DB 25 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, each intersection Intersection data on nodes, node data on node points, link data on roads (links) as a kind of facility, search data for searching for routes, store data on POI (Point of Interest) such as shops as a kind of facility, It consists of search data for searching for points. Further, the contents of the map information DB 25 are updated by downloading update information distributed from an information distribution center (not shown) via the communication device 17.

  Here, in particular, the map display data is divided into 4 (length 1/2), 16 (1/4), and 64 (1/8) based on a secondary mesh partitioned by 10 km × 10 km. Each unit is configured so that the data amount of each unit is approximately the same level. The smallest 64 division size unit is about 1.25 km square.

  Node data includes actual road branch points (including intersections, T-junctions, etc.), node point coordinates (positions) set for each road according to the radius of curvature, etc., nodes A node attribute indicating whether or not is a node corresponding to an intersection, a connection link number list which is a list of link IDs which are identification numbers of links connected to the node, and a list of node numbers of nodes adjacent to the node via the link Are recorded on the adjacent node number list, the height (altitude) of each node point, and the like.

  Link data includes the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the number of lanes on the road, the number of lanes decreasing, and the width of the link data. The data indicating the radius, crossing, T-junction, corner entrance and exit, etc. with respect to the corner, data representing the downhill road, uphill road, etc. In addition to roads such as national roads, prefectural roads, narrow streets, etc., data representing toll roads such as national highways, urban highways, general toll roads, and toll bridges are recorded. Furthermore, regarding toll roads, data relating to entrance roads (rampways), toll gates (interchanges) and the like of toll roads are recorded.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guidance route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured.

  Further, as store data, data related to POIs such as hotels, hospitals, gasoline filling stations, parking lots, and tourist facilities in each region are recorded together with IDs for identifying POIs. In the map information DB 25, sound output data for outputting predetermined information by the speaker 16 is also recorded.

As shown in FIG. 2, the navigation control unit 13 constituting the navigation device 1 is an arithmetic device that performs overall control of the navigation device 1, a CPU 41 as a control device, and working when the CPU 41 performs various arithmetic processes. The RAM 2 is used as a memory and stores the route data when the route is searched, the control program, and the vehicle 2 is stopped immediately when an emergency abnormal state of the driver described later is detected. An ROM 43 that stores an emergency stop control processing program and the like (see FIG. 3), an internal storage device such as a flash memory 44 that stores a program read from the ROM 43, a timer 45 that measures time, and the like are provided.
Here, a semiconductor memory, a magnetic core, or the like is used as the RAM 42, the ROM 43, the flash memory 44, or the like. As the arithmetic device and the control device, an MPU or the like can be used instead of the CPU 41.

  In this embodiment, various programs are stored in the ROM 43, and various data are stored in the data recording unit 12. However, the programs, data, and the like are stored in the same external storage device, memory card, and the like. It is also possible to read a program, data, etc. from the above and write it into the flash memory 44. Further, the program, data, etc. can be updated by exchanging a memory card or the like.

  Furthermore, the navigation control unit 13 is electrically connected to peripheral devices (actuators) of the operation unit 14, the liquid crystal display 15, the speaker 16, and the communication device 17.

The operation unit 14 is operated when correcting the current location at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or searching for information about facilities, and the like. And a plurality of operation switches. The operation unit 14 also has an emergency button that can be pressed to request rescue when the driver is in an emergency abnormal state (for example, when palpitation, dizziness, etc. are severe and he is likely to lose consciousness). 14A is provided.
The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. For example, when the emergency button 14A is pressed, the navigation control unit 13 transmits the vehicle position information and the like together with the identification ID for identifying the vehicle 2 to the information center as described later, Emergency stop on the edge side (see FIG. 3).
As the operation unit 14, a keyboard, a mouse, a barcode reader, a remote control device for remote operation, a joystick, a light pen, a stylus pen, or the like can be used. Furthermore, it can also be configured by a touch panel provided on the front surface of the liquid crystal display 15.

  The liquid crystal display 15 also has operation guidance, operation menus, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, etc. In addition, instead of the liquid crystal display 15, it is also possible to use a CRT display, a plasma display, or the like, or a hologram device that projects a hologram on the windshield of a vehicle.

  In addition, the speaker 16 outputs, based on instructions from the navigation control unit 13, travel guidance along the guidance route, and voice guidance that warns of stoppage or safety confirmation at intersections or crosswalks without traffic lights. Here, as voice guidance to be guided, for example, “200m ahead, turn right at XX intersection”, or “is it all right?” Is detected when a driver's emergency abnormal state is detected. . In addition to the synthesized voice, the voice output from the speaker 16 can output various sound effects and various guidance information recorded in advance on a tape, a memory, or the like.

  And the communication apparatus 17 is a communication means which communicates with an information distribution center, and transmits / receives the newest version updated map information etc. between information distribution centers. In addition to the information distribution center, road traffic information including traffic congestion information, traffic regulation information, parking lot information, traffic accident information, service area congestion status, etc. transmitted from the road traffic information center (VICS), etc. Is received as a radio wave beacon, an optical beacon, or the like via a radio beacon device, an optical beacon device, or the like disposed along the road. The communication device 17 is a network device that enables communication in a communication system such as a LAN, a WAN, an intranet, a mobile phone network, a telephone network, a public communication network, a dedicated communication network, and a communication network such as the Internet. is there. Further, the communication device 17 includes an FM receiver that receives FM multiplexed information including information such as news and weather forecasts as FM multiplexed broadcasting via the FM broadcasting station in addition to information from the road traffic information center (VICS). Prepare. The beacon receiver and the FM receiver are unitized and arranged as a VICS receiver, but can be arranged separately.

In addition, the camera ECU 51 includes a data receiving unit 51A that receives control information transmitted from the navigation control unit 13, and controls the driver camera 52 and each vehicle-mounted camera 53 based on the received control information and performs image recognition. An image recognition unit 51B is provided.
The radar ECU 61 includes a data receiving unit 61A that receives the control information transmitted from the navigation control unit 13, and controls the millimeter wave radar 62 based on the received control information, and the distance from other vehicles in front and rear. And a control unit 61B for detecting the relative speed.

  Further, the vehicle ECU 71 includes a data receiving unit 71A that receives the control information transmitted from the navigation control unit 13, and based on the received control information, the lighting drive control of the lamps 72 such as a brake lamp and a direction indicator. And an output control unit 71B that performs drive control of the brake 73, engine output control of the engine 74, shift drive control of the transmission 75, drive control of the steering drive unit 76 that changes the steering angle of the vehicle 2, and the like. .

Next, an emergency stop control process performed when the driver's emergency occurs, which is executed by the CPU 41 of the navigation device 1 configured as described above, will be described with reference to FIGS.
FIG. 3 is a flowchart showing an emergency stop control process executed by the CPU 41 of the navigation device 1 according to this embodiment when a driver's emergency occurs. FIG. 4 is a diagram schematically showing an example of the traveling state of the host vehicle in an emergency abnormal state such as when the driver loses consciousness. FIG. 5 is a diagram schematically illustrating an example of the process in step 4 of FIG. FIG. 6 is a diagram schematically illustrating an example in which the vehicle 2 travels to the leftmost lane and makes an emergency stop. FIG. 7 is a diagram schematically illustrating an example in which the vehicle 2 makes an emergency stop in the travel lane.
3 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1, and is executed by the CPU 41 at regular intervals (for example, every 10 msec to 100 msec).

As shown in FIG. 3, first, in steps (hereinafter abbreviated as “S”) 1 and 2, the CPU 41 causes the driver to lose consciousness or the like. A determination process for determining whether or not is executed.
Specifically, the CPU 41 determines whether or not the driver has pressed the emergency button 14 </ b> A of the operation unit 14. When the emergency button 14A is pressed, the CPU 41 determines that the driver is in an emergency abnormal state, that is, an emergency abnormal state in which it is difficult for the driver to drive. On the other hand, when the emergency button 14A is not pressed, the CPU 41 determines that the driver is not in an emergency abnormal state.

Further, the CPU 41 detects a change in acceleration / deceleration of the vehicle 2 via the gyro sensor 33 and the vehicle speed sensor 21, and determines whether or not the vehicle is abnormally accelerated or decelerated. If the vehicle 2 is abnormally accelerating or decelerating, the CPU 41 determines whether or not an emergency abnormal state that makes it difficult for the driver to drive has occurred in S2, which will be described later. On the other hand, when the vehicle 2 is not performing abnormal acceleration or deceleration, the CPU 41 determines that the driver is not in an emergency abnormal state.
Further, as shown in FIG. 4, the CPU 41 determines whether or not the vehicle 2 is in a meandering operation 81 via the gyro sensor 33 and the steering sensor 34. When the vehicle 2 is in a meandering operation 81, the CPU 41 determines whether or not an emergency abnormal state that makes it difficult for the driver to drive has occurred in S2, which will be described later. On the other hand, when the vehicle 2 is not in the meandering operation 81, the CPU 41 determines that the driver is not in an emergency abnormal state.

  Further, as shown in FIG. 4, the CPU 41 measures the distance from the preceding vehicle 101 and the distance from an obstacle such as a guard rail and a median strip via the millimeter wave radar 62, and the preceding vehicle 101, the guard rail and the median separation are measured. It is determined whether or not the belt is abnormally approached. When the vehicle 41 is abnormally approaching the preceding vehicle 101, the guardrail, the median strip, or the like, the CPU 41 determines whether or not an emergency abnormal state that makes it difficult for the driver to drive has occurred in S2, which will be described later. On the other hand, when the vehicle is not abnormally close to the preceding vehicle 101, the guardrail, the median strip, or the like, the CPU 41 determines that the driver is not in an emergency abnormal state.

And when it determines with a driver | operator not being an emergency abnormal state (S1: NO), CPU41 complete | finishes the said process.
On the other hand, when the vehicle 2 is abnormally accelerating or decelerating, when the vehicle 2 is in a meandering operation 81, or when the vehicle 2 is abnormally approaching the preceding vehicle 101, the guardrail, the median strip, etc. (S1: YES), the CPU 41 proceeds to the process of S2.

Subsequently, in S <b> 2, the CPU 41 executes a determination process for determining whether or not the driver is aware, that is, whether or not an emergency abnormal state in which it is difficult for the driver to drive has occurred.
Specifically, calls such as “Are you okay?” Or “Please reply” are made through the speaker 16 and it is determined whether or not there is a driver's response through the microphone 18. Further, it is determined whether the driver's eyelid is closed or the driver is falling down via the driver camera 52. When there is no response from the driver via the microphone 18, or when the driver's bag is closed or the driver is collapsed, the CPU 41 generates an emergency abnormal state that is difficult for the driver to drive. It is determined that On the other hand, when there is a driver's response through the microphone 18 or when the driver's heel is open and the driver is not collapsed, the CPU 41 is not in an emergency abnormal state. It is determined that the driver is in a drivable state.
Note that a heart rate sensor may be attached to the grip portion of the steering wheel, and if the driver's heart rate cannot be measured, the CPU 41 may determine that an emergency abnormal state in which the driver is difficult to drive has occurred.

And when it determines with a driver | operator not being an emergency abnormal state (S2: NO), CPU41 complete | finishes the said process.
On the other hand, when it is determined that an emergency abnormal state in which it is difficult for the driver to drive is generated (S2: YES), the CPU 41 proceeds to the process of S3.

On the other hand, when the emergency button 14A is pressed in the above S1, it is determined that an emergency abnormal state in which driving is difficult such as loss of consciousness has occurred in the driver (S1: YES, S2: YES), and the CPU 41 , The process proceeds to S3.
In S <b> 3, the CPU 41 detects the current position of the own vehicle (hereinafter referred to as “own vehicle position”) by the current position detection processing unit 11. Further, the CPU 41 reads the vehicle ID for identifying the navigation device 1 from the ROM 43, that is, for identifying the vehicle 2, and sends an emergency rescue signal including the vehicle position information indicating the vehicle position together with the vehicle ID to the communication device 17. To the information center (not shown).
Thereby, when the information center receives an emergency rescue signal including the vehicle ID and the own vehicle position information, the information center transmits the position information of the vehicle 2 to the fire department from the information center. Emergency notification that the driver is in an emergency abnormal state.

Subsequently, in S <b> 4, the CPU 41 acquires information on the surroundings of the vehicle 2 by each of the outside cameras 53 and each of the millimeter wave radars 62, and performs obstacle detection for detecting a vehicle existing around the vehicle 2. At the same time, the CPU 41 detects the own vehicle position and the direction of the own vehicle, and the coordinate data (for example, latitude and longitude data) indicating the own vehicle position and the own vehicle direction are stored in the RAM 42. Remember. In addition, the CPU 41 calculates the width of the road on which the vehicle 2 is traveling, the gradient, the cant, the bank, the road surface state, the road condition, and the like from the navigation map information stored in the map information DB 25 and the vehicle position data. The number of lanes is read out and stored in the RAM 42. Further, the CPU 41 detects road markings through the respective outside cameras 53, detects the travel lane in which the vehicle 2 is traveling from the own vehicle position data, and sets the RAM 42.
The CPU 41 detects a road marking via each vehicle outside camera 53, and brakes 73, an engine 74, a transmission 75, and so on so as to travel safely along the road marking along the road marking via the vehicle ECU 71. The steering driving unit 76 is driven and controlled.

  For example, as shown in FIG. 5, the CPU 41 detects the distances and relative speeds of the vehicles 102, 103, and 104 existing around the vehicle 2 by the vehicle cameras 53 and the millimeter wave radars 62, and suddenly Check if it is approaching. Further, the CPU 41 travels on the left three-lane road of “Okazaki City, Aichi Prefecture ○○” from the navigation map information and the own vehicle position data stored in the map information DB 25, and passes through each vehicle camera 53. From the image recognition of the road marking, it is detected that the vehicle 2 is traveling in the second lane from the left. Further, the CPU 41 detects from the navigation map information stored in the map information DB 25 and the own vehicle position data that there is a place where it is likely to stop on the left side about 100 m ahead. In addition, the CPU 41 recognizes the road marking via each vehicle-side camera 53, so that the vehicle 2 continues to travel safely in the second lane from the left, via the vehicle ECU 71, the brake 73, the engine 74, and the gear shift. The machine 75 and the steering drive unit 76 are driven and controlled.

Subsequently, in S5, when the vehicle 2 is traveling on a road with two or more lanes on one side, the CPU 41 executes a determination process for determining whether or not the vehicle 2 is traveling on the leftmost lane.
Note that when the vehicle 2 is traveling on one lane or one lane road, the CPU 41 proceeds to the process of S6 without executing the process of S5.

And when the vehicle 2 is drive | working the leftmost lane (S5: YES), CPU41 transfers to the process of S6. In S <b> 6, the CPU 41 determines whether or not there are other vehicles or obstacles around the vehicle 2 based on the information on the surrounding situation of the vehicle 2 acquired by each of the outside cameras 53 and each of the millimeter wave radars 62. Execute the process.
If there are other vehicles or obstacles around the vehicle 2 (S6: YES), the CPU 41 flashes and turns on the brake lamps and the lamps of the left direction indicator via the vehicle ECU 71, etc. The driver of the surrounding other vehicle is informed that an emergency abnormal state has occurred in the vehicle 2 and the vehicle stops immediately, and the process proceeds to S8.
On the other hand, when there is no other vehicle or obstacle around the vehicle 2 (S6: NO), the CPU 41 proceeds to the process of S8.

  Subsequently, in S8, the CPU 41 detects the left edge of the road via each of the outside cameras 53, and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71. The vehicle 2 is urgently stopped at the left edge of the road. Further, the CPU 41 ends the process in a state in which the brake lamps and the lamps of the left direction indicator are blinked and lit through the vehicle ECU 71 to appeal the emergency stop to the drivers of other surrounding vehicles.

On the other hand, when the vehicle 2 is not traveling in the leftmost lane in S5 (S5: NO), the CPU 41 proceeds to the process of S9. In S <b> 9, based on the information on the surrounding situation of the vehicle 2 acquired by each of the outside cameras 53 and each of the millimeter wave radars 62, the CPU 41 has no other vehicle behind the left side of the vehicle 2 and can be traveled to the left lane. A determination process for determining whether or not is executed.
If it is determined that there is no other vehicle behind the left side of the vehicle 2 and the vehicle 2 can travel in the left lane (S9: YES), the CPU 41 proceeds to the process of S10. In S10, the CPU 41 flashes and turns on the brake lamps and the lamps of the left direction indicator via the vehicle ECU 71, and an emergency abnormal state occurs in the vehicle 2 in the driver of the other surrounding vehicle, and the left lane enters the left lane. After appealing that the vehicle is traveling, the process proceeds to S11.
Subsequently, in S <b> 11, the CPU 41 detects the road display via each of the outside cameras 53, and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71. Is moved to the left lane, and the processes after S5 are executed again.

  For example, as shown in FIG. 6, the CPU 41 determines that the vehicle 2 is traveling in the second lane from the left on the basis of the image recognition of the road marking via each vehicle camera 53, and each vehicle camera 53 The other vehicle 105 is traveling in front of the vehicle 2 based on the information on the surrounding situation of the vehicle 2 acquired by each millimeter wave radar 62, but there is no other vehicle behind the left side of the vehicle 2, and the left lane When it is determined that the vehicle can travel and travel (S5: NO, S9: YES), the vehicle travels to the left lane by flashing the lamps of the brake lamp and the left direction indicator via the vehicle ECU 71. (S10). Then, the CPU 41 detects a road display via each of the outside cameras 53 and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71 to bring the vehicle 2 to the leftmost side. The vehicle is moved to the next lane (S11). Thereafter, the CPU 41 flashes and turns on the brake lamps and the lamps of the left direction indicator via the vehicle ECU 71, so that the driver of the surrounding other vehicle has an emergency abnormal state in the vehicle 2 and stops emergency. (S7). Then, the CPU 41 detects the left edge of the road via each vehicle camera 53 and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71. Make an emergency stop at the left edge of the road. Further, the CPU 41 maintains a state in which an emergency stop is appealed to the drivers of other surrounding vehicles by blinking and lighting brake lamps and lamps of the left direction indicator via the vehicle ECU 71 (S8).

On the other hand, if it is determined in S9 that another vehicle is traveling behind the left side of the vehicle 2 and cannot move to the left lane (S9: NO), the CPU 41 proceeds to the process of S12. In S <b> 12, the CPU 41 proceeds to the process of S <b> 7 after acquiring information related to other vehicles or the like traveling within about 100 m to 150 m behind the vehicle 2 by the respective outside cameras 53 and the respective millimeter wave radars 62.
In S7, the CPU 41 causes the driver 2 of the other vehicle behind to generate an emergency abnormal state in the vehicle 2 by blinking the brake lamps and the lamps of the left and right direction indicators via the vehicle ECU 71. Appeals that the vehicle will stop urgently, and proceeds to S8.

  In S8, the CPU 41 detects a road display via each vehicle-side camera 53, and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71 so that the vehicle 2 is in the travel lane. The vehicle is controlled to travel at the center position, and after confirming that there is no other vehicle approaching from the rear of the vehicle 2 by each of the outside cameras 53 and each of the millimeter wave radars 62, the vehicle is urgently stopped at the center position of the travel lane. Further, the CPU 41 ends the process in a state in which the brake lamp and the lamps of the left and right direction indicators are blinked and lit through the vehicle ECU 71 to appeal the emergency stop to the driver of the other vehicle behind.

  For example, as shown in FIG. 7, when it is determined that the other vehicle 106 is traveling behind the left side of the vehicle 2 and cannot move to the leftmost lane (S9: NO), the CPU 41 Information relating to the situation within about 100 m to 150 m behind the vehicle 2, that is, other vehicles traveling behind the vehicle 2 is acquired by the outside camera 53 and each millimeter wave radar 62 (S12). Then, the CPU 41 flashes and turns on the brake lamps and the lamps of the left and right direction indicators via the vehicle ECU 71, and an emergency abnormal state occurs in the vehicle 2 in the driver of the other vehicle behind. Appeal to stop (S7). Subsequently, the CPU 41 detects a road display via each of the outside cameras 53, and drives and controls the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71, so that the vehicle 2 is moved 2 from the left side. After confirming that there is no other vehicle approaching from the rear of the vehicle 2 by each vehicle camera 53 or each millimeter wave radar 62 while controlling to travel in the center position of the second lane, Emergency stop at the center position. Further, the CPU 41 maintains a state in which an emergency stop is appealed to the driver of the other vehicle behind by blinking and lighting the brake lamps and the lamps of the left and right direction indicators via the vehicle ECU 71 (S8).

  As described above in detail, in the navigation device 1 according to the present embodiment, when the emergency button 14A is pressed, the CPU 41 is in an emergency state where the driver is in an emergency abnormal state, that is, the driver is difficult to drive. It is determined that an abnormal state has occurred (S1: YES, S2: YES). In addition, when the vehicle 2 is abnormally accelerating or decelerating, when the vehicle 2 is meandering 81, or when the vehicle 2 is abnormally approaching the preceding vehicle 101, the guardrail, the median strip, or the like, Is closed or the driver is falling down (S1: YES), the CPU 41 sends a message “Is it all right?” Please reply. " When there is no response from the driver via the microphone 18, or when the driver's eyelid is closed via the driver camera 52 or the driver is falling down, the CPU 41 is not aware of the driver. In other words, it is determined that an emergency abnormal state in which it is difficult for the driver to drive is generated (S2: YES). As a result, the CPU 41 can accurately detect that an emergency abnormal state in which it is difficult for the driver to drive, for example, because the driver is not aware of it.

Further, when the CPU 41 determines that an emergency abnormal state that makes it difficult for the driver to drive due to loss of consciousness or the like (S2: YES), the navigation map information stored in the map information DB 25 and the own vehicle are determined. From the position data, when the vehicle 2 is traveling in the leftmost lane (S5: YES), the brake lamp and the lamps of the left direction indicator are blinked on via the vehicle ECU 71, etc. While appealing to the driver of the other surrounding vehicle that an emergency abnormal state has occurred in the vehicle 2 and the vehicle will stop urgently, the vehicle 2 is stopped urgently at the left edge of the road (S6 to S8).
This makes it possible for the CPU 41 to move the vehicle 2 to the left edge of the road and stop it even in an emergency abnormal state where it is difficult to drive due to the driver's loss of consciousness or the like. This can be prevented beforehand. In addition, the CPU 41 makes an emergency stop to other surrounding vehicles in order to appeal to other surrounding vehicles by flashing and turning on the brake lamps and the left direction indicator lamps via the vehicle ECU 71. It is possible to reliably notify that the situation is present and prevent a rear-end collision or a contact accident.

If it is determined that the vehicle 2 is not traveling in the leftmost lane, there is no other vehicle behind the left side of the vehicle 2, and the vehicle 2 can travel to the left lane (S5: NO, S9: YES) ), The CPU 41 blinks and turns on the brake lamps and the lamps of the left direction indicator via the vehicle ECU 71, and an emergency abnormal state occurs in the vehicle 2 in the driver of the other surrounding vehicle, and the CPU 41 moves to the left lane. After appealing that the vehicle travels, the vehicle 73 is moved and traveled to the left lane by driving and controlling the brake 73, the engine 74, the transmission 75, and the steering drive unit 76 via the vehicle ECU 71 (S10 to S11). The vehicle 2 is brought to an emergency stop at the left edge of the road (S6 to S8).
As a result, the CPU 41 can travel from the traveling lane of the vehicle 2 to the leftmost lane where the vehicle can be stopped to make an emergency stop, and can make the emergency stop more safely.

If it is determined that the vehicle 2 is not traveling in the leftmost lane and cannot move to the left lane (S5: NO, S9: NO), the CPU 41 passes a brake lamp via the vehicle ECU 71. The lamps of the right and left direction indicators are flashed and lit to appeal that the vehicle is to be stopped in an emergency, and the vehicle is stopped at the center of the travel lane (S12, S7 to S8).
As a result, when the CPU 41 determines that the vehicle 2 cannot travel from the traveling lane of the vehicle 2 to the left lane, the CPU 41 makes an emergency stop in the lane in which the vehicle 2 is traveling, and the brake lamp and the left and right direction indicators In order to appeal the fact that the emergency stop is performed by blinking the lamps or the like, it is possible to stop quickly and stop safely.

Furthermore, when the CPU 41 determines that an emergency abnormal state that makes it difficult for the driver to drive due to the driver's loss of consciousness or the like (S2: YES), the CPU 41 indicates the vehicle position together with the vehicle ID. An emergency rescue signal including the position information is transmitted to an information center (not shown) via the communication device 17.
Thereby, when the driver 41 loses consciousness or the like and detects an emergency abnormal state that is difficult to drive, the CPU 41 urgently rescues the driver by reporting the emergency abnormal state to the outside. It becomes possible.

In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. For example, the following may be used.
(A) In step 2 above, a call such as “Are you okay?” Or “Please reply” is made through the speaker 16, and the driver is provided on the liquid crystal display 15 in addition to the microphone 18. Even when a touch panel or the like is pressed or any key of the operation unit 14 is pressed, the CPU 41 determines that the driver is not in an emergency abnormal state, that is, the driver is in a drivable state. Also good.

  (B) In step 1, the CPU 41 may determine whether or not the driver's eyelid is closed via the driver camera 52. Then, when the driver's bag is closed, the CPU 41 may determine that an emergency abnormal state in which it is difficult for the driver to drive has occurred, and execute the processing from step 3 onward. On the other hand, when the driver's eyelid is open, the CPU 41 may determine that the driver is not in an emergency abnormal state, that is, the driver is in a drivable state.

  (C) In step 1, the CPU 41 may determine whether or not the driver has fallen through the driver camera 52. If the driver is falling, the CPU 41 may determine that an emergency abnormal state in which it is difficult for the driver to drive has occurred, and execute the processing from step 3 onward. On the other hand, when the driver does not fall down, the CPU 41 may determine that the driver is not in an emergency abnormal state, that is, the driver is in a drivable state.

  (D) A heart rate sensor may be attached to the grip portion of the handle, and in step 1, the CPU 41 may determine whether or not the driver's heart rate can be measured. If the driver's heart rate cannot be measured, the CPU 41 may determine that an emergency abnormal state in which it is difficult for the driver to drive is generated, and execute the processing from step 3 onward. On the other hand, if the driver's heart rate can be measured, the CPU 41 may determine that the driver is not in an emergency abnormal state, that is, the driver is in a drivable state.

It is a schematic block diagram of the vehicle by which the navigation apparatus concerning a present Example is mounted. It is a block diagram which shows typically the control system centering on the navigation apparatus mounted in a vehicle. It is a flowchart which shows the emergency stop control process at the time of the driver | operator's emergency occurrence which the CPU of a navigation apparatus performs. It is a figure which shows typically an example of the driving | running | working state of the own vehicle at the time of emergency abnormal states, such as a driver | operator losing consciousness. It is a figure which illustrates typically an example of the process of step 4 of FIG. It is a figure which illustrates typically an example in which the own vehicle travels to the leftmost lane and makes an emergency stop. It is a figure which illustrates typically an example in which the own vehicle makes an emergency stop in a travel lane.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Vehicle 11 Present location detection process part 13 Navigation control part 14 Operation part 14A Emergency button 15 Liquid crystal display (LCD)
16 Speaker 17 Communication device 18 Microphone 21 Vehicle speed sensor 25 Map information DB
41 CPU
42 RAM
43 ROM
51 Camera ECU
52 Driver camera 53 Outside camera 61 Radar ECU
62 Millimeter wave radar 71 Vehicle ECU
72 Each lamp 73 Brake 74 Engine 75 Transmission 76 Steering drive part 81 Meandering operation 101-106 Other vehicles

Claims (9)

Emergency abnormal condition detection means for detecting an emergency abnormal condition of a driver who needs an emergency stop of the own vehicle;
Current position detection means for detecting the current position of the host vehicle;
Map information storage means for storing map information;
When the driver's emergency abnormal state is detected, the vehicle is moved to the road edge side of the road on the basis of the map information and the current position information detected by the current position detecting means. Emergency stop control means for controlling the vehicle to stop at the edge side;
A vehicle control device comprising:   The vehicle control device according to claim 1, further comprising a reporting unit that reports an emergency abnormal state to the outside when the driver's emergency abnormal state is detected. Obstacle detection means for detecting vehicles existing around the own vehicle;
Emergency stop notification means for notifying surrounding vehicles that the host vehicle is to be urgently stopped;
With
When the emergency stop control means detects a vehicle via the obstacle detection means, the emergency stop control means notifies the surrounding vehicles that the own vehicle will stop emergency via the emergency stop notification means. The vehicle control device according to claim 1 or 2. Determination means for determining whether a lane change is possible from the travel lane of the host vehicle to the lane on the road edge side where the vehicle can be stopped based on detection information of the obstacle detection means;
The emergency stop control means controls to change the lane to the lane on the road edge side when it is determined that the lane can be changed to the lane on the road edge side where the stop is possible. 4. The vehicle control device according to claim 3, wherein when it is determined that the lane cannot be changed to the lane on the edge side, the vehicle is controlled so as to make an emergency stop in the traveling lane of the host vehicle. Vehicle speed detection means for detecting the vehicle speed of the host vehicle,
The emergency abnormal state detection means includes
Inquiry means for asking the driver when abnormal acceleration or deceleration is detected via the vehicle speed detection means;
Response detection means for detecting a driver's response to the inquiry;
Have
5. The emergency abnormal state detecting means according to claim 1, wherein the driver is in an emergency abnormal state when the response is not detected through the response detecting means. Vehicle control device. A steering angle detection means for detecting the steering angle of the host vehicle,
The emergency abnormal state detection means includes
Inquiry means for inquiring of the driver when abnormal meandering operation is detected via the rudder angle detection means;
Response detection means for detecting a driver's response to the inquiry;
Have
5. The emergency abnormal state detecting means according to claim 1, wherein the driver is in an emergency abnormal state when the response is not detected through the response detecting means. Vehicle control device. Provided with an abnormal approach detection means for detecting an abnormal approach to a vehicle existing around the own vehicle;
The emergency abnormal state detection means includes
An inquiry means for making an inquiry to the driver when an abnormal approach to a vehicle existing around the host vehicle is detected via the abnormal approach detection means;
Response detection means for detecting a driver's response to the inquiry;
Have
5. The emergency abnormal state detecting means according to claim 1, wherein the driver is in an emergency abnormal state when the response is not detected through the response detecting means. Vehicle control device. Comprising imaging means for imaging the driver;
The emergency abnormal state detection means includes consciousness determination means for determining whether or not there is a driver's consciousness through the imaging means,
8. The emergency abnormal state detecting means according to claim 1, wherein the driver is in an emergency abnormal state when it is determined that the driver is not conscious through the consciousness determining means. The vehicle control device according to any one of the above. Provided with an emergency stop instruction means for the driver to input emergency stop instruction information for instructing an emergency stop,
The vehicle control according to any one of claims 1 to 8, wherein the emergency abnormal state detection means determines that the driver is in an emergency abnormal state when the emergency stop instruction information is input. apparatus.

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