JP2023058007A5

JP2023058007A5 -

Info

Publication number: JP2023058007A5
Application number: JP2022143963A
Authority: JP
Filing date: 2022-09-09
Publication date: 2024-02-16

Description

上記目的を達成するために、本開示の第１の車両用装置は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用装置であって、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定部（１０３）と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定部（１０２）とを備え、運転者状態推定部は、運転特定部で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者状態推定部は、運転者を撮像する撮像装置と運転者の生体情報を計測する生体センサとを用いて異常状態であるか否かを推定することが可能であり、運転特定部で睡眠非許可運転中と特定する場合には、撮像装置と生体センサとを用いて異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、撮像装置は用いるが生体センサは用いずに異常状態であるか否かを推定する。
上記目的を達成するために、本開示の第２の車両用装置は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用装置であって、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定部（１０３）と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定部（１０２）とを備え、運転者状態推定部は、運転特定部で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者状態推定部は、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして異常状態であるか否かを推定し、異常状態であると推定した場合には、運転特定部で睡眠許可自動運転中と特定する場合であっても、睡眠非許可運転中と特定する場合と同じ種類数のセンサを用いて異常状態であるか否かを再度推定し直す。
上記目的を達成するために、本開示の第３の車両用装置は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用装置であって、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定部（１０３）と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定部（１０２）とを備え、運転者状態推定部は、運転特定部で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、車両の電動シートのリクライニング角度を制御させるシート制御指示部（１１１）を備え、シート制御指示部は、運転者状態推定部で異常状態であると推定する場合であって、且つ、車両の運転席の電動シートのリクライニング角度が車両の床面に対するシートバックの角度が第１規定角度未満に寝かせられた睡眠角度である場合に、運転席の電動シートのリクライニング角度を、床面に対するシートバックの角度が第１規定角度よりも大きい第２規定角度以上に起こされた基準角度にまで戻させる。
上記目的を達成するために、本開示の第４の車両用装置は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用装置であって、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定部（１０３）と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定部（１０２）とを備え、運転者状態推定部は、運転特定部で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、少なくとも運転者状態推定部で運転者が異常状態であると推定したことをもとに、車両に自動での退避行動及びセンタへの緊急通報を実施させる第３退避指示部（１１２）を備えるものであって、第３退避指示部は、睡眠許可自動運転で到達可能な所定の退避エリアが存在する場合には、その退避エリアまで睡眠許可自動運転で走行させてから停車させる退避行動を実施させる一方、睡眠許可自動運転で到達可能な退避エリアが存在しない場合には、車両を緊急停止させる退避行動を実施させるものであり、退避エリアまで睡眠許可自動運転で走行させてから停車させる場合には、車両の車線変更の予定がなく所定距離以上走行可能となったタイミングで緊急通報を実施させる。
上記目的を達成するために、本開示の第５の車両用装置は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用装置であって、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定部（１０３）と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定部（１０２）とを備え、運転者状態推定部は、運転特定部で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定部で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者以外の同乗者が異常状態であるか否かを推定することが可能な同乗者状態推定部（１０５ｂ）と、運転者状態推定部及び同乗者状態推定部での推定結果をもとに、複数の乗員が異常状態であることが推定された場合に、車両に自動での退避行動を少なくとも実施させる第２退避指示部（１１２ｂ）とを備え、第２退避指示部は、複数の乗員が異常状態であることが推定された場合に、乗員が異常状態であるか否かの乗員への確認なしで、退避行動を実施させる。 In order to achieve the above object, a first vehicle device of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level, in which the driver is not allowed to sleep. This is a vehicle device that can be used in vehicles that switch between driving and non-sleep driving, and uses multiple types of sensors to estimate whether the driver is in an abnormal state other than sleeping. a driver state estimating unit (103) capable of determining the driving state; and a driving identifying unit (102) that determines whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. When the driving identification section identifies that the driver is driving without sleep permission, multiple types of sensors are used to estimate whether the driver is in an abnormal state. The system estimates whether or not the driver is in an abnormal state by using fewer types of sensors than when specifying that the driver is driving without sleep permission. It is possible to estimate whether the driver is in an abnormal state using the device and a biosensor that measures biometric information of the driver, and if the driving identification unit identifies that the driver is driving without sleep permission, the imaging device On the other hand, when the driving identification unit identifies sleep-permitted automatic driving, an imaging device is used but the biosensor is not used to determine whether the vehicle is in an abnormal state. Estimate whether or not .
In order to achieve the above object, the second vehicle device of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level, in which the driver is not allowed to sleep. This is a vehicle device that can be used in vehicles that switch between driving and non-sleep driving, and uses multiple types of sensors to estimate whether the driver is in an abnormal state other than sleeping. a driver state estimating unit (103) capable of determining the driving state; and a driving identifying unit (102) that determines whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. When the driving identification section identifies that the driver is driving without sleep permission, multiple types of sensors are used to estimate whether the driver is in an abnormal state. The driver state estimating unit estimates whether the driver is in an abnormal state by using fewer types of sensors than when determining that the driver is driving without sleep permission. In this case, the number of types of sensors used is reduced compared to the case of identification, and it is estimated whether or not the system is in an abnormal state, and if it is estimated that the system is in an abnormal state, the driving identification section identifies that the vehicle is in sleep-enabled automatic driving. In this case, the same number of types of sensors as in the case of specifying that the vehicle is driving without sleep permission are used to re-estimate whether or not the vehicle is in an abnormal state.
In order to achieve the above object, a third vehicle device of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level, in which the driver is not allowed to sleep. This is a vehicle device that can be used in vehicles that switch between driving and non-sleep driving, and uses multiple types of sensors to estimate whether the driver is in an abnormal state other than sleeping. a driver state estimating unit (103) capable of determining the driving state; and a driving identifying unit (102) that determines whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. When the driving identification section identifies that the driver is driving without sleep permission, multiple types of sensors are used to estimate whether the driver is in an abnormal state. This method estimates whether the driver is in an abnormal state by using fewer types of sensors than when determining that the driver is driving without sleep permission, and provides seat control instructions to control the reclining angle of the vehicle's electric seat. (111), the seat control instructing unit is configured to detect an abnormal state when the driver state estimating unit estimates that the driver's seat is in an abnormal state, and the reclining angle of the electric seat of the driver's seat of the vehicle is within the range of the seat relative to the floor of the vehicle. When the reclining angle of the electric driver's seat is set to a sleeping angle where the back angle is less than the first specified angle, the reclining angle of the electric driver's seat is set to a second specified angle or more where the seat back angle with respect to the floor is greater than the first specified angle. to return to the standard angle that was raised.
In order to achieve the above object, a fourth vehicle device of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level, in which the driver is not allowed to sleep. This is a vehicle device that can be used in vehicles that switch between driving and non-sleep driving, and uses multiple types of sensors to estimate whether the driver is in an abnormal state other than sleeping. a driver state estimating unit (103) capable of determining the driving state; and a driving identifying unit (102) that determines whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. When the driving identification section identifies that the driver is driving without sleep permission, multiple types of sensors are used to estimate whether the driver is in an abnormal state. This method estimates whether or not the driver is in an abnormal state by using fewer types of sensors than when determining that the driver is driving without sleep permission. The device is equipped with a third evacuation instruction section (112) that causes the vehicle to automatically perform evacuation actions and make an emergency report to the center based on the estimation that the vehicle is sleeping. If there is a predetermined evacuation area that can be reached by automatic driving, the evacuation action of driving sleep-permitted automatic driving to that evacuation area and then stopping is carried out, while the evacuation area that can be reached by sleep-permitted automatic driving is If the vehicle does not exist, it will cause the vehicle to perform an evacuation action to make an emergency stop, and if the vehicle is driven to the evacuation area using sleep permission automatic driving and then stopped, the vehicle will not be changing lanes and will drive for a predetermined distance. Make emergency calls as soon as possible.
In order to achieve the above object, a fifth vehicle device of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level, in which the driver is not allowed to sleep. This is a vehicle device that can be used in vehicles that switch between driving and non-sleep driving, and uses multiple types of sensors to estimate whether the driver is in an abnormal state other than sleeping. a driver state estimating unit (103) capable of determining the driving state; and a driving identifying unit (102) that determines whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. When the driving identification section identifies that the driver is driving without sleep permission, multiple types of sensors are used to estimate whether the driver is in an abnormal state. This method estimates whether the driver is in an abnormal state by using fewer types of sensors than when identifying driving without sleep permission, and it is possible to estimate whether or not a passenger other than the driver is in an abnormal state. It is estimated that a plurality of occupants are in an abnormal state based on the estimation results of the passenger state estimating section (105b), the driver state estimating section, and the passenger state estimating section, which can estimate whether the passenger is in an abnormal state. a second evacuation instruction section (112b) that causes the vehicle to at least perform an automatic evacuation action when a plurality of occupants are estimated to be in an abnormal state; To cause an evacuation action to be performed without confirming to the occupant whether or not the occupant is in an abnormal state.

上記目的を達成するために、本開示の第１の車両用推定方法は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用推定方法であって、少なくとも１つのプロセッサにより実行される、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定工程と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定工程とを含み、運転者状態推定工程では、運転特定工程で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者状態推定工程では、運転者を撮像する撮像装置と運転者の生体情報を計測する生体センサとを用いて異常状態であるか否かを推定することが可能であり、運転特定工程で睡眠非許可運転中と特定する場合には、撮像装置と生体センサとを用いて異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、撮像装置は用いるが生体センサは用いずに異常状態であるか否かを推定する。
上記目的を達成するために、本開示の第２の車両用推定方法は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用推定方法であって、少なくとも１つのプロセッサにより実行される、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定工程と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定工程とを含み、運転者状態推定工程では、運転特定工程で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者状態推定工程では、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして異常状態であるか否かを推定し、異常状態であると推定した場合には、運転特定工程で睡眠許可自動運転中と特定する場合であっても、睡眠非許可運転中と特定する場合と同じ種類数のセンサを用いて異常状態であるか否かを再度推定し直す。
上記目的を達成するために、本開示の第３の車両用推定方法は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用推定方法であって、少なくとも１つのプロセッサにより実行される、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定工程と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定工程とを含み、運転者状態推定工程では、運転特定工程で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、車両の電動シートのリクライニング角度を制御させるシート制御指示工程を含み、シート制御指示工程では、運転者状態推定工程で異常状態であると推定する場合であって、且つ、車両の運転席の電動シートのリクライニング角度が車両の床面に対するシートバックの角度が第１規定角度未満に寝かせられた睡眠角度である場合に、運転席の電動シートのリクライニング角度を、床面に対するシートバックの角度が第１規定角度よりも大きい第２規定角度以上に起こされた基準角度にまで戻させる。
上記目的を達成するために、本開示の第４の車両用推定方法は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用推定方法であって、少なくとも１つのプロセッサにより実行される、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定工程と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定工程とを含み、運転者状態推定工程では、運転特定工程で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、少なくとも運転者状態推定工程で運転者が異常状態であると推定したことをもとに、車両に自動での退避行動及びセンタへの緊急通報を実施させる第３退避指示工程を含むものであって、第３退避指示工程では、睡眠許可自動運転で到達可能な所定の退避エリアが存在する場合には、その退避エリアまで睡眠許可自動運転で走行させてから停車させる退避行動を実施させる一方、睡眠許可自動運転で到達可能な退避エリアが存在しない場合には、車両を緊急停止させる退避行動を実施させるものであり、退避エリアまで睡眠許可自動運転で走行させてから停車させる場合には、車両の車線変更の予定がなく所定距離以上走行可能となったタイミングで緊急通報を実施させる。
上記目的を達成するために、本開示の第５の車両用推定方法は、運転者の睡眠が許可される自動化レベルの自動運転である睡眠許可自動運転と、運転者の睡眠が許可されない自動化レベルの運転である睡眠非許可運転との切り替えを実施する車両で用いることが可能な車両用推定方法であって、少なくとも１つのプロセッサにより実行される、運転者が睡眠状態でない異常状態であるか否かを複数種類のセンサを用いて推定することが可能な運転者状態推定工程と、車両が睡眠許可自動運転中か睡眠非許可運転中かを特定する運転特定工程とを含み、運転者状態推定工程では、運転特定工程で睡眠非許可運転中と特定する場合には、複数種類のセンサを用いて運転者が異常状態であるか否かを推定する一方、運転特定工程で睡眠許可自動運転中と特定する場合には、睡眠非許可運転中と特定する場合よりも用いるセンサの種類を減らして運転者が異常状態であるか否かを推定するものであり、運転者以外の同乗者が異常状態であるか否かを推定することが可能な同乗者状態推定工程と、運転者状態推定工程及び同乗者状態推定工程での推定結果をもとに、複数の乗員が異常状態であることが推定された場合に、車両に自動での退避行動を少なくとも実施させる第２退避指示工程とを含み、第２退避指示工程では、複数の乗員が異常状態であることが推定された場合に、乗員が異常状態であるか否かの乗員への確認なしで、退避行動を実施させる。 In order to achieve the above object, the first vehicle estimation method of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level in which the driver is not allowed to sleep. A method for estimating a vehicle that can be used in a vehicle that performs a switchover from sleep-disallowed driving, which is a driving operation in which a driver is not allowed to sleep, is executed by at least one processor. The driver state estimation process includes a driver state estimation step that can estimate the state of the vehicle using multiple types of sensors, and a driving identification step that specifies whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. In the driving process, when it is determined that the driver is driving without sleep permission in the driving identification process, multiple types of sensors are used to estimate whether the driver is in an abnormal state. When determining whether the driver is in an abnormal state, fewer types of sensors are used than when determining that the driver is driving without sleep permission. It is possible to estimate whether or not the driver is in an abnormal state using an imaging device that images the driver and a biosensor that measures the biometric information of the driver, and when it is determined that the driver is driving without sleep permission in the driving identification process. In this case, an imaging device and a biosensor are used to estimate whether or not there is an abnormal state, whereas in the driving identification process, when it is determined that sleep-permitted automatic driving is in progress, an imaging device is used but a biosensor is not used. It is estimated whether there is an abnormal state or not .
In order to achieve the above object, the second estimation method for a vehicle of the present disclosure includes sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level in which the driver is not allowed to sleep. A method for estimating a vehicle that can be used in a vehicle that performs a switchover from sleep-disallowed driving, which is a driving operation in which a driver is not allowed to sleep, is executed by at least one processor. The driver state estimation process includes a driver state estimation step that can estimate the state of the vehicle using multiple types of sensors, and a driving identification step that specifies whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. In the driving process, when it is determined that the driver is driving without sleep permission in the driving identification process, multiple types of sensors are used to estimate whether the driver is in an abnormal state. When it is determined that the driver is in an abnormal state, fewer types of sensors are used to estimate whether the driver is in an abnormal state than when it is determined that the driver is driving without sleep permission. It uses fewer types of sensors than when identifying unauthorized driving to estimate whether or not it is in an abnormal state, and if it is estimated to be in an abnormal state, it is identified as sleep-permitted automatic driving in the driving identification process. Even if the vehicle is in an abnormal state, it is re-estimated whether or not the vehicle is in an abnormal state using the same number of sensors as in the case of determining that the vehicle is driving without sleep permission.
In order to achieve the above object, the third vehicle estimation method of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level in which the driver is not allowed to sleep. A method for estimating a vehicle that can be used in a vehicle that performs a switchover from sleep-disallowed driving, which is a driving operation in which a driver is not allowed to sleep, is executed by at least one processor. The driver state estimation process includes a driver state estimation step that can estimate the state of the vehicle using multiple types of sensors, and a driving identification step that specifies whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. In the driving process, when it is determined that the driver is driving without sleep permission in the driving identification process, multiple types of sensors are used to estimate whether the driver is in an abnormal state. In this case, fewer types of sensors are used to estimate whether the driver is in an abnormal state than in the case of specifying that the driver is driving without sleep permission. The seat control instructing step includes a seat control instructing step in which an abnormal state is estimated in the driver state estimation step, and the reclining angle of the electric seat of the driver's seat of the vehicle is If the angle of the seat back with respect to the floor is a sleeping angle that is less than the first specified angle, the reclining angle of the electric driver's seat is set to a second specified angle where the angle of the seat back with respect to the floor is greater than the first specified angle. The angle is returned to the reference angle that was raised above the angle.
In order to achieve the above object, the fourth vehicle estimation method of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level where the driver is allowed to sleep, and automatic driving at an automation level where the driver is not allowed to sleep. A method for estimating a vehicle that can be used in a vehicle that performs a switchover from sleep-disallowed driving, which is a driving operation in which a driver is not allowed to sleep, is executed by at least one processor. The driver state estimation process includes a driver state estimation step that can estimate the state of the vehicle using multiple types of sensors, and a driving identification step that specifies whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. In the driving process, when it is determined that the driver is driving without sleep permission in the driving identification process, multiple types of sensors are used to estimate whether the driver is in an abnormal state. When determining whether the driver is in an abnormal state, fewer types of sensors are used to estimate whether or not the driver is in an abnormal state than when determining that the driver is driving without sleep permission. The third evacuation instruction step includes a third evacuation instruction step in which the vehicle automatically performs evacuation action and makes an emergency report to the center based on the person's estimation that the vehicle is in an abnormal state. If there is a predetermined evacuation area that can be reached by sleep-permitted automatic driving, the evacuation action of driving sleep-permitted automatic driving to that evacuation area and then stopping is carried out, while the evacuation area that can be reached by sleep-permitted automatic driving is If the area does not exist, the vehicle is forced to perform an evacuation action that makes an emergency stop, and if the vehicle is driven to the evacuation area using sleep permission automatic driving and then stopped, the vehicle is not scheduled to change lanes and has traveled a predetermined distance. An emergency call will be made as soon as it becomes possible to drive.
In order to achieve the above object, the fifth vehicle estimation method of the present disclosure provides sleep-permitted automatic driving, which is automatic driving at an automation level in which the driver is allowed to sleep, and automatic driving at an automation level in which the driver is not allowed to sleep. A method for estimating a vehicle that can be used in a vehicle that performs a switchover from sleep-disallowed driving, which is a driving operation in which a driver is not allowed to sleep, is executed by at least one processor. The driver state estimation process includes a driver state estimation step that can estimate the state of the vehicle using multiple types of sensors, and a driving identification step that specifies whether the vehicle is in sleep-permitted automatic driving or sleep-disallowed driving. In the driving process, when it is determined that the driver is driving without sleep permission in the driving identification process, multiple types of sensors are used to estimate whether the driver is in an abnormal state. When determining whether the driver is in an abnormal state, fewer types of sensors are used to estimate whether the driver is in an abnormal state than when determining that the driver is driving without sleep permission. Based on the estimation results in the passenger state estimation process, the driver state estimation process, and the passenger state estimation process, it is possible to estimate whether multiple occupants are in an abnormal state. a second evacuation instruction step that causes the vehicle to at least automatically perform an evacuation action when it is estimated that a plurality of occupants are in an abnormal state; evacuation action without checking with the occupants whether or not the vehicle is in an abnormal state.

Claims

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. A device for a vehicle,
a driver state estimation unit (103) capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying unit (102) that specifies whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
The driver state estimating unit estimates whether the driver is in the abnormal state using a plurality of types of sensors when the driving specifying unit determines that the driver is driving without sleep permission; When the driving identifying unit identifies that the driver is in the sleep-permitted automatic driving mode, the number of types of sensors used is reduced compared to when determining that the driver is in the sleep-disabled driving mode to determine whether the driver is in the abnormal state. It is estimated that
The driver state estimation unit is capable of estimating whether or not the driver is in the abnormal state using an imaging device that images the driver and a biosensor that measures biological information of the driver; When the driving identification unit identifies that the sleep permission is not permitted while driving, the imaging device and the biosensor are used to estimate whether or not the abnormal state is present; When determining that the vehicle is being driven, the vehicle device uses the imaging device but does not use the biosensor to estimate whether or not the vehicle is in the abnormal state .

The vehicle device according to claim 1 ,
The driver state estimating unit estimates whether or not the driver is in the abnormal state using the imaging device and the biosensor that is provided on a steering wheel of the vehicle and measures biometric information of a driver who grips the steering wheel. When the driving identification unit identifies that the driving is in a sleep-unpermitted state, the imaging device and the biosensor provided on the steering wheel may be used to determine whether or not the abnormal state is present. On the other hand, when the driving identifying unit identifies that the sleep-permitted automatic driving is in progress, the imaging device is used but the biosensor provided on the steering wheel is not used to estimate whether or not the abnormal state is present. A device for vehicles.

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. A device for a vehicle,
a driver state estimation unit (103) capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying unit (102) that specifies whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
The driver state estimating unit estimates whether the driver is in the abnormal state using a plurality of types of sensors when the driving specifying unit determines that the driver is driving without sleep permission; When the driving identifying unit identifies that the driver is in the sleep-permitted automatic driving mode, the number of types of sensors used is reduced compared to when determining that the driver is in the sleep-disabled driving mode to determine whether the driver is in the abnormal state. It is estimated that
The driver state estimating unit estimates whether or not the driver is in the abnormal state by using fewer types of sensors than when determining that the driver is driving without sleep permission, and when it is estimated that the driver is in the abnormal state, Even if the driving specifying unit identifies sleep-permitted automatic driving, it is determined whether the abnormal state is present using the same number of types of sensors as in the case where sleep-disallowed driving is identified. A vehicle device that re-estimates the

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. A device for a vehicle,
a driver state estimation unit (103) capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying unit (102) that specifies whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
The driver state estimating unit estimates whether the driver is in the abnormal state using a plurality of types of sensors when the driving specifying unit determines that the driver is driving without sleep permission; When the driving identifying unit identifies that the driver is in the sleep-permitted automatic driving mode, the number of types of sensors used is reduced compared to when determining that the driver is in the sleep-disabled driving mode to determine whether the driver is in the abnormal state. It is estimated that
comprising a seat control instruction unit (111) that controls the reclining angle of the electric seat of the vehicle;
The seat control instruction unit may estimate that the driver state estimation unit is in the abnormal state, and the reclining angle of the electric seat of the driver's seat of the vehicle is such that the seat back with respect to the floor surface of the vehicle is is a sleeping angle that is less than the first specified angle, the reclining angle of the electric seat of the driver's seat is set to a second angle where the angle of the seat back with respect to the floor is larger than the first specified angle. A device for vehicles that returns to a standard angle that has been raised above a specified angle .

The vehicle device according to claim 4 ,
a passenger presence identification unit (104) that identifies the presence or absence of a fellow passenger who is a passenger other than the driver of the vehicle;
The seat control instructing unit may cause the driver state estimating unit to estimate that the abnormal state is present, and the passenger presence/absence specifying unit may specify that there is a passenger, and the vehicle may When the reclining position of the electric seat of the passenger's seat is at the sleeping angle, the vehicle device causes the reclining position of the electric seat of the passenger's seat to also return to the reference angle.

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. A device for a vehicle,
a driver state estimation unit (103) capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying unit (102) that specifies whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
The driver state estimating unit estimates whether the driver is in the abnormal state using a plurality of types of sensors when the driving specifying unit determines that the driver is driving without sleep permission; When the driving identifying unit identifies that the driver is in the sleep-permitted automatic driving mode, the number of types of sensors used is reduced compared to when determining that the driver is in the sleep-disabled driving mode to determine whether the driver is in the abnormal state. It is estimated that
A third evacuation instruction unit (112) that causes the vehicle to automatically perform evacuation action and make an emergency report to the center based on at least the driver state estimation unit estimating that the driver is in an abnormal state. It is equipped with
The third evacuation instruction section includes:
If there is a predetermined evacuation area that can be reached by the sleep-permitted automatic driving, the evacuation action of driving the sleep-permitted automatic driving to the evacuation area and then stopping is performed, while the sleep-permitted automatic driving If the evacuation area that can be reached does not exist, the evacuation action is performed to make an emergency stop of the vehicle;
When the vehicle is driven to the evacuation area in the sleep-permitted automatic operation and then stopped, the vehicle device makes the emergency call at a timing when the vehicle is not scheduled to change lanes and can travel a predetermined distance or more.

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. A device for a vehicle,
a driver state estimation unit (103) capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying unit (102) that specifies whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
The driver state estimating unit estimates whether the driver is in the abnormal state using a plurality of types of sensors when the driving specifying unit determines that the driver is driving without sleep permission; When the driving identifying unit identifies that the driver is in the sleep-permitted automatic driving mode, the number of types of sensors used is reduced compared to when determining that the driver is in the sleep-disabled driving mode to determine whether the driver is in the abnormal state. It is estimated that
a passenger state estimation unit (105b) capable of estimating whether a passenger other than the driver is in the abnormal state;
When it is estimated that a plurality of occupants are in the abnormal state based on the estimation results of the driver state estimating unit and the passenger state estimating unit, at least automatically causing the vehicle to take an evacuation action. a second evacuation instruction section (112b) to
The second evacuation instruction unit is configured for a vehicle to perform the evacuation action without confirming to the occupants whether or not the occupants are in the abnormal state when it is estimated that a plurality of occupants are in the abnormal state. Device.

The vehicle device according to any one of claims 1 to 7 ,
comprising a notification control unit (106) that causes a notification device (21) to issue a notification to the occupants of the vehicle;
The notification control unit is a vehicular device that causes the driver to issue a notification prompting the driver to confirm whether or not the driver is in the abnormal state when the driver condition estimating unit estimates that the abnormal condition is present.

The vehicle device according to claim 8 ,
The driver state estimation unit distinguishes and specifies the type of the abnormal state,
comprising a notification control unit (106a) that makes notification to the occupants of the vehicle by at least a display on a display (211, 212);
When the driver state estimation unit estimates that the driver is in the abnormal state, the notification control unit includes a first display dedicated to the driver and a display unit that is visible to a passenger other than the driver. A vehicular device that displays an abnormality type display, which is a display of the type of abnormal state, on both a second display device.

The vehicle device according to claim 9 ,
an answer accepting unit (107) that accepts input of correct or incorrect answers from the crew member regarding the abnormality type display;
causing the vehicle to at least automatically perform an evacuation action based on the response receiving unit receiving a response input from the passenger to the effect that the abnormal state of the driver indicated by the abnormality type display is correct; A vehicle device comprising a first evacuation instruction section (112a).

The vehicle device according to claim 10 ,
a first receiving unit (171) serving as the answer receiving unit that receives input of correct or incorrect answers from the driver;
a second receiving unit (172) as the answer receiving unit that receives input of correct or incorrect answers from the fellow passenger;
When the first receiving section and the second receiving section receive answer inputs whose correctness and wrongness are different, the first evacuation instruction section accepts the answer input at the second reception section more than the answer input accepted at the first reception section. A vehicle device that gives priority to answer input.

The vehicle device according to claim 11 ,
The first evacuation instruction section is a vehicle device that follows the response input when only the first reception section of the first reception section and the second reception section receives the response input.

The vehicle device according to claim 10 ,
When the first evacuation instruction section causes the evacuation behavior to be carried out, and when there is a predetermined evacuation area that can be reached by the sleep-permitted automatic driving, the notification control section is configured to control the current state of the vehicle. Information guiding a route from a position to the evacuation area is displayed on the display, and the first evacuation instruction section is made to carry out the evacuation action, and the area is reachable by the sleep permission automatic driving. A vehicle device that causes a notification device to issue a notification indicating that an emergency stop of the vehicle is to be performed when the evacuation area does not exist.

The vehicle device according to any one of claims 1 to 7 ,
a passenger presence identification unit (104) that identifies presence or absence of a fellow passenger who is a passenger other than the driver of the vehicle;
and a notification control unit (106) that causes the notification device (21) to issue a notification to the occupant,
It also includes an arousal identifying unit (105) that estimates whether the fellow passenger is in an awake state,
In the case where the driver state estimating unit estimates that the abnormal state is present, the notification control unit specifies that the passenger is present in the passenger presence/absence specifying unit, and the alerting specifying unit specifies that the passenger is present. When the driver is estimated to be in an awake state, the device for a vehicle is configured to issue a notification to the fellow passenger indicating the possibility that the driver is in the abnormal state.

The vehicle device according to any one of claims 1 to 7 ,
In the case where the driving specifying unit specifies that the vehicle is in sleep-permitted automatic driving, and the driver state estimating unit estimates that the vehicle is in the abnormal state, the vehicle may be brought to an emergency stop immediately. The device for a vehicle includes a stop instruction unit (1121) that causes the vehicle to automatically travel to a specific area recommended as an emergency evacuation place in the area where sleep permission automatic driving is possible and then stop the vehicle.

The vehicle device according to any one of claims 1 to 6 ,
a passenger state estimation unit (105b) capable of estimating whether a passenger other than the driver is in the abnormal state;
When it is estimated that a plurality of occupants are in the abnormal state based on the estimation results of the driver state estimating unit and the passenger state estimating unit, at least automatically causing the vehicle to take an evacuation action. A vehicle device comprising a second evacuation instruction section (112b).

The vehicle device according to any one of claims 1 to 7 ,
a passenger state estimation unit (105b) capable of estimating whether a passenger other than the driver is in the abnormal state;
and a notification control unit (106c) that causes the notification device (21a) to provide notification to at least the driver,
The notification control unit is a vehicle device that causes the notification device to make a notification to the driver suggesting an emergency call when it is estimated that the passenger is in the abnormal state.

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. An estimation method for a vehicle,
executed by at least one processor;
a driver state estimation step capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying step of specifying whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
In the driver state estimation step, when it is determined in the driving identification step that the driver is driving without sleep permission, a plurality of types of sensors are used to estimate whether the driver is in the abnormal state; When specifying that the driver is in the sleep-permitted automatic driving mode in the driving identification step, the number of types of sensors used is reduced compared to when specifying that the sleep-permitted driving mode is in progress, and whether or not the driver is in the abnormal state is determined. It is estimated that
In the driver state estimation step, it is possible to estimate whether or not the abnormal state is present using an imaging device that images the driver and a biosensor that measures biometric information of the driver; In the case of specifying that the sleep permission is not allowed while driving in the driving specifying step, the imaging device and the biosensor are used to estimate whether or not the abnormal state is present; When determining that the vehicle is being driven, the vehicle estimation method uses the imaging device but does not use the biosensor to estimate whether or not the vehicle is in the abnormal state .

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. An estimation method for a vehicle,
executed by at least one processor;
a driver state estimation step capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying step of specifying whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
In the driver state estimation step, when it is determined in the driving identification step that the driver is driving without sleep permission, a plurality of types of sensors are used to estimate whether the driver is in the abnormal state; When specifying that the driver is in the sleep-permitted automatic driving mode in the driving identification step, the number of types of sensors used is reduced compared to when specifying that the sleep-permitted driving mode is in progress, and whether or not the driver is in the abnormal state is determined. It is estimated that
In the driver state estimation step, the number of types of sensors to be used is reduced compared to the case where the driver is identified as driving without sleep permission, and the number of types of sensors used is reduced to estimate whether or not the driver is in the abnormal state, and when it is estimated that the driver is in the abnormal state, Even in the case where the sleep-permitted automatic driving is specified in the driving identification step, whether or not the abnormal state is determined using the same number of types of sensors as in the case where the sleep-unpermitted driving is specified. An estimation method for vehicles that re-estimates the

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. An estimation method for a vehicle,
executed by at least one processor;
a driver state estimation step capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying step of specifying whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
In the driver state estimation step, when it is determined in the driving identification step that the driver is driving without sleep permission, a plurality of types of sensors are used to estimate whether the driver is in the abnormal state; When specifying that the driver is in the sleep-permitted automatic driving mode in the driving identification step, the number of types of sensors used is reduced compared to when specifying that the sleep-permitted driving mode is in progress, and whether or not the driver is in the abnormal state is determined. It is estimated that
A seat control instruction step for controlling a reclining angle of an electric seat of the vehicle,
In the seat control instruction step, the driver state estimation step estimates that the abnormal state is present, and the reclining angle of the electric seat of the driver's seat of the vehicle is such that the seat back with respect to the floor surface of the vehicle is is a sleeping angle that is less than the first specified angle, the reclining angle of the electric seat of the driver's seat is set to a second angle where the angle of the seat back with respect to the floor is larger than the first specified angle. An estimation method for vehicles that returns to a reference angle that has been raised above a specified angle .

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. An estimation method for a vehicle,
executed by at least one processor;
a driver state estimation step capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying step of specifying whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
In the driver state estimation step, when it is determined in the driving identification step that the driver is driving without sleep permission, a plurality of types of sensors are used to estimate whether the driver is in the abnormal state; When specifying that the driver is in the sleep-permitted automatic driving mode in the driving identification step, the number of types of sensors used is reduced compared to when specifying that the sleep-permitted driving mode is in progress, and whether or not the driver is in the abnormal state is determined. It is estimated that
At least a third evacuation instruction step for causing the vehicle to automatically perform an evacuation action and make an emergency report to a center based on the fact that the driver is estimated to be in an abnormal state in the driver state estimation step. And,
In the third evacuation instruction step,
If there is a predetermined evacuation area that can be reached by the sleep-permitted automatic driving, the evacuation action of driving the sleep-permitted automatic driving to the evacuation area and then stopping is performed, while the sleep-permitted automatic driving If the evacuation area that can be reached does not exist, the evacuation action is performed to make an emergency stop of the vehicle;
When the vehicle is driven to the evacuation area in the sleep-permitted automatic operation and then stopped, the vehicle makes the emergency call at a timing when the vehicle is not scheduled to change lanes and can travel a predetermined distance or more.

It can be used in vehicles that switch between sleep-permitted automatic driving, which is a level of automation in which the driver is allowed to sleep, and non-sleep-permitted driving, which is a level of automation in which the driver is not allowed to sleep. An estimation method for a vehicle,
executed by at least one processor;
a driver state estimation step capable of estimating whether the driver is in an abnormal state other than a sleeping state using a plurality of types of sensors;
a driving specifying step of specifying whether the vehicle is in the sleep-permitted automatic operation or the sleep-unpermitted operation;
In the driver state estimation step, when it is determined in the driving identification step that the driver is driving without sleep permission, a plurality of types of sensors are used to estimate whether the driver is in the abnormal state; When specifying that the driver is in the sleep-permitted automatic driving mode in the driving identification step, the number of types of sensors used is reduced compared to when specifying that the sleep-permitted driving mode is in progress, and whether or not the driver is in the abnormal state is determined. It is estimated that
a passenger state estimation step capable of estimating whether a passenger other than the driver is in the abnormal state;
When it is estimated that a plurality of occupants are in the abnormal state based on the estimation results in the driver state estimation step and the passenger state estimation step, at least performing automatic evacuation action in the vehicle. a second evacuation instruction step,
In the second evacuation instruction step, when it is estimated that a plurality of occupants are in the abnormal state, the evacuation action is performed without confirming to the occupants whether or not the occupants are in the abnormal state. Estimation method.