Vehicle device and vehicle estimation method

A vehicle method for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle method causing at least one processor to:

• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• and
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• the at least one processor is further configured to estimate whether the driver is in the abnormal state by using a capture device that captures the driver and a biological sensor that measures biological information of the driver,
• when the at least one processor determines that the vehicle is in the sleep-unpermitted driving, the at least one processor estimates whether the driver is in the abnormal state by using the capture device and the biological sensor, and
• when the at least one processor determines that the vehicle is in the sleep-permitted automated driving, the at least one processor estimates whether the driver is in the abnormal state by using the capture device without using the biological sensor.

A vehicle device for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle device comprising:

• a processor;
• and
• a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least:
• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• and
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• the processor is further configured to estimate whether the driver is in the abnormal state by using a capture device that captures the driver and a biological sensor that measures biological information of the driver,
• when the processor determines that the vehicle is in the sleep-unpermitted driving, the processor estimates whether the driver is in the abnormal state by using the capture device and the biological sensor, and
• when the processor determines that the vehicle is in the sleep-permitted automated driving, the processor estimates whether the driver is in the abnormal state by using the capture device without using the biological sensor.

A vehicle device for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle device comprising:

• a driver state estimation unit configured to estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• a driving specifying unit configured to determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• and
• a seat control instruction unit configured to control a reclining angle of an electric seat of the vehicle,
• wherein
• when the driving specifying unit determines that the vehicle is in the sleep-unpermitted driving, the driver state estimation unit estimates whether the driver is in the abnormal state by using the plurality of types of the sensors,
• when the driving specifying unit determines that the vehicle is in the sleep-permitted automated driving, the driver state estimation unit reduces the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• when the driver state estimation unit estimates that the driver is in the abnormal state and when the reclining angle of the electric seat of a driver seat of the vehicle is a sleeping angle, the seat control instruction unit returns the reclining angle of the electric seat of the driver seat to a reference angle,
• the sleeping angle of a seat back is an angle that is obtained by reclining the seat back and less than a first specified angle with respect to a floor of the vehicle, and
• the reference angle is an angle obtained by inclining the seat back and is equal to or more than a second specified angle larger than the first specified angle.

A vehicle method for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle method causing at least one processor to:

• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• control a reclining angle of an electric seat of the vehicle;
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving;
• when the at least one processor estimates that the driver is in the abnormal state and when the reclining angle of the electric seat of a driver seat of the vehicle is a sleeping angle, the at least one processor returns the reclining angle of the electric seat of the driver seat to a reference angle;
• the sleeping angle of a seat back is an angle that is obtained by reclining the seat back and less than a first specified angle with respect to a floor of the vehicle;
• and
• the reference angle is an angle obtained by inclining the seat back and is equal to or more than a second specified angle larger than the first specified angle.

A vehicle device for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle device comprising:

• a processor;
• and
• a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least:
• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• control a reclining angle of an electric seat of the vehicle,
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• and
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• when the processor estimates that the driver is in the abnormal state and when the reclining angle of the electric seat of a driver seat of the vehicle is a sleeping angle, the processor returns the reclining angle of the electric seat of the driver seat to a reference angle,
• the sleeping angle of a seat back is an angle that is obtained by reclining the seat back and less than a first specified angle with respect to a floor of the vehicle, and
• the reference angle is an angle obtained by inclining the seat back and is equal to or more than a second specified angle larger than the first specified angle.

A vehicle device for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle device comprising:

• a driver state estimation unit configured to estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• a driving specifying unit configured to determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• and
• a third evacuation instruction unit configured to cause the vehicle to automatically perform evacuation action and emergency call to a center, based on at least estimation, by the driver state estimation unit, that the driver is in the abnormal state,
• wherein
• when the driving specifying unit determines that the vehicle is in the sleep-unpermitted driving, the driver state estimation unit estimates whether the driver is in the abnormal state by using the plurality of types of the sensors,
• when the driving specifying unit determines that the vehicle is in the sleep-permitted automated driving, the driver state estimation unit reduces the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• when a predetermined evacuation area reachable by the sleep-permitted automated driving is present, the third evacuation instruction unit causes the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving,
• when the evacuation area reachable by the sleep-permitted automated driving is not present, the third evacuation instruction unit causes the vehicle to perform the evacuation action that is emergency stop, and
• when causing the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving, the third evacuation instruction unit causes the vehicle to perform the emergency call at a timing when lane change of the vehicle is not scheduled and the vehicle becomes possible to travel a predetermined distance or more.

A vehicle method for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle method causing at least one processor to:

• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• cause the vehicle to automatically perform evacuation action and emergency call to a center, based on at least estimation, by the at least one processor, that the driver is in the abnormal state;
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving;
• when a predetermined evacuation area reachable by the sleep-permitted automated driving is present, the at least one processor causes the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving;
• when the evacuation area reachable by the sleep-permitted automated driving is not present, the at least one processor causes the vehicle to perform the evacuation action that is emergency stop;
• and
• when causing the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving, the at least one processor causes the vehicle to perform the emergency call at a timing when lane change of the vehicle is not scheduled and the vehicle becomes possible to travel a predetermined distance or more.

A vehicle device for a vehicle capable of switching between sleep-permitted automated driving that is automated driving at an automation level in which a driver is permitted to sleep and sleep-unpermitted driving that is driving at an automation level in which the driver is not permitted to sleep, the vehicle device comprising:

• a processor;
• and
• a memory coupled to the processor and storing program instructions that when executed by the processor cause the processor to at least:
• estimate whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors;
• determine whether the vehicle is in the sleep-permitted automated driving or the sleep-unpermitted driving;
• cause the vehicle to automatically perform evacuation action and emergency call to a center, based on at least estimation, by the processor, that the driver is in the abnormal state;
• when determining that the vehicle is in the sleep-unpermitted driving, estimate whether the driver is in the abnormal state by using the plurality of types of the sensors;
• and
• when determining that the vehicle is in the sleep-permitted automated driving, reduce the plurality of types for estimation of whether the driver is in the abnormal state in the sleep-permitted automated driving to be smaller than the plurality of types for estimation in the sleep-unpermitted driving,
• when a predetermined evacuation area reachable by the sleep-permitted automated driving is present, the processor causes the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving,
• when the evacuation area reachable by the sleep-permitted automated driving is not present, the processor causes the vehicle to perform the evacuation action that is emergency stop, and
• when causing the vehicle to perform the evacuation action that stops the vehicle after traveling to the evacuation area by the sleep-permitted automated driving, the processor causes the vehicle to perform the emergency call at a timing when lane change of the vehicle is not scheduled and the vehicle becomes possible to travel a predetermined distance or more.