Vehicle control device

If a vehicle controller makes a gripping request, a grip determination unit changes a determination level (voltage threshold) of a grip sensor that is positioned in a particular area of a disposed area where a steering wheel is disposed, in a manner that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped, compared with a determination level (voltage threshold) of the grip sensor that is positioned in an area other than an area in a particular direction.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2018-029530 filed on Feb. 22, 2018, the contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a vehicle control device that makes a transition between a state where a vehicle system performs a driving operation of an own vehicle partially or entirely and a state where a vehicle occupant performs the driving operation of the own vehicle partially or entirely.

Description of the Related Art

A driving assistance vehicle in which a vehicle system performs a part of a driving operation of an own vehicle and an automated driving vehicle in which the vehicle system performs the entire driving operation of the own vehicle have been developed. In the present specification, the driving assistance is regarded as one type of the automated driving, and the driving assistance vehicle is included in the automated driving vehicle. The automated driving vehicle makes a transition between a state where the vehicle system performs the driving operation and a state where a vehicle occupant performs the driving operation.

For example, in the automated driving vehicle (driving assistance vehicle) that assists a steering operation, on the premise that the vehicle occupant grips a steering wheel, the vehicle system performs the steering operation. Moreover, if the automated driving cannot be continued (for example, the own vehicle has approached an end point of an automated driving allowed section, or it is difficult to detect peripheral information), the automated driving vehicle in which the vehicle system performs the entire driving operation requests the vehicle occupant to grip the steering wheel. In such a circumstance, it has been examined that a grip sensor is provided on the steering wheel of the automated driving vehicle and the vehicle system performs a gripping determination on the basis of the detection result from the grip sensor.

Japanese Laid-Open Patent Publication No. 2015-147531 discloses a steering system that is provided with an electrostatic capacitance sensor as the grip sensor at substantially the entire circumference of a rim part of the steering wheel in a circumferential direction, or at the circumference other than a lower part of the rim part.

SUMMARY OF THE INVENTION

In the automated driving where the vehicle occupant does not need to grip the steering wheel, the vehicle occupant may change a sitting posture. Then, a part of the vehicle occupant other than the hand may be in contact with the steering wheel. For example, the abdomen or the thigh of the leg of the vehicle occupant may be in contact with the lower part of the rim part of the steering wheel. In addition, the vehicle occupant may put his leg on an upper part of the rim part.

In such cases, if the vehicle occupant needs to grip the steering wheel, the vehicle system may mistakenly determine that the vehicle occupant grips the steering wheel even though the vehicle occupant does not grip the steering wheel. One way to prevent the wrong determination is to avoid providing the grip sensor to a particular part of the rim part, for example the lower part of the rim part. In such a case, however, it is difficult for the vehicle system to perform the gripping determination if the vehicle occupant grips the particular part of the rim part.

The present invention has been made in view of the above problem, and an object is to provide a vehicle control device that, if a vehicle occupant needs to grip a steering wheel, prevents a wrong determination in which it is determined that the vehicle occupant grips the steering wheel even through the vehicle occupant does not grip the steering wheel.

A vehicle control device according to the present invention includes: a grip sensor provided along a steering wheel and configured to detect a gripped state of the steering wheel by a vehicle occupant; a grip determination unit configured to determine whether the vehicle occupant grips the steering wheel on a basis of a detection result from the grip sensor; and a vehicle controller configured to make a gripping request if a transition from a state where the vehicle occupant in an own vehicle does not need to grip the steering wheel to a state where the vehicle occupant needs to grip the steering wheel is performed, wherein if the vehicle controller makes the gripping request, the grip determination unit is configured to change a determination level of the grip sensor that is positioned in a particular area of a disposed area where the steering wheel is disposed, in a manner that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped, compared with a determination level of the grip sensor that is positioned in an area other than the particular area.

In the above structure, when the gripping request is made, the grip determination unit is configured to change the determination level of the grip sensor that is positioned in the particular area, for example an area in a lower direction, of a disposed area where the steering wheel is disposed, in a manner that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped, compared with the determination level of the grip sensor that is positioned in the area other than the particular area. Thus, even if the vehicle occupant changes the posture and a part of the vehicle occupant other than the hand is in contact with a lower part of the steering wheel during the automated driving, a wrong determination in which it is determined that the vehicle occupant grips the steering wheel becomes less likely to occur.

In the present invention, the vehicle controller may be configured to control the own vehicle in a first control state where the vehicle occupant needs to grip the steering wheel and a second control state where the vehicle occupant does not need to grip the steering wheel, and make the gripping request when a transition from the second control state to the first control state is performed, and if a travel time of the own vehicle becomes a predetermined time after the determination level is changed, or if a travel distance of the own vehicle becomes a predetermined distance after the determination level is changed, the grip determination unit may be configured to change the determination level of the grip sensor that is positioned in the particular area, in a manner that it becomes easier to determine that the steering wheel is gripped and it becomes less easy to determine that the steering wheel is not gripped.

In the above structure, the determination level of the grip sensor that is positioned in the particular area is further changed. Thus, in the first control state, the gripping determination of the vehicle occupant can be performed correctly.

In the present invention, if the travel time of the own vehicle becomes the predetermined time after the determination level is changed, or if the travel distance of the own vehicle becomes the predetermined distance after the determination level is changed, the grip determination unit may be configured to equalize the determination level of the grip sensor that is positioned in the particular area, with the determination level of the grip sensor that is positioned in the area other than the particular area.

In the above structure, the determination level of the grip sensor that is positioned in the particular area and the determination level of the grip sensor that is positioned in the area other than the particular area are equalized. Thus, the determination levels become uniform. Therefore, the determination result does not change depending on a gripping position of the vehicle occupant.

In the present invention, the own vehicle may be configured to make a transition between an automated driving state where the vehicle controller performs a steering operation and a normal driving state where the vehicle occupant performs the steering operation, and the vehicle control device may further include a learning unit configured to learn a position of the particular area, or the determination level of the grip sensor during the automated driving.

In the above structure, by the learning, the area or the determination level that suits the vehicle occupant can be set. Thus, the gripping determination can be performed more accurately.

In the present invention, the learning unit may be configured to learn when the own vehicle stops.

The state where the own vehicle stops is similar to the state where the vehicle occupant does not need to grip the steering wheel. In the above structure, by learning in the stopping state, the accuracy of the learning result is increased. As a result, the accuracy of the gripping determination is increased.

In the present invention, the grip determination unit may be configured to change the determination level of the grip sensor that is positioned in an area that is lower than a center of the steering wheel, in a manner that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped, compared with the determination level of the grip sensor that is positioned in an area other than the area that is lower than the center of the steering wheel.

In the above structure, even if the abdomen or the thigh of the leg of the vehicle occupant is in contact with the lower part of the rim of the steering wheel in the gripping request, the wrong determination in which it is determined that the vehicle occupant grips the steering wheel becomes less likely to occur.

The grip sensor may be an electrostatic capacitance sensor, and the grip determination unit may be configured to use a voltage threshold of the electrostatic capacitance sensor as the determination level, corresponding to a criterion for determining whether the steering wheel is gripped or not gripped, and increase the voltage threshold so that it becomes less easy to determine that the steering wheel is gripped and it becomes easier to determine that the steering wheel is not gripped.

By the present invention, even if the vehicle occupant changes the posture and a part of the vehicle occupant other than the hand is in contact with the steering wheel in the automated driving, the wrong determination in which it is determined that the vehicle occupant grips the steering wheel becomes less likely to occur.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A preferred embodiment of a vehicle control device according to the present invention will be described in detail with reference to the attached drawings.

1. Structure of Own Vehicle10

As illustrated inFIG. 1, an own vehicle10includes an input system device group14that acquires or stores various kinds of information, a control unit30to which information output from the input system device group14is input, and an output system device group50that operates in accordance with various instructions output from the control unit30. A vehicle control device12according to the present embodiment includes the input system device group14and the control unit30.

The own vehicle10is an automated driving vehicle in which the control unit30can perform travel control. Specifically, the own vehicle10makes transitions among an automated driving state where the control unit30performs the entire driving operation, a semi-automated driving state where the control unit30performs a part of the driving operation, and a normal driving state where a vehicle occupant performs the driving operation. The automated driving state in the present embodiment is a state where gripping a steering wheel70is not needed, that is, a state where the vehicle control device12performs steering. The semi-automated driving state in the present embodiment is a state where the vehicle control device12assists the steering on the premise that the steering wheel70is gripped.

[1.1. Input System Device Group14]

The input system device group14includes a grip sensor16, an external environment sensor18, an own-vehicle communications device20, a map unit22, a navigation device24, vehicle sensors26, and a steering angle sensor28. The grip sensor16detects how the vehicle occupant grips the steering wheel70. The grip sensor16will be described in [2]. The external environment sensor18detects a state of a periphery (external environment) of the own vehicle10and outputs the detected information to the control unit30. The external environment sensor18includes a plurality of cameras, a plurality of radars, and one or more LIDARs. The own-vehicle communications device20performs communications with a communications device provided in another vehicle and/or an infrastructure such as a road to acquire external environment information including the other vehicle information and/or the road information, and outputs the external environment information to the control unit30. The map unit22stores the number of lanes, the type of lane, the lane width, and the like, and outputs the stored information to the control unit30. The navigation device24measures the position of the own vehicle10and sets a scheduled route from the position of the own vehicle10to a destination, and outputs the own-vehicle position information and the scheduled route information to the control unit30. The vehicle sensors26detect a travel state of the own vehicle10, and outputs the travel state information to the control unit30. The vehicle sensors26include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, an inclination sensor, a travel distance sensor, and the like. The steering angle sensor28detects the turning angle of the steering wheel70, and outputs the turning angle information to the control unit30.

The control unit30is configured by an ECU, and includes a sensor circuit32, a calculation device34such as a processor, and a storage device42such as a ROM and a RAM.

The sensor circuit32is electrically connected to the grip sensor16. The sensor circuit32converts an electric signal (signal for electrostatic capacitance value C) that is output from the grip sensor16into a voltage value V. The sensor circuit32employs a known integration (for example, Japanese Laid-Open Patent Publication No. 2015-147531), a known charge transfer method, or the like.

The calculation device34achieves various functions by executing programs stored in the storage device42. The calculation device34according to the present embodiment functions as a grip determination unit36, a vehicle controller38, and a measurement unit40.

The grip determination unit36compares the voltage value V that is converted by the sensor circuit32and a voltage threshold Vth, and determines whether the vehicle occupant grips the steering wheel70. In this specification, the voltage threshold Vth corresponding to a criterion to determine whether the steering wheel70is gripped or not gripped is referred to as a determination level. The grip determination unit36can change the voltage threshold Vth appropriately. As the voltage threshold Vth becomes larger, it becomes less easy to determine that the steering wheel70is gripped and it becomes easier to determine that the steering wheel70is not gripped. As the voltage threshold Vth becomes smaller, it becomes easier to determine that the steering wheel70is gripped and it becomes less easy to determine that the steering wheel70is not gripped. Note that the grip determination unit36uniformizes the determination level of each grip sensor16(16ato16l) in a normal case, and changes the determination level of a part of the grip sensors16in a particular case (when gripping request is generated).

The vehicle controller38calculates an acceleration/deceleration instruction value and a steering instruction value on the basis of each piece of information that is output from the input system device group14in order to perform the driving operation of the own vehicle10partially or entirely. Then, the vehicle controller38outputs the acceleration/deceleration instruction value and the steering instruction value to a driving force output device52, a steering device54, and a braking device56. In addition, if the steering wheel70needs to be gripped by the vehicle occupant, a notification instruction of the gripping request is output to a notification device58.

The measurement unit40measures a travel distance of the own vehicle10or an elapsed time from a predetermined timing. The travel distance may be calculated by using the detection value from the vehicle speed sensor and the time, or may be calculated based on the detection value from the travel distance sensor.

The storage device42stores numerals such as thresholds (including a voltage threshold Vth) used in comparison, determination, or the like in each process, in addition to various programs to be executed by the calculation device34.

[1.3. Output System Device Group50]

The output system device group50includes the driving force output device52, the steering device54, the braking device56, and the notification device58. The driving force output device52includes a driving force output ECU, and a driving source such as an engine or a driving motor. The driving force output device52generates a driving force in accordance with a vehicle occupant's operation of an accelerator pedal or the acceleration instruction value that is output from the control unit30. The steering device54includes an electric power steering system (EPS) ECU and an EPS actuator. The steering device54generates a steering force in accordance with a vehicle occupant's operation of the steering wheel70or the steering instruction value that is output from the control unit30. The braking device56includes a braking ECU and a braking actuator. The braking device56generates a braking force in accordance with a vehicle occupant's operation of a braking pedal or the deceleration instruction value that is output from the control unit30. The notification device58includes a notification ECU and an information transmission device (such as a display device, an acoustic device, or a tactile device). The notification device58notifies the vehicle occupant in accordance with the notification instruction that is output from the control unit30or another ECU.

FIG. 2illustrates an operation state (posture) of the steering wheel70when the own vehicle10travels straight.FIG. 3illustrates the operation state of the steering wheel70when the steering wheel70is turned to a right direction by 30°. Description will be given concerning a structure of the steering wheel70with reference toFIG. 2.

The steering wheel70includes a rim72with an annular shape, a hub74that is connected to a steering shaft (not shown), and spokes76that is present between the rim72and the hub74.

The rim72has a laminated structure in which a cross section (the cross section cut by a plane including (and in parallel to) a central axis of the steering wheel70) includes a plurality of layers. The rim72includes a core metal (not shown) corresponding to a skeleton, resin (not shown) that covers the entire core metal, the grip sensor16that covers the resin partially or entirely, and leather (not shown) that covers the grip sensor16.FIG. 2simply illustrates the steering wheel70without the leather for the convenience of description.

The grip sensor16is an electrostatic capacitance sensor provided along the rim72. The electrostatic capacitance value C of the grip sensor16varies in accordance with an area with which the vehicle occupant is in contact. As the contact area becomes larger, the electrostatic capacitance value C becomes larger. The grip sensor16is connected to a power source that is not shown, and outputs the electric signal based on the electrostatic capacitance value C to the sensor circuit32.

The grip sensor16is divided into a plurality of grip sensors along the rim72. The grip sensor16in theFIG. 2is divided into twelve. Each of the grip sensors16ato16lis connected to the sensor circuit32. The adjacent grip sensors16ato16lare insulated from each other. It is preferable that the grip sensors16ato16lare provided along the rim72without any interspace.

3. Operation of Vehicle Control Device12

An operation of the vehicle control device12is described with reference toFIG. 4. The process inFIG. 4is performed repeatedly while the vehicle controller38performs the entire driving operation of the own vehicle10at predetermined time intervals.

In steps S1, the vehicle controller38determines whether the transition from the automated driving to the normal driving is necessary. For example, if the vehicle controller38recognizes that the own vehicle10has approached an end point of an automated driving allowed section on the basis of the information from the navigation device24and the map unit22, the vehicle controller38determines that the transition from the automated driving to the normal driving or the semi-automated driving is necessary. In addition, if it becomes difficult for the vehicle controller38to recognize the external environment state on the basis of the detected information from the external environment sensor18, the vehicle controller38determines that the transition from the automated driving to the normal driving or the semi-automated driving is necessary. If the transition from the automated driving to the normal driving or the semi-automated driving is necessary (step S1: YES), the process advances to step S2. On the other hand, if the transition from the automated driving to the normal driving or the semi-automated driving is not necessary (step S1: NO), a series of processes is terminated once.

When the process has advanced from step S1to step S2, the grip determination unit36changes the determination level of the grip sensors16that are positioned in a particular area80of disposed areas where the steering wheel70is disposed.

Here, as illustrated inFIG. 2andFIG. 3, the particular area80is an area that is positioned in a particular direction from a center78of the steering wheel70as a reference position, that is, the area that is lower than the center78of the steering wheel70and that includes the rim72. Specifically, on the premise that a position just under the center78in a radial direction corresponds to 0°, the particular area80is an area that is present between a position at 45° in the left side and a position at 45° in the right side in a circumferential direction of the steering wheel70and that includes the rim72(shaded part inFIG. 2andFIG. 3). From a reference posture (FIG. 2) when the own vehicle10travels straight, the grip determination unit36recognizes the grip sensor16positioned in the particular area80on the basis of a steering angle φ that is detected by the steering angle sensor28. For example, the steering angle φ is added to an angle range of θ1to θ2where each grip sensor16is positioned when the own vehicle10travels straight, and it is determined whether the grip sensor16is within the particular area80(+45° to −45°). Then, the determination level of the grip sensor16that is positioned in the particular area80, that is, the voltage threshold Vth is set to a first voltage threshold Vth1. InFIG. 2, the grip sensor16that is positioned in the particular area80corresponds to the grip sensors16f,16g,16h, and the grip sensors16e,16f,16ginFIG. 3. Moreover, the determination level of the grip sensor16that is positioned in an area other than the particular area80, that is, the voltage threshold Vth is set to a second voltage threshold Vth2(normal value). InFIG. 2, the grip sensor16that is positioned in the area other than the particular area80corresponds to the grip sensors16a,16b,16c,16d,16e,16i,16j,16k,16l, and the grip sensors16a,16b,16c,16d,16h,16i,16j,16k,16linFIG. 3. The first voltage threshold Vth1is higher than the second voltage threshold Vth2. Thus, the grip determination unit36less easily determines that the steering wheel70is gripped on the basis of the detection result from the grip sensor16that is positioned in the particular area80.

Note that if the grip sensor16is present over a border between the particular area80and the area other than the particular area80, the grip determination unit36may determine that the grip sensor16is positioned in the particular area80, or may determine that the grip sensor16is positioned in the area other than the particular area80. Alternatively, the grip determination unit36may determine that the grip sensor16is positioned in the area including a center of the grip sensor16(the center in the circumferential direction of the steering wheel70).

In step S3, the vehicle controller38outputs to the notification device58, the notification instruction that instructs the notification device58to make a gripping request to the vehicle occupant. The notification device58makes the gripping request to the vehicle occupant in accordance with the notification instruction. For example, the notification device58displays the gripping request or outputs the gripping request by way of voice.

In step S4, the grip determination unit36performs the gripping determination. In this case, the sensor circuit32converts the electrostatic capacitance value C detected by each of the grip sensors16ato16linto the voltage value V. Then, the voltage value V of the grip sensor16that is positioned in the particular area80and the first voltage threshold Vth1are compared. The grip sensor16that is positioned in the particular area80corresponds to the grip sensors16f,16g,16hinFIG. 2, and the grip sensors16e,16f,16ginFIG. 3. Moreover, the voltage value V of the grip sensor16that is positioned in the area other than the particular area80and the second voltage threshold Vth2are compared. The grip sensor16that is positioned in the area other than the particular area80corresponds to the grip sensors16a,16b,16c,16d,16e,16i,16j,16k,16linFIG. 2, and the grip sensors16a,16b,16c,16d,16h,16i,16j,16k,16linFIG. 3.

If the grip sensor16has a voltage value V that is higher than or equal to the voltage threshold Vth (Vth1, Vth2), the grip determination unit36determines that the vehicle occupant grips the steering wheel70(step S5: YES), and the process advances to step S6. At this time, the measurement unit40starts to measure the time or the travel distance. On the other hand, if there is no grip sensor16whose voltage value V is higher than or equal to the voltage threshold Vth (Vth1, Vth2), the grip determination unit36determines that the vehicle occupant does not grip the steering wheel70(step S5: NO), and the process advances to step S7.

When the process has advanced from step S5to step S6, the vehicle controller38makes the transition of the driving state of the own vehicle10from the automated driving state to the normal driving state or the semi-automated driving state.

When the process has advanced from step S5to step S7, the vehicle controller38outputs to the braking device56and the steering device54, the deceleration instruction value and the steering instruction value to pull over the own vehicle10. Then, a series of processes is terminated.

When the process has advanced from step S6to step S8, the grip determination unit36changes the determination level of the grip sensor16that is positioned in the particular area80when the measured value from the measurement unit40becomes a predetermined time or a predetermined distance. Here, the determination level is changed so that it becomes easier to determine that the steering wheel70is gripped, compared with the determination level after the change in step S2. For example, the grip determination unit36uniformizes the voltage threshold Vth of the grip sensor16that is positioned in the particular area80and the voltage threshold Vth of the grip sensor16that is positioned in the area other than the particular area80. That is, the voltage threshold Vth is decreased from the first voltage threshold Vth1to the second voltage threshold Vth2. Alternatively, the voltage threshold Vth may be decreased from the first voltage threshold Vth1to a third voltage threshold Vth3that is lower than the second voltage threshold Vth2. Thus, the grip determination unit36easily determines that the steering wheel70is gripped on the basis of the detection result from the grip sensor16that is positioned in the particular area80.

On the premise that the position just under the center78of the steering wheel70in the radial direction corresponds to 0°, the particular area80can be set in an area between a position at 60° in the left side and a position at 60° in the right side in the circumferential direction of the steering wheel70. Moreover, the particular area80can be set not in the area under the center78of the steering wheel70in the radial direction, but in the other areas. For example, by learning the position that is gripped by the vehicle occupant, the particular area80can be set in reflection of the learning result.

In this case, as illustrated inFIG. 5, the calculation device34also functions as a learning unit90. The learning unit90learns the position of the particular area80or the determination level of the grip sensor16.

The learning unit90learns when the own vehicle10stops in the normal driving state or the semi-automated driving state where the vehicle occupant performs a steering operation. While the own vehicle10stops, the vehicle occupant may release the steering wheel70. The posture in this case may be the same as the posture in the automated driving. That is to say, there is a possibility that the vehicle occupant does not grip the steering wheel70and a part of the vehicle occupant other than the hand is in contact with the steering wheel70. At that time, the learning unit90causes an external storage device92to store the voltage value V that is converted by the sensor circuit32and the position of the grip sensor16. This storing process is referred to as the “learning”. If the elapsed time from the start of the learning becomes a predetermined time, or the travel distance of the own vehicle10from the start of the learning becomes a predetermined distance, the learning unit90reflects the learning result. For example, a position or an area where the most contacts are detected is regarded as the particular area80. Moreover, the voltage values V that are calculated based on the grip sensor16positioned at the position or in the area are averaged, and the averaged value is regarded as the first voltage threshold Vth1, that is, the determination level. The learning unit90causes the storage device42to store the particular area80and the first voltage threshold Vth1. The grip determination unit36performs the gripping determination (step S4inFIG. 4) by using the particular area80and the first voltage threshold Vth1.

The rim72of the steering wheel70as illustrated inFIG. 2has the annular shape. However, the rim72may have a shape other than the annular shape. For example, instead of the rim72with the annular shape, grips that face each other using the hub74as a center may be provided.

The grip sensor16may be a pressure sensor instead of the electrostatic capacitance sensor. In this case, a pressure value P and a pressure threshold Pth are compared, and the pressure threshold Pth in the particular area80is set higher than the pressure threshold Pth in the area other than the particular area80.

The grip sensor16may be one grip sensor without being divided into the plurality of grip sensors. In this case, the grip determination unit36needs to determine the contact position of the steering wheel70by the vehicle occupant in accordance with the electrostatic capacitance value C (voltage value V).

In the above embodiment, assuming that the center78of the steering wheel70is the reference position, the particular area80is the area that is positioned in the particular direction. Alternatively, the particular area80may be an area that is positioned at a particular height. For example, the particular area80may be an area that is positioned lower than an intermediate height of the steering wheel70.

The size of the particular area80may be appropriately changed in accordance with a situation where the vehicle controller38determines that the transition from the automated driving to the normal driving is necessary. For example, when the steering wheel70rotates by the steering, the grip determination unit36may set the particular area80on the basis of the preceding rotation amount of the steering wheel70. In addition, when the own vehicle10travels in a curved road, the grip determination unit36may narrow the particular area80. Moreover, when the vehicle controller38causes the own vehicle10to avoid being in contact with the other vehicle, the grip determination unit36may narrow the particular area80.

5. Summary of the Present Embodiment

The vehicle control device12includes: the grip sensor16provided along the steering wheel70and configured to detect a gripped state of the steering wheel70by the vehicle occupant; the grip determination unit36configured to determine whether the vehicle occupant grips the steering wheel70on the basis of the detection result from the grip sensor16; and the vehicle controller38configured to make the gripping request if the transition from the state where the vehicle occupant in the own vehicle10does not need to grip the steering wheel70to the state where the vehicle occupant needs to grip the steering wheel70is performed. If the vehicle controller38makes the gripping request, the grip determination unit36is configured to change the determination level (voltage threshold Vth) of the grip sensor16that is positioned in the particular area80of the disposed area where the steering wheel70is disposed, in a manner that it becomes less easy to determine that the steering wheel70is gripped and it becomes easier to determine that the steering wheel70is not gripped, compared with the determination level (voltage threshold Vth) of the grip sensor16that is positioned in the area other than the area in the particular direction.

In the above structure, when the gripping request is made, the grip determination unit36is configured to change the determination level of the grip sensor16that is positioned in the particular area80, for example the particular area80in the lower direction, of the disposed area where the steering wheel70is disposed, in a manner that it becomes less easy to determine that the steering wheel70is gripped and it becomes easier to determine that the steering wheel70is not gripped, compared with the determination level of the determination level of the grip sensor16that is positioned in the area other than the particular area80. Thus, even if the vehicle occupant changes the posture and a part of the vehicle occupant other than the hand is in contact with the lower part of the steering wheel70during the automated driving, the wrong determination in which it is determined that the vehicle occupant grips the steering wheel70becomes less likely to occur.

The vehicle controller38is configured to control the own vehicle10in the first control state (semi-automated driving state and normal driving state) where the vehicle occupant needs to grip the steering wheel70and the second control state (automated driving state) where the vehicle occupant does not need to grip the steering wheel70, and make the gripping request when the transition from the second control state to the first control state is performed. If the travel time of the own vehicle10becomes the predetermined time after the determination level is changed, or if the travel distance of the own vehicle10becomes the predetermined distance after the determination level is changed, the grip determination unit36is configured to change the determination level of the grip sensor16that is positioned in the particular area80, in a manner that it becomes easier to determine that the steering wheel70is gripped and it becomes less easy to determine that the steering wheel70is not gripped.

In the above structure, the determination level of the grip sensor16that is positioned in the particular area80is further changed. Thus, in the first control state, the gripping determination of the vehicle occupant can be performed correctly.

If the travel time of the own vehicle10becomes the predetermined time after the determination level is changed, or if the travel distance of the own vehicle10becomes the predetermined distance after the determination level is changed, the grip determination unit36is configured to equalize the determination level of the grip sensor16that is positioned in the particular area80, with the determination level of the grip sensor16that is positioned in the area other than the particular area80.

In the above structure, the determination level of the grip sensor16that is positioned in the particular area80and the determination level of the grip sensor16that is positioned in the area other than the particular area80are equalized. Thus, the determination levels become uniform. Therefore, the determination result does not change depending on the gripping position of the vehicle occupant.

The own vehicle10is configured to make the transition between the automated driving state where the vehicle controller38performs the steering operation and the normal driving state where the vehicle occupant performs the steering operation. The vehicle control device12further includes the learning unit90configured to learn the position of the particular area80, or the determination level of the grip sensor16during the automated driving.

In the above structure, by the learning, the particular area80or the determination level that suits the vehicle occupant can be set. Thus, the gripping determination can be performed more accurately.

The learning unit90is configured to learn when the own vehicle10stops. The state where the own vehicle10stops is similar to the state where the vehicle occupant does not need to grip the steering wheel70. In the above structure, by learning in the stopping state, the accuracy of the learning result is increased. As a result, the accuracy of the gripping determination is increased.

The grip determination unit36is configured to change the determination level of the grip sensor16that is positioned in the particular area80that is lower than the center78of the steering wheel70, in a manner that it becomes less easy to determine that the steering wheel70is gripped and it becomes easier to determine that the steering wheel70is not gripped, compared with the determination level of the grip sensor16that is positioned in the area other than the particular area80that is lower than the center78of the steering wheel70.

In the above structure, even if the abdomen or the thigh of the leg of the vehicle occupant is in contact with the lower part of the rim72of the steering wheel70in the gripping request, the wrong determination in which it is determined that the vehicle occupant grips the steering wheel70becomes less likely to occur.

The grip sensor16is the electrostatic capacitance sensor, and the grip determination unit36is configured to use the voltage threshold Vth of the electrostatic capacitance sensor as the determination level, corresponding to the criterion for determining whether the steering wheel70is gripped or not gripped, and increase the voltage threshold Vth so that it becomes less easy to determine that the steering wheel70is gripped and it becomes easier to determine that the steering wheel70is not gripped.

The vehicle control device according to the present invention is not limited to the embodiment above, and can employ various structures without departing from the gist of the present invention.