| CPC B60W 50/14 (2013.01) [B60W 40/072 (2013.01); B60W 40/08 (2013.01); G06V 20/588 (2022.01); G06V 20/597 (2022.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01)] | 9 Claims |
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1. A control device for controlling a host vehicle, the host vehicle including an external sensor configured to acquire surrounding information of a host vehicle, a driving status sensor configured to acquire driving status information indicating a driving status of a driver of the host vehicle, and a notification device capable of executing notification to the driver, the control device comprising processing circuitry configured to:
recognize partition lines based on the surrounding information acquired by the external sensor, the partition lines marking off left and right sides of a travel path on which the host vehicle travels;
estimate a possibility of the host vehicle to depart from the travel path based on a position and a posture of the host vehicle with respect to the recognized partition lines; and
control the notification by the notification device based on the estimated possibility of departing from the travel path, the driving status information acquired by the driving status sensor, and a state of the travel path in a traveling direction of the host vehicle, wherein
the processing circuitry executes the notification when there is a curve with a curvature radius less than a predetermined value in the traveling direction, and there is a high possibility of departing from the travel path, and the driving status of the driver is not suitable for traveling on the travel path,
the driving status of the driver includes a viewing direction that is a direction of face or eyes of the driver,
the processing circuitry determines that the driving status of the driver is not suitable for traveling on the travel path when the viewing direction is not within an allowable range set based on the traveling direction,
the allowable range is set further based on the state of the travel path in the traveling direction, and
a first allowable range is wider on one side in a left-right direction of the host vehicle than a second allowable range, the first allowable range being the allowable range of the travel path with the curve, the second allowable range being the allowable range of the travel path with no curve, and the one side being a side toward which the travel path curves.
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