Vehicle control device

Abstract

A vehicle control device includes a traveling environment detection unit and an ECU as a controller. The ECU acquires travel environment information indicating the travel environment detected by the travel environment detection unit. The ECU determines whether or not the vehicle is in an off-road traveling state in which the vehicle travels on a poor road on the basis of the traveling environment information. In addition, when the vehicle is in the off-road driving state, the ECU determines a driving assistance function that can be applied when the vehicle is driving on the differential road. The ECU changes the display mode so that the number of operations required until the determined driving assistance function is selected and operated is less than when the vehicle is not in the off-road driving state.

Description

Technical Field

[0001] The invention relates to a vehicle control device. Background Art

[0002] In the past, for example, a vehicle control device disclosed in Japanese Patent Publication No. 2016-153272 is known. The existing vehicle control device includes a first operating unit for switching a drive mode and a second operating unit for switching an off-road mode. In addition, the existing vehicle control device includes: a detection unit for detecting the position of a transfer case device; a setting unit for setting a driving mode based on the detected position and each input operation to the first operating unit and the second operating unit; and a display control unit for causing a multi-display unit to display the drive mode and the driving mode.

[0003] In recent years, vehicles are equipped with driving assistance functions that assist drivers when driving on bad roads. Among them, the selection of the driving assistance function switch is often operated when driving on bad roads such as steep slopes and uneven roads. Therefore, it is required to have operability that allows accurate selection operation even when the vehicle is tilted forward, backward, left, right, or when the vehicle vibrates and the body shakes. In addition, it is also required to have rapid responsiveness to cope with sudden changes in the road surface during driving on bad roads.

[0004] On the other hand, due to the multifunctionalization of vehicle cockpits and the expansion of network services in recent years, there is a trend to integrate a large number of functions into devices that can set soft switches. In this case, placing the soft switch of the driving assistance function with low frequency of use on the upper display layer in the device or displaying the soft switch in a large display size that is easy to operate will affect the use of other functions with higher frequency of use. Therefore, the soft switch of the driving assistance function is often placed on the lower display layer in the device or displayed in a small display size, resulting in impaired operability and quick response when using the driving assistance function. Summary of the invention

[0005] An object of the present invention is to provide a vehicle control device capable of improving operability and responsiveness during selection operations performed by a driver.

[0006] The vehicle control device of the present invention is applied to a vehicle having a differential device and a brake device, wherein the differential device distributes the driving force generated by the driving force source to each driving wheel and can absorb the difference in the rotation speed of each driving wheel, and the brake device can generate a braking force for each driving wheel and make the magnitude of the braking force of each driving wheel different from each other. The vehicle control device of the present invention includes a driving environment detection unit and a controller. The driving environment detection unit detects the driving environment of the vehicle. The controller controls the display mode of the operation panel for selecting and operating the driving assist function that can change the working state of the driving force source, the brake device and the differential device according to the driving environment, and controls the operation state by changing the working state corresponding to the selected driving assist function. Moreover, the controller obtains driving environment information representing the detected driving environment. In addition, the controller determines whether the vehicle is in an off-road driving state on a differential road based on the driving environment information. In addition, when the vehicle is in an off-road driving state, the controller determines the driving assist function that can be applied when the vehicle is driving on the differential road. In addition, the controller changes the display mode in a manner that the number of operations required until the determined driving assist function is selected and operated is reduced compared to the case where the vehicle is not in an off-road driving state.

[0007] According to the present invention, when the vehicle is in an off-road driving state, the controller can change the display mode of the operation panel in such a way that the number of operations until the driving assist function is determined to be selected is reduced. Thus, when the driving assist function is selected, the driver can perform the selection operation with accurate operability and quick responsiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Hereinafter, features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like components, wherein:

[0009] Figure 1 It is a schematic configuration diagram of a vehicle and a vehicle control device according to the present embodiment.

[0010] Figure 2 This is a flowchart of the display mode change procedure.

[0011] Figure 3 This is a table showing the determination factors of the driving assist function.

[0012] Figure 4 This is a diagram for explaining the display and operation of the soft switch before the display method is changed.

[0013] Figure 5 This is a diagram for explaining the display and operation of the soft switch after the display format is changed.

[0014] Figure 6This is a flowchart of the display mode changing program involved in the second modification example. DETAILED DESCRIPTION

[0015] Hereinafter, a vehicle control device 10 as one embodiment of the present invention will be described in detail with reference to the drawings. In addition to the embodiment described below, the present invention can be implemented in various forms obtained by various changes and improvements based on the knowledge of those skilled in the art.

[0016] The vehicle control device 10 is applied to Figure 1 The vehicle 1 shown in FIG. 1 includes wheels 2. The wheels 2 include a right front wheel 21, a left front wheel 22, a right rear wheel 23, and a left rear wheel 24. In addition, the vehicle 1 includes an engine 3, a transmission 4, a center differential 5 as a differential device, a front differential 6, and a rear differential 7 in order to transmit driving force, specifically, driving torque, to each of the wheels 2.

[0017] The engine 3 is a driving force source of the vehicle 1. The driving torque generated by the engine 3 is transmitted to the transmission 4. The input shaft of the transmission 4 is connected to the engine 3. The output shaft of the transmission 4 is connected to the center differential 5. Thus, the driving torque is distributed from the output shaft of the transmission 4 to each wheel 2.

[0018] Specifically, the right front wheel 21 and the left front wheel 22 are allocated driving torque from the transmission 4 via the center differential 5 and the front differential 6. In addition, the right rear wheel 23 and the left rear wheel 24 are allocated driving torque from the transmission 4 via the center differential 5 and the rear differential 7. That is, the vehicle 1 is a four-wheel drive vehicle in which the right front wheel 21, the left front wheel 22, the right rear wheel 23, and the left rear wheel 24 can serve as driving wheels.

[0019] Here, the vehicle 1 is provided with a transfer case switch 8 disposed in the vehicle compartment. Thus, the driver can switch between the "HI gear" during normal driving and the "LOW gear" during differential driving. Moreover, in the vehicle 1, for example, the center differential 5 can function as a transfer case in the "HI gear" or the "LOW gear".

[0020] The front differential 6 can absorb the difference in rotational speed between the right front wheel 21 and the left front wheel 22. The rear differential 7 can absorb the difference in rotational speed between the right rear wheel 23 and the left rear wheel 24. Furthermore, the center differential 5 can absorb the difference in rotational speed between the right front wheel 21 and the left front wheel 22 and the right rear wheel 23 and the left rear wheel 24.

[0021] The vehicle 1 also includes a brake device 9 for generating a braking force on each of the wheels 2 serving as drive wheels. The brake device 9 includes a right front wheel brake 91, a left front wheel brake 92, a right rear wheel brake 93, a left rear wheel brake 94, a hydraulic oil pressurizing device 95, and a brake pipe 96.

[0022] The working oil pressurizing device 95 is configured to include a reservoir tank for storing working oil and a master cylinder for pressurizing the working oil. The reservoir tank and the master cylinder are omitted from the illustration. The working oil pressurizing device 95 adjusts the pressure of each working oil added to the brake pipe 96 (working oil pressure) according to instructions from the ECU 12 described later, other ECUs, etc. Thus, the working oil pressurizing device 95 can cause each of the right front wheel brake 91, the left front wheel brake 92, the right rear wheel brake 93, and the left rear wheel brake 94 to generate braking forces of different magnitudes.

[0023] like Figure 1 As shown, a vehicle control device 10 is mounted on a vehicle 1. The vehicle control device 10 is configured to include a running environment detection unit 11 and an ECU 12 as a controller.

[0024] The running environment detection unit 11 detects the running environment of the vehicle 1 and outputs running environment information indicating the detected running environment to the ECU 12. The running environment detection unit 11 includes wheel speed sensors 111, 112, 113, and 114.

[0025] The wheel speed sensor 111 detects the rotation speed or wheel speed of the right front wheel 21. The wheel speed sensor 112 detects the rotation speed or wheel speed of the left front wheel 22. The wheel speed sensor 113 detects the rotation speed or wheel speed of the right rear wheel 23. The wheel speed sensor 114 detects the rotation speed or wheel speed of the left rear wheel 24.

[0026] In addition, the driving environment detection unit 11 is configured to include an acceleration sensor 115, a current position detection sensor 116, a road surface state detection sensor 117, and a transfer case selection sensor 118. The acceleration sensor 115 detects the acceleration of the vehicle 1. Here, the acceleration sensor 115 can detect the acceleration of the vehicle 1 in the up-down direction in addition to the acceleration in the front-back, left-right direction.

[0027] The current position detection sensor 116 includes, for example, a GNSS (Global Positioning Satellite System) receiver, and detects the current position of the vehicle 1 based on the received signal. The road surface state detection sensor 117 includes, for example, a stereo camera or a laser radar (LiDAR), and detects the state of the road surface in the traveling direction of the vehicle 1. Here, the road surface state detection sensor 117 detects the unevenness, undulations, ruts, steep downhill slopes, etc. of the road surface as the state of the road surface. In addition, the road surface state detection sensor 117 can detect whether the road surface is a rocky road, sandy land, muddy land, deep snow, steep slopes, etc.

[0028] The transfer selection sensor 118 detects the operation state of the transfer switch 8. Specifically, the transfer selection sensor 118 detects the “HI position” and the “LOW position” of the transfer switch 8.

[0029] In addition, the driving environment detection unit 11 can include an engine sensor 3a and a brake sensor 95a. The engine sensor 3a includes a throttle opening sensor, an engine rotation speed sensor, an intake air volume sensor, etc. The brake sensor 95a is a sensor that detects the working oil pressure of the master cylinder of the working oil pressurizing device 95 and the working oil pressure of each of the brake pipes 96, etc.

[0030] Furthermore, the driving environment detection unit 11 can also detect the operating state of off-road related functions other than the main function for the vehicle 1 to drive on a bad road. Here, as an off-road related function other than the main function, a separately installed winch function can be exemplified. For example, when the vehicle 1 operates the winch function in order to get out of mud, the driving environment detection unit 11 outputs the operating state of the winch function to the ECU 12.

[0031] ECU12 is an electronic control unit including a microcomputer having a CPU, ROM, RAM and various interfaces as main elements. The CPU reads in data, performs numerical calculations and outputs calculation results by sequentially executing a predetermined program. The ROM stores programs and mappings executed by the CPU. The RAM temporarily stores data. Various interfaces are connected to the driving environment detection unit 11.

[0032] The ECU 12 is connected to a display device 30 as an operation panel. The display device 30 can be exemplified by a touch panel display. The display device 30 displays a map, an image, a video (multimedia), etc., on any display layer among a plurality of display layers, and displays a touch-operable soft switch 31 for selecting a driving assist function described later.

[0033] The display device 30 detects touch operations by the driver and the passenger (hereinafter referred to as "user"). If the display device 30 detects contact by the user's finger, it outputs a detection signal indicating the contact position and contact range to the ECU 12. The ECU 12 calculates the contact position of the finger on the display device 30, the movement direction of the finger, the movement distance of the finger, the contact time of the finger, etc. based on the information included in the detection signal from the display device 30.

[0034] Among them, as the operation panel, a display (device) other than a touch panel display can be used. In this case, the user, especially the driver, can use, for example, a touch pad, a steering switch, etc. mounted on the vehicle 1 to move the cursor and perform a selection operation (click operation, etc.) on a displayed display button for selecting a driving assistance function.

[0035] In the present embodiment, the ECU 12 can control the engine 3 and the brake device 9 of the vehicle 1. Specifically, the ECU 12 determines the requested drive torque based on the accelerator operation amount, acceleration, vehicle speed, etc. Furthermore, the ECU 12 controls the engine output of the engine 3 and the gear ratio of the transmission 4 in such a way that the actual drive torque is consistent with the requested drive torque.

[0036] Here, the ECU 12 sets the transmission ratio in principle according to the operation state of the transfer switch 8. That is, in the case of an off-road driving state where the "LOW gear" is selected and the vehicle 1 is driving on a bad road, the ECU 12 sets the transmission ratio to a larger value than in the case of a highway driving state where the "HI gear" is selected and the vehicle 1 is driving on a good road (paved road).

[0037] In addition, the ECU 12 determines the requested deceleration based on the brake operation amount, the speed of each wheel, the acceleration, etc. And, the ECU 12 generates a braking force on each of the wheels 2 in such a way that the actual deceleration is consistent with the requested deceleration. That is, the ECU 12 determines the target value (target working oil pressure) of the working oil pressure to be added to each brake of the braking device 9, and controls the working oil pressurizing device 95 in such a way that the actual working oil pressure added to each brake of the braking device 9 is consistent with the target working oil pressure.

[0038] In addition, when the vehicle 1 is in a driving environment of driving on a bad road, that is, in an off-road driving state, the ECU 12 executes a driving assistance function applicable when driving on a bad road. Specifically, the ECU 12 executes the applicable driving assistance function by controlling (changing) the operating states of the engine 3, the transmission 4, the center differential 5, the front differential 6, the rear differential 7, and the brake device 9. In this case, the ECU 12 executes the driving assistance function selected and operated by the user, particularly the driver, through the soft switch 31 displayed on the display device 30.

[0039] Here, as a driving assist function, an example of "DAC (Downhill Assist Control)" can be given, which maintains a constant speed to ensure stability when the vehicle 1 is traveling on a steep downhill off-road. In addition, as a driving assist function, an example of "CRAWL" can be given, which balances stability and passability by traveling at a constant speed when the vehicle 1 is traveling on a rocky road with large bumps or a steep downhill off-road. In addition, as a driving assist function, an example of "MTS (Multi Terrain Select)" can be given, which optimizes characteristics such as driving force and traction control according to the road surface to ensure passability when the vehicle 1 is traveling on a rocky road, sand, mud, deep snow, steep slopes, etc. In addition, as a driving assist function, an example of "TA (Turn Assist)" can be given, which improves U-turn performance and reduces the number of turning operations when the vehicle 1 is traveling on a winding mountain road where multiple turning operations are required.

[0040] Specifically, when "DAC" and "CRAWL" are executed, the ECU 12 makes the engine 3 and the brake device 9 cooperate to maintain the vehicle 1 at a constant low speed. In this case, the ECU 12 controls the vehicle 1 to travel by, for example, placing the center differential 5 and the like in a differential lock state (differential prohibition state) as required, and generates appropriate driving force and braking force. In addition, the change of the center differential 5 and the like to the differential lock state can also be achieved by, for example, the user operating a differential lock changeover switch provided in the vehicle compartment.

[0041] When "MTS" is executed, the ECU 12 cooperates with the engine 3 and the brake device 9 according to the state of the road surface to drive the vehicle 1. In this case, for example, when the vehicle 1 is running on sand or mud, the running resistance becomes large and there is a possibility that the wheels 2 will spin, so the ECU 12 controls in a manner that suppresses the frequency of intervention of the traction control.

[0042] Furthermore, when "TA" is executed, the ECU 12 applies a braking force to each wheel 2 via the brake device 9 according to the shape of the road surface such as the size of the curve to drive the vehicle 1. In this case, for example, when the vehicle 1 is traveling on a tight corner that is difficult to pass without turning the wheel, in order to improve the turning performance of the vehicle 1, the ECU 12 controls the brake device 9 in such a way that a large braking force is applied to the right rear wheel 23 or the left rear wheel 24 on the inner side of the turn. Among them, "DAC", "CRAWL", "MTS" and "TA" are well-known functions, and their detailed description is omitted.

[0043] Next, the display mode changing program executed by the ECU 12 will be described. Figure 2 The display mode changing procedure is shown in the flowchart.

[0044] The ECU 12 (more specifically, the CPU of the microcomputer constituting the ECU 12) starts the execution of the display mode change program in step S10. In the next step S11, the ECU 12 determines whether the vehicle 1 is in an off-road driving state based on the driving environment information obtained from the driving environment detection unit 11. For example, when the transfer switch 8 is operated to the "LOW gear position", the ECU 12 determines (infers) that there is a high possibility that the vehicle 1 is in an off-road driving state on a bad road, and executes the processing of step S12.

[0045] On the other hand, if the vehicle is not in the off-road driving state, the ECU 12 makes a "No" determination and does not change the display mode of the soft switch 31 in step S16. Furthermore, the ECU 12 temporarily terminates the execution of the program in step S17.

[0046] In the next step S12, the ECU 12 determines whether the display mode change function is "ON", that is, the display mode of the soft switch 31 is changed in the off-road driving state. If the display mode change function is "ON", the ECU 12 determines "Yes" and executes the processing of step S13. Here, for the display mode change function, for example, "ON" is set as the initial value, and can be changed to "OFF" by the user's touch operation display device 30.

[0047] On the other hand, if the display mode change function is not "ON", that is, is set to "OFF", the ECU 12 determines "NO" and does not change the display mode of the soft switch 31 in step S16. Then, the ECU 12 temporarily ends the execution of the program in step S17.

[0048] In step S13, the ECU 12 compares the driving environment expressed by the driving environment information obtained in step S11 with the driving environment information. Figure 3 ECU 12 compares the multiple determination factors for determining the driving assistance function shown in the figure. Furthermore, ECU 12 determines whether the current driving environment of vehicle 1 matches the determination factors, that is, whether the driving assistance function is applicable when vehicle 1 travels on the differential road represented by the driving environment. Specifically, ECU 12 determines whether the current driving environment of vehicle 1 matches the determination factors, that is, whether the driving assistance function is applicable when vehicle 1 travels on the differential road represented by the driving environment. Figure 3 Each of the determination elements No. 1 to No. 10 shown determines whether the running environment is suitable. Then, for example, when a plurality of determination elements among the ten determination elements are suitable for the running environment, the ECU 12 determines "yes" and executes the process of step S14.

[0049] On the other hand, if the result of comparing the driving environment information with the plurality of determination factors is that the current driving environment of the vehicle 1 is not met, although it is determined (inferred) in the above step S11 that the vehicle is in an off-road driving state, the driving assist function is not required. Therefore, the ECU 12 determines "No" in step S13, and does not change the display mode of the soft switch 31 in step S16. In addition, the ECU 12 temporarily terminates the execution of the program in step S17, and starts the execution of the program again in the above step S10 after a predetermined short time has passed.

[0050] In step S14, the ECU 12 changes the display mode of the soft switch 31 for selecting the driving assist function determined to be applicable. Specifically, the ECU 12 changes the display mode to use the topmost display layer of the display device 30, that is, the frontmost screen (top screen) as the layer position as the changed display layer of the soft switch 31. The following is a description in comparison with the case where the display mode is not changed.

[0051] ECU12 is used as the display mode of the soft switch 31 without changing the layer position, such as in Figure 4 As shown in FIG. 1 , the soft switch 31 is displayed as a layer position in the lower display layer (third display layer) as the screen transition of the display device 30. In this case, the driver first performs a first operation T1 of touching the operation icon displayed on the front (top screen) of the display device 30.

[0052] according to Figure 4 The downward arrow indicated by the thick solid arrow in the figure is used to perform the first operation T1, so that the screen is moved to the second display layer, which is a layer below the front, and the setting menu list is displayed on the right side of the screen in a scrollable manner. Here, the driving assistance function in the off-road driving state is generally used less frequently. Therefore, the driver performs the second operation T2 of moving the finger upward (sliding) near the setting menu list.

[0053] Then, the driver performs a third operation T3 of touching the "driving assist function" displayed by scrolling. As a result, the screen moves to the third display layer, which is a display layer lower than the second display layer, and a function list of the "driving assist function" is displayed on the right side of the screen. Therefore, the driver performs a fourth operation T4 of touching, for example, "CRAWL" in the displayed function list. That is, in this embodiment, when the ECU 12 does not change the display mode, the soft switch 31 is displayed on the third display layer as the display layer before the change.

[0054] In this way, when the ECU 12 does not change the display mode, the driver needs to perform four selection operations to move from the front of the display device 30 to the third display layer at the lower position. In addition, when the number of operations is large, especially when the driver is shaking in an off-road driving state, the possibility of increasing the number of erroneous touch operations (erroneous selection operations) becomes high. As a result, the number of operations required until the driver selects the driving assistance function is further increased.

[0055] On the other hand, when changing the display mode of the soft switch 31, Figure 5 As shown, the ECU 12 changes the display mode so that the soft switch 31 of the driving assist function determined to be selected is displayed at the front of the changed display layer. Thus, the driver only needs to touch the soft switch 31 displayed at the front once without changing the display layer of the display device 30.

[0056] In addition, if Figure 5 As shown, ECU12 changes the display mode by configuring the soft switch 31 at the lower part of the display screen of the display device 30 for display. Thus, for example, the driver's hands and fingers can be stabilized by a frame member (not shown) that holds the display screen of the display device 30 and a supporting member (front panel, etc., not shown) that supports the display device 30. In this way, by changing the display mode to configure the soft switch 31 at the optimal position, the number of times the driver accidentally touches the soft switch 31 during touch operation can be reduced. Furthermore, if ECU12 changes the soft switch 31 to a display mode in which the front of the display device 30 becomes the changed display layer for display, the display mode is entered into. Figure 2 Step S15 is shown.

[0057] In step S15, the ECU 12 changes the display mode to enlarge the display size of the soft switch 31 displayed at the front. Figure 5 As shown in FIG. 1 , ECU 12 enlarges the display size of the soft switch 31 for display. In this case, ECU 12 displays the soft switch 31 larger than Figure 4 The display size of the function list is shown.

[0058] Thus, the driver can easily touch the soft switch 31 displayed in a large size. Therefore, the number of erroneous touch operations by the driver can be reduced. Furthermore, if the display mode is changed to enlarge the display size of the soft switch 31, the ECU 12 proceeds to step S17.

[0059] In step S17, ECU12 temporarily terminates the execution of the program. Then, ECU17 starts the execution of the program again in step S10 after a predetermined short time has passed. In addition, in the present embodiment, the case where both step S14 and step S15 are executed is illustrated, but only one of step S14 and step S15 may be executed.

[0060] As can be understood from the above description, the vehicle control device 10 is applied to the vehicle 1, which includes: a center differential 5, a front differential 6, and a rear differential 7, which distribute the driving force generated by the engine 3 to each of the wheels 2 as driving wheels and can absorb the difference in the rotation speed of each wheel 2; and a brake device 9, which generates a braking force for each wheel 2 and can make the magnitude of the braking force of each wheel 2 different from each other. The vehicle control device 10 includes a driving environment detection unit 11 and an ECU 12 as a controller. The driving environment detection unit 11 detects the driving environment of the vehicle 1. The ECU 12 controls the display mode of the display device 30 as an operation panel for selecting and operating a driving assist function that can change the operating state of the engine 3, the brake device 9, the center differential 5, the front differential 6, and the rear differential 7 according to the driving environment, and controls the operating state to be changed in accordance with the selected driving assist function. In addition, the ECU 12 obtains driving environment information indicating the detected driving environment. In addition, the ECU 12 determines (infers) whether the vehicle 1 is in an off-road driving state on a bad road based on the driving environment information. In addition, when the vehicle 1 is in the off-road driving state, the ECU 12 determines a driving assistance function applicable when the vehicle 1 is driving on a bad road. In addition, the ECU 12 changes the display mode so that the number of operations required until the determined driving assistance function is selected and operated is reduced compared to the case where the vehicle 1 is not in the off-road driving state.

[0061] According to this, when the vehicle 1 is in an off-road driving state, the ECU 12 can change the display mode of the display device 30 in such a way that the number of operations until the driving assist function determined to be selected is reduced. Thus, even if the display mode is difficult to select to meet good operability and quick responsiveness when not in an off-road driving state, when the driver selects to operate the driving assist function in the off-road driving state, the display mode can be changed in such a way that the number of operations is reduced. Therefore, when the driver selects the driving assist function, the driver can perform the selection operation to meet accurate operability and quick responsiveness.

[0062] Next, the first modification is described. In the first modification, when it is predicted that the driver will select and operate the soft switch 31, the ECU 12 changes the display mode so that the soft switch 31 can be selected and operated. Therefore, the ECU 12 compares the driving environment information with the determination factors for determining each driving assistance function, and displays the soft switch 31 for selecting and operating the driving assistance function desired by the user at the front at an appropriate time.

[0063] In the off-road driving state, the determination factor for appropriately determining the situation in which the user selects "DAC" is: Figure 3 Among the judgment elements shown, the judgment elements No. 2 and No. 8 are omitted. On the other hand, the element for appropriately judging the situation in which the user selects "DAC" as the driving assist function is newly added with "when reversing on a steep off-road road surface where climbing is impossible" as the reliability "high", and Figure 3 The reliability of No. 5 shown is changed to "high".

[0064] Therefore, in Figure 2 In the determination process of step S13 of the program shown in FIG. 1 , the ECU 12 compares the determination factor of determining "DAC" with the driving environment information to determine whether they match. If the ECU 12 determines that the determination factor matches the driving environment information, Figure 5 Similarly, in the above steps S14 and S15, the soft switch 31 for selecting the operation "DAC" is displayed in an enlarged manner at the front of the display device 30.

[0065] The determination factor for appropriately determining the situation where the user selects "MTS" in the off-road driving state is relative to Figure 3 The determination factor shown is newly added with "the state in which the running resistance is large and it is estimated that the vehicle is running on sandy ground" as the reliability "medium". Figure 3 The determination factor shown newly adds "a state of traveling with the air pressure of four wheels reduced" as the reliability "medium".

[0066] Therefore, in Figure 2 In the determination process of step S13 of the program shown in FIG. 1 , the ECU 12 compares the determination factor for determining "MTS" with the driving environment information to determine whether they match. If it is determined that the determination factor matches the driving environment information, the ECU 12 compares the determination factor with the driving environment information to determine whether the driving environment information matches. Figure 5 Similarly, in the above steps S14 and S15, the ECU 12 displays the soft switch 31 for selecting the operation "MTS" in an enlarged manner at the front of the display device 30.

[0067] In the off-road driving state, the determination factor for appropriately determining whether the user has selected "TA" is omitted. Figure 3On the other hand, the determination factor for appropriately determining whether the user has selected "TA" as the driving assist function is newly added with "a state where the steering wheel is repeatedly turned at a large steering angle at a low speed" as having a "high" reliability.

[0068] Therefore, in Figure 2 In the determination process of step S13 of the program shown in FIG. 1 , the ECU 12 compares the determination factor for determining “TA” with the driving environment information to determine whether they match. If the ECU 12 determines that the determination factor matches the driving environment information, Figure 5 Similarly, in the above steps S14 and S15, the soft switch 31 for selecting the operation "TA" is displayed in an enlarged manner at the front of the display device 30. Therefore, in the first modification, in addition to the same effects as the above embodiment, the driver can be presented with a prompt at an appropriate time.

[0069] Next, a second modification example will be described. In the second modification example, the ECU 12 can Figure 3 The display mode of the soft switch 31 is changed according to the reliability of the determination accuracy of each of the determination elements shown. Hereinafter, this second modification will be described, but detailed description of the substantially same parts as the display mode change procedure of the above-described embodiment will be omitted.

[0070] In the second modification, the ECU 12 executes Figure 6 The program of the second modified example changes the display mode according to the reliability of the determination accuracy previously assigned to each determination element. Therefore, the parts corresponding to the above steps S13, S14, and S15 of the program of the above embodiment are changed.

[0071] Specifically, if Figure 6 As shown, the display mode change program is started in step S100, and in step S101, the ECU 12 determines the off-road driving state. In the following step S102, when the display mode change function is "on", the ECU 12 determines "yes" and executes step S103 and subsequent steps.

[0072] In step S103, the ECU 12 compares the determination factor with the driving environment information and determines whether the reliability of the determination factor that matches is "high". That is, for example, if the front differential 6 and the rear differential 7 are in the differential lock state, the ECU 12 determines that Figure 3The determination factor No. 2 with a reliability of "high" shown matches the driving environment information. Therefore, the ECU 12 determines "yes" in step S103, changes the layer position of the changed display layer of the soft switch 31 to the front in step S104, and maximizes the display size of the soft switch 31 in step S105. Then, the ECU 12 temporarily ends the execution of the program in step S113.

[0073] On the other hand, if the reliability of the determination factor that meets the requirement is not "high" in step S103, the ECU 12 determines "no" and executes the process of step S106. In step S106, the ECU 12 compares the determination factor with the driving environment information to determine whether the reliability of the determination factor that meets the requirement is "medium". That is, for example, if the center differential 5 is in the differential lock state, the ECU 12 determines that Figure 3 The determination factor No. 4 with a reliability of "medium" is consistent with the driving environment information. Therefore, the ECU 12 determines "yes" in step S106, changes the layer position of the changed display layer of the soft switch 31 to the second display layer in step S107, and changes the display size of the soft switch 31 to a medium size smaller than the maximum in step S108. Then, the ECU 12 temporarily ends the execution of the program in step S113.

[0074] On the other hand, if the reliability of the matching determination factor is not "medium" in step S106, the ECU 12 determines "no" and executes the processing of step S109. In step S109, the ECU 12 compares the determination factor with the driving environment information to determine whether the reliability of the matching determination factor is "low". That is, for example, if the state of off-road driving is assumed based on the road surface state detected by the road surface state detection sensor 117, the ECU 12 determines that Figure 3 The determination factor No. 9 with a reliability of "low" is shown to be consistent with the running environment information.

[0075] Therefore, the ECU 12 determines "yes" in step S109, changes the layer position of the changed display layer of the soft switch 31 to the third display layer in step S110, and reduces the display size of the soft switch 31 to a smaller size than the medium size in step S111. Then, the ECU 12 temporarily terminates the execution of the program in step S113. In the case of "low" reliability, the accuracy of considering that the vehicle 1 is in an off-road driving state becomes lower. Therefore, since the driving assist function is likely not to be selected, in the second variant, the ECU 12 displays the soft switch 31 on the third display layer as in the case of not being in an off-road driving state.

[0076] On the other hand, if the reliability of the corresponding determination factor is not "low" in step S109, the ECU 12 determines "no". In addition, the ECU 12 does not change the display mode of the soft switch 31 in step S112, and temporarily terminates the execution of the program in step S113. Therefore, in this second modified example, the same effect as the above-mentioned embodiment can be obtained.

Claims

1. A vehicle control device, applied to a vehicle having a differential device and a brake device, The differential device distributes the driving force generated by the driving force source to each of the driving wheels and can absorb the difference in rotation speed of each of the driving wheels. The brake device can generate a braking force for each of the drive wheels, and the magnitudes of the braking forces on the drive wheels are different from each other. in, The vehicle control device comprises: A driving environment detection unit, detecting the driving environment of the vehicle; and a controller that controls a display mode of an operation panel on which a driving assist function capable of changing the operating states of the driving force source, the braking device, and the differential device according to the driving environment is selected and operated, and controls the operating states to be changed in accordance with the selected driving assist function, The controller obtains driving environment information representing the detected driving environment, determines whether the vehicle is in an off-road driving state on a differential road based on the driving environment information, and, if the vehicle is in the off-road driving state, determines the driving assistance function that can be applied when the vehicle is driving on the differential road, and changes the display mode in such a way that the number of operations required until the determined driving assistance function is selected is reduced compared to a case where the vehicle is not in the off-road driving state.

2. The vehicle control device according to claim 1, wherein: The operation panel displays the soft switch for selecting the driving assist function in any display size on any display layer among a plurality of display layers, The controller changes at least one of the display mode of displaying the soft switch in a display layer after the change that is at a higher layer position than the display layer before the change that displays the soft switch when not in the off-road driving state, and the display mode of displaying the soft switch in a manner in which the display size becomes larger than when not in the off-road driving state.

3. The vehicle control device according to claim 2, wherein: The controller changes the layer position of the changed display layer in accordance with the reliability of determination accuracy previously given to the determination factor related to determination of the driving assist function so that the higher the reliability, the higher the layer position.

4. The vehicle control device according to any one of claims 1 to 3, wherein: The controller changes the display mode when it is predicted that the determined driving assist function will be selected and operated.

5. The vehicle control device according to claim 1, wherein: In the off-road driving state, when a change in the display mode is instructed in advance, the controller changes the display mode.

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