DRIVING ASSISTANCE DEVICE

Abstract

Driver assistance device (100) with: a comparison unit (40) that compares a detection result based on an output value issued by a sensor (22, 26, 28) for detecting a state of a vehicle (1) with a previously stored reference value; and a control (42) which, when the comparison by the comparator determines that the detection result is greater than or equal to the reference value, switches from a first control mode to a second control mode which differs from the first control mode with respect to a display control capable of switching a display of information relating to the vehicle, and / or a vehicle height control capable of switching a vehicle height with a vehicle height adjustment device (58, 58a, 58b, 58c and 58d) of the vehicle, and / or a vehicle speed control capable of switching a speed limit with a vehicle control device of the vehicle, wherein the sensor (22, 26, 28) includes a sonar (16, 17), and If a sonar error signal matches immersion information, the control system (42) determines that the vessel (1) is in a water crossing state.

Description

TECHNICAL FIELD

[0001] Embodiments disclosed here relate to a driving assistance device. DISCUSSION OF THE BACKGROUND

[0002] In the prior art, a system has been proposed that performs various assistance to reduce the burden on a driver of a vehicle. For example, a system that displays an image of a vehicle's surroundings on a display device within a vehicle interior or that displays a notification screen when a road surface requiring the driver's attention during driving is present has been proposed. Furthermore, a system capable of setting a vehicle to a setting for an irregular road surface or switching it when the vehicle is traveling on the irregular road surface has been proposed. See, for example, JP H06-936 U (Reference 1), JP H05-238313 AA (Reference 2), US 2012 / 0158243 A (Reference 3), and JP 2016-49868 A (Reference 4).Furthermore, DE 10 2005 035 304 A1 discloses a motor vehicle in which the driver's seat height can be automatically adjusted using a group of controlled actuators, depending on a vehicle operating mode detected by a detection device. EP 2 015 954 B1 describes a drive-by-wire throttle system in which an electromechanical throttle unit sends an electronic signal to an engine speed controller. A speed control system is also known from the publications US 2016 / 0 031 444 A1 and US 7 380 800 B2.

[0003] However, in these systems, mode switching is a specification performed by a driver (a user or a passenger) through, for example, a switching operation, and the driver may feel uncomfortable due to the switching during driving. In particular, during driving on uneven road surfaces or the like, it is necessary to assist the driver in concentrating on steering and not performing the mode switching along with the switching operation or the like.

[0004] Therefore, there is a need for a driving assistance device capable of automatically switching modes according to a vehicle condition. SUMMARY

[0005] A driving assistance device according to one aspect of this disclosure includes: a comparison unit that compares a detection result based on an output value output from a sensor for detecting a state of a vehicle with a pre-stored reference value; and a controller that, when the comparison by the comparison unit determines that the detection result is greater than or equal to the reference value, switches a first control mode to a second control mode different from the first control mode with respect to at least one of a display control capable of switching a display of information in the vehicle, a vehicle height control capable of switching a vehicle height using a vehicle height adjustment device of the vehicle, and a vehicle speed control capable ofSwitching a speed limit with a vehicle speed control device of the vehicle. The sensor includes a sonar, and when a sonar error signal matches the immersion information, the controller determines that the vehicle is in a water crossing state. According to this configuration, when the vehicle's condition is detected, for example, when entering a road with an irregular surface, the detection result is compared with the reference value to automatically switch the display control and / or the vehicle height control and / or the vehicle speed control. As a result, even if the driving condition changes, the vehicle can travel according to an appropriate control mode without causing a driver or the like to feel uncomfortable due to the mode switching.

[0006] According to the driving assistance device described above, for example, the sensor may include a tilt sensor that detects a tilting degree of the vehicle. According to this configuration, for example, when the tilting degree of the vehicle becomes greater than or equal to the reference value, the vehicle's mode is automatically switched to the control for enabling safe driving of the vehicle. Therefore, assistance for improving driving safety can be implemented without causing the driver to feel uncomfortable due to the mode switching.

[0007] According to the driving assistance device described above, for example, the sensor may include a sensor that detects a value indicative of a slip state of wheels of the vehicle. According to this configuration, for example, when the value indicative of the slip state (e.g., a duration of the slip state or the number of occurrences of the slip state within a unit time) becomes greater than or equal to the reference value, the mode of the vehicle is automatically switched to the control that enables safe driving of the vehicle. Therefore, assistance for improving driving safety can be implemented without causing the driver to feel uncomfortable due to the mode switching.

[0008] According to the driving assistance device described above, for example, the sensor may include a sensor that detects a height difference of the vehicle's wheels. According to this configuration, for example, when the height difference of the front and rear wheels and the right and left wheels becomes greater than or equal to the reference value, the vehicle's mode is automatically switched to the control that enables safe driving of the vehicle. Therefore, assistance for improving driving safety can be implemented without causing the driver to feel uncomfortable due to the mode switching.

[0009] According to the driving assistance device described above, for example, the controller may display, as the second control mode of the display controller, information indicating the state of the vehicle for off-road travel. According to this configuration, for example, when the detection result of the sensor becomes greater than or equal to the reference value, it is assumed that the vehicle is about to start off-road travel (a road with irregular surfaces), and a screen of the first control mode, such as a route guidance screen or an audio screen, displayed when the vehicle is traveling on the road (a road with regular surfaces), such as the road surface in a city, is automatically switched to the second control mode, which displays information useful when the vehicle is traveling off-road.As a result, driving assistance for providing information necessary for off-road driving can be implemented without causing the driver to feel uncomfortable due to mode switching.

[0010] According to the driving assistance device described above, for example, the controller can display vehicle tilt information as information indicating the vehicle's off-road driving status. With this configuration, because the vehicle's attitude or orientation, which is useful for off-road driving, is automatically displayed, driving assistance can be implemented to further enhance the sense of safety during off-road driving.

[0011] According to the driving assistance device described above, for example, as the second control mode of the vehicle height control, the controller may increase a vehicle height of the vehicle through the vehicle height adjustment device to be higher than that in the first control mode. According to this configuration, for example, when the detection result of the sensor becomes greater than or equal to the reference value, it is assumed that the vehicle is about to start off-road travel, and the vehicle height of the first control mode suitable for on-road travel is automatically switched to the vehicle height of the second control mode suitable for off-road travel.As a result, driving assistance for enabling the vehicle to travel at an appropriate vehicle height according to the condition of the road surface can be implemented without causing the driver to feel uncomfortable due to the mode switching.

[0012] According to the driving assistance device described above, for example, the controller may set a speed limit value for the speed of the vehicle through the vehicle speed control device to be lower than that in the first control mode. According to this configuration, for example, when the detection result of the sensor becomes greater than or equal to the reference value, it is assumed that the vehicle is starting off-road travel, and the vehicle mode is automatically switched to the mode of setting the speed limit value to be lower than that for on-road travel, enabling the vehicle to travel safely off-road.As a result, driving assistance for enabling the vehicle to travel at an appropriate speed according to the condition of the road surface can be implemented without causing the driver to feel uncomfortable due to the switching of the mode and without exceeding a required speed.

[0013] According to the driving assistance device described above, for example, the comparison unit may refer to a threshold value to be compared with the detection result as the reference value. When the detection result is greater than or equal to the threshold value, the controller may switch the first control mode to the second control mode. According to this configuration, when the state of the vehicle changes, such as when the vehicle starts off-road travel, switching to the second control mode can be performed quickly.

[0014] According to the driving assistance device described above, for example, the comparison unit may refer to, as the reference value, a value regarding the number of occurrences that a value becomes greater than or equal to a predetermined threshold within a predetermined time period, and when the detection result becomes greater than or equal to the value of the number of occurrences within the predetermined time period, the controller may switch the first control mode to the second control mode.According to this configuration, it is avoided that the switching to the second control mode is performed carelessly when the state of the vehicle changes instantly due to a slight change in the road surface, for example, when the vehicle runs over small objects or the like on the road surface without actually starting off-road travel or the like, so that the state of the vehicle changes instantly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The foregoing and other features and characteristics of this disclosure will become more apparent from the following detailed description when considered with reference to the accompanying drawings, in which: Fig. 1 is a perspective view illustrating an exemplary vehicle equipped with a driving assistance device according to an embodiment, in which a vehicle interior is partially viewed; Fig. 2 is a plan view illustrating an example of the vehicle equipped with the driving assistance device according to the embodiment; Fig. 3 is a block diagram illustrating an example of a driving assistance system including the driving assistance device according to the embodiment; Fig. 4 is a perspective view illustrating a state in which the vehicle equipped with the driving assistance device travels on an irregular road surface; Fig. 5 is a view illustrating a display example of a display device in a first control mode of the vehicle equipped with the driving assistance device according to the embodiment; Fig. 6 is a view illustrating a display example of the display device in a second control mode of the vehicle equipped with the driving assistance device according to the embodiment; and Fig. 7 is a view illustrating another display example of the display device in the second control mode of the vehicle equipped with the driving assistance device according to the embodiment. DETAILED DESCRIPTION

[0016] Embodiments of this disclosure are described below. In the embodiments described below, the configuration, as well as actions, results, and effects resulting from the respective configurations, are exemplary. The embodiments disclosed herein can be implemented by configurations different from the configurations described in the embodiments below, and at least one of various effects based on the basic configurations and resulting effects can be achieved.

[0017] In the embodiments, a vehicle 1 equipped with a driving assistance device (a driving assistance system) may be, for example, an automobile that uses an internal combustion engine (not illustrated) as a drive source, that is, an internal combustion engine-equipped automobile, or may be an automobile that uses an electric motor (not illustrated) as a drive source, that is, an electric automobile or a fuel cell automobile, or the like. Alternatively, the vehicle 1 may be, for example, a hybrid automobile that uses both the internal combustion engine and the electric motor as drive sources, or may be an automobile that has another drive source. The vehicle 1 may be equipped with various types of transmissions and may be equipped with various devices (e.g., systems or parts) required to operate the internal combustion engine or the electric motor.Furthermore, the vehicle 1 is, for example, a vehicle capable of traveling appropriately "off-road" (e.g., primarily on an unpaved roadway with irregular surfaces) in addition to traveling "on-road" (primarily on a paved road or an equivalent roadway with regular surfaces). Regarding a driving method, the vehicle 1 may be a four-wheel drive vehicle that applies driving force to all four wheels 3 to use the four wheels as drive wheels. The types, number, arrangement, and other devices related to driving the wheels 3 may be various. For example, the vehicle 1 may be a vehicle primarily usable for traveling "on-road." Likewise, the driving method is not limited to the four-wheel drive method and may be, for example, a front-wheel drive method or a rear-wheel drive method.

[0018] As in Fig. 1, a vehicle body 2 forms a vehicle interior 2a in which an occupant (not illustrated) is accommodated. Within the vehicle interior 2a, a steering unit 4, an accelerator unit 5, a brake unit 6, a gearshift operation unit 7, and others are provided in a state of facing a seat 2b of a driver as an occupant. The steering unit 4 is, for example, a steering wheel protruding from an instrument panel 24. The accelerator unit 5 is, for example, an accelerator pedal mounted under the driver's foot. The brake unit 6 is, for example, a brake pedal mounted under the driver's foot. The gearshift operation unit 7 is, for example, a shift lever protruding from a center console.In addition, the steering unit 4, the acceleration unit 5, the braking unit 6, the gear shift operating unit 7, and others are not limited to those described above.

[0019] Further, a display device 8 and an audio output device 9 are provided within the vehicle interior 2a. The display device 8 is, for example, a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The audio output device 9 is, for example, a speaker. In addition, the display device 8 is covered with a transparent operation input unit 10 (e.g., a touch panel). The occupant can visually recognize an image displayed on a display screen of the display device 8 through the operation input unit 10. The occupant can perform an operation of touching, pressing, or moving the operation input unit 10 with a finger or the like at a position corresponding to an image displayed on the display screen of the display device 8 to execute an operation input.The display device 8, the audio output device 9, the operation input unit 10, and others are provided, for example, in a monitor device 11 mounted at the center portion of the instrument panel 24 in the vehicle width direction, that is, in the left-and-right direction of the vehicle. The monitor device 11 may include an operation input unit (not illustrated) such as a switch, a dial, a shift knob, or a push button. A separate audio output device (not illustrated) may be provided at a position different from the position of the monitor device 11 within the vehicle interior 2a. Sound may be output from the audio output device 9 of the monitor device 11 and the separate audio output device. The monitor device 11 can also be used as a navigation system or an audio system.

[0020] As in the Fig. 1 and Fig. 2, the vehicle 1 is, for example, a four-wheel drive vehicle and includes two (left / right) front wheels 3F and two (left / right) rear wheels 3R. All of the four wheels 3 can be configured to be steerable. As shown in Fig. As shown in Figure 3, the vehicle 1 has a steering system 13 that steers at least two of the wheels 3. The steering system 13 includes an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an electronic integrated circuit unit (ECU) 30 or the like, and actuates the actuator 13a. The steering system 13 is, for example, an electric power steering system or a steer-by-wire (SBW) system. In addition, the torque sensor 13b detects, for example, a torque that the driver applies to the steering unit 4.

[0021] Furthermore, the vehicle 1 includes a braking system 18 that individually controls a braking state of each of the wheels 3. The braking system 18 is electronically controlled by the integrated ECU 30 or the like and actuates an actuator 18a. The braking system 18 is, for example, an anti-lock braking system (ABS) for preventing brake lock, a skid prevention device (an electronic stability control (ESC)) for preventing side-skidding of the vehicle 1 during cornering, an electric braking system for boosting braking force (performing brake assist), or a brake-by-wire (BBW) system. The braking system 18 individually controls the braking force of each of the wheels 3 via the actuator 18a to apply the braking force to the entire vehicle 1.Furthermore, the braking system 18 can perform various controls by detecting a rotational difference of the corresponding wheels 3 based on outputs from wheel speed sensors 22 (22a, 22b, 22c, and 22d) provided for the wheels 3 to detect symptoms such as brake lock, idling of the wheels 3, and sideslip. A braking sensor 18b, for example, is a sensor that detects a position of a movable unit of the braking unit 6.

[0022] As described above, the integrated ECU 30 performs control of the steering system 13, the braking system 18, and others, that is, control related to the travel of the vehicle 1, and further performs management of various ECUs provided for corresponding functions, such as a display ECU 32, an engine ECU 34, and a vehicle height adjustment ECU 36. That is, the integrated ECU 30 can perform control of the display ECU 32, the engine ECU 34, the vehicle height adjustment ECU 36, and others based on related determination results. The details of the integrated ECU 30 will now be described. In addition, the display ECU 32 mainly performs control of the monitor device 11 (the display device 8) provided in the vehicle interior 2a and further controls switching (a first control mode and a second control mode) of the display control.The engine ECU 34 mainly performs control of an engine unit 50 as a vehicle speed control device. Furthermore, the engine ECU 34 performs output control (speed regulation or torque control) of the vehicle 1 and controls switching (of the first control mode and the second control mode) of the vehicle speed control (setting of a regulated speed value). Additionally, when an electric motor is included as a drive source of the vehicle 1, that is, when the vehicle 1 is an electric vehicle, a motor ECU is provided instead of the engine ECU 34. Furthermore, when the vehicle 1 is a hybrid vehicle, the motor ECU is provided in addition to the engine ECU 34.In addition, the vehicle height adjustment ECU 36 mainly performs control of damper units 58 (58a, 58b, 58c, and 58d) as vehicle height adjustment devices via a hydraulic controller 56. Further, the vehicle height adjustment ECU 36 performs control for adjusting the vehicle height of the vehicle 1 and controls switching (of the first control mode and the second control mode) of the vehicle height control.

[0023] As in Fig. As shown in Fig. 3, in a driving assistance system 100 (the driving assistance device), in addition to the integrated ECU 30, the display ECU 32, the engine ECU 34, the vehicle height adjustment ECU 36, the monitor device 11, the steering system 13, the braking system 18, and others, distance measuring units 16 and 17, a steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, the wheel speed sensors 22, acceleration sensors 26, vehicle height sensors 28, and others are electrically connected to each other via an in-vehicle network 23 as an electrical communication line. The in-vehicle network 23 is configured, for example, as a control unit network (CAN). The integrated ECU 30 can control the steering system 13, the braking system 18, and others by sending control signals via the in-vehicle network 23.In addition, the integrated ECU 30 can receive detection results of the torque sensor 13b, the brake sensor 18b, the steering angle sensor 19, the distance measuring unit 16, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensors 22, the acceleration sensors 26, the vehicle height sensors 28 and others, or operation signals from the operation input unit 10 and others via the in-vehicle network 23.

[0024] As in Fig. 2, the vehicle body 2 is equipped with, for example, four imaging units 15a to 15d as a plurality of imaging units 15. The imaging units 15 are, for example, digital cameras, each equipped with an imaging element such as a charge-coupled device (CCD) or a CMOS image sensor (CIS). The imaging units 15 can output video data (captured image data) at a predetermined frame rate. Each of the imaging units 15 includes a wide-angle lens or a fisheye lens, and can capture an image in a range of, for example, 140° to 220° in the horizontal direction. In addition, the optical axis of each of the imaging units 15 can be set to be obliquely downward.Accordingly, the imaging units 15 sequentially image surrounding circumstances of the vehicle 1 (environment outside the vehicle) including a road surface on which the vehicle 1 is traveling, a water surface during a water crossing (water crossing), and environmental conditions (e.g., an uneven state of a road surface, a distance to an uneven portion, presence / absence of water, and the state of a water surface) or objects (as obstacles, e.g., rocks, trees, people, bicycles, and vehicles), and outputs the surrounding circumstances as captured image data.

[0025] The imaging unit 15a is attached, for example, to an end portion 2e of the rear side of the vehicle body 2, and is mounted on the wall below the rear window of a trunk door 2h. The imaging unit 15b is attached, for example, to an end portion 2f of the right side of the vehicle body 2, and is mounted on a right side mirror 2g. The imaging unit 15c is attached, for example, to an end portion 2c of the front side of the vehicle body 2, that is, the front side of the vehicle in the front-and-rear direction of the vehicle, and is mounted, for example, on the front bumper or the front grille. The imaging unit 15d is attached, for example, to an end portion 2d of the left side of the vehicle body 2, that is, the left side of the vehicle in the vehicle width direction, and is mounted on a left side mirror 2g.The display ECU 32 may perform arithmetic processing or image processing based on captured image data acquired from the plurality of imaging units 15 to generate an image with a relatively wide viewing angle or a virtual bird's-eye view image in which the vehicle 1 is viewed from above. Furthermore, the display ECU 32 may perform arithmetic processing or image processing on data of a wide-angle image acquired from the imaging units 15 to generate an image from which a specific area is cut out or image data representing only a specific area.Furthermore, the display ECU 32 can convert the acquired image data into virtual image data that appears to have been obtained by looking down at the vehicle 1 from a bird's-eye view, or virtual image data representing a side view image that appears to have been viewed from a position away from the corresponding vehicle 1. By displaying the acquired image data on the display device 8, the display ECU 32 provides environmental monitoring information for confirming the safety of the right or left side environment of the vehicle 1, the water level during the water crossing described later, or the safety of the environment of the vehicle 1 viewed from above.

[0026] In addition, during water crossing, the display ECU 32 may display a part of the vehicle body 2 along with the state of the water surface to indicate a relationship between the vehicle 1 and the water surface, and may perform water crossing assistance. In this case, the display ECU 32 may display an image in which a water level boundary line, a water level reference line, or the like is superimposed on a part of the vehicle 1, for example, on the side surface of the vehicle body 2, as described later. Further, the display ECU 32 may perform driving assistance by identifying a lane marking line or the like indicated on the road surface around the vehicle 1, or parking assistance by detecting (extracting) a parking section from the captured image data provided to the imaging units 15.

[0027] In addition, as described in the Fig. 1 and Fig. 2, the vehicle body 2 is equipped with, for example, four distance measuring units 16a to 16d and eight distance measuring units 17a to 17h as the plurality of distance measuring units 16 and 17. The distance measuring units 16 and 17 are, for example, sonar devices that radiate ultrasonic waves and identify reflected waves. The sonar devices may be so-called sonar sensors, ultrasonic detection devices, or ultrasonic sonar devices. In the present embodiment, the distance measuring units 16 and 17 are provided at lower positions of the vehicle 1 in the vehicle height direction, for example, at the front and rear bumpers, and can detect an obstacle around the vehicle 1 and measure the distance to the obstacle. Furthermore, the distance measuring units 16 and 17 can be used as sensors for determining whether the vehicle 1 is in a state of entering water (water crossing).As described above, because the distance measuring units 16 and 17 are provided on the front and rear bumpers located at low positions of the vehicle 1 in the vehicle height direction, the distance measuring units 16 and 17 are immersed in water at a relatively early stage before reaching the height at which water crossing becomes impossible due to the water level (the height at which the water level boundary line is superimposed) during water crossing. For example, when the distance measuring units 16 and 17 are immersed in water, the reception state of the reflected waves becomes unstable, and therefore operation errors occur. Accordingly, when the vehicle 1 enters a river or a swamp and thus immerses in water, error signals can be output from the plurality of distance measuring units 16 and 17 almost simultaneously.For example, when the vehicle 1 enters a river or a swamp while traveling forward, the distance measuring units 17e, 17f, 17g, and 17h are submerged in water and output error signals approximately simultaneously. Then, the distance measuring units 16c and 16d output error signals. Similarly, when the vehicle 1 enters a river or a swamp while traveling backward, the distance measuring units 17a, 17b, 17c, and 17d are submerged in water and output error signals approximately simultaneously. Then, the distance measuring units 16a and 16b output error signals. That is, based on the output state of the error signals from the distance measuring units 16 and 17, information is obtained to determine whether the vehicle 1 is in the water crossing state.In a case where the vehicle 1 completes the water crossing (in a case where the vehicle 1 is back on solid ground), when the vehicle 1 exits the river or swamp during forward travel, the distance measuring units 17e, 17f, 17g, and 17h are restored approximately simultaneously, and then the distance measuring units 16c and 16d are restored. Further, as the vehicle 1 continues to reach solid ground, the distance measuring units 16a and 16b are restored, and the distance measuring units 17a, 17b, 17c, and 17d are finally restored approximately simultaneously. In this way, when all of the distance measuring units 16 and 17 are restored, information for determining that the vehicle 1 has completed the water crossing (fully reached solid ground) can be obtained.In addition, the distance measuring units 16 and 17 are configured to have a waterproof structure so as not to be damaged by immersion in water or the like.

[0028] The steering angle sensor 19 is, for example, a sensor that detects a steering amount of the steering unit, such as the steering wheel. The integrated ECU 30 performs various controls by obtaining a steering amount of the steering unit 4 applied by the driver, a steering amount of each of the wheels 3 during automatic steering, and others from the steering angle sensor 19. The accelerator sensor 20 is, for example, a sensor that detects a position of a movable unit of the acceleration unit 5, and detects an acceleration amount requested by the driver, a maintenance speed amount, and others. The wheel speed sensors 22 are respectively provided in the wheels 3 to detect a rotation amount of each of the wheels 3 or the rotational speed per unit time, and outputs the number of wheel speed pulses indicating the detected rotational speed as a detection value.The integrated ECU 30 calculates a vehicle speed or a movement amount of the vehicle 1 based on the detection values ​​obtained from the wheel speed sensors 22 and performs various controls. In addition, when calculating the vehicle speed of the vehicle 1 based on the detection values ​​of the vehicle speed sensors 22 (22a, 22b, 22c, and 22d), the integrated ECU 30 determines the vehicle speed of the vehicle 1 based on the speed of the wheel 3 with the smallest detection value and performs various controls.In addition, when one of the four wheels 3 has a large detection value compared to that of the other wheels 3, for example, when the rotational speed per unit time (unit time or unit distance) of one of the four wheels 3 is as large as or greater than a predetermined rotational speed compared to that of the other three wheels 3, the integrated ECU 30 assumes that the corresponding wheel 3 is in a slip state (an idle state) and performs various controls. The shift sensor 21 is, for example, a sensor that detects a position of a movable unit of the gearshift operation unit 7.The engine ECU 34 controls the vehicle speed or the acceleration state of the vehicle 1 by controlling a fuel injection amount or an intake air amount into the engine unit 50 according to the detection value of the accelerator sensor 20, the detection values ​​of the wheel speed sensors 22 (22a, 22b, 22c and 22d), the detection value of the shift sensor 21 and others.

[0029] The vehicle 1 is equipped with two acceleration sensors 26 (26a and 26b). When the vehicle 1 is equipped with the ESC, the acceleration sensors 26 (26a and 26b) previously provided in the ESC are used. The acceleration sensor 26a detects, for example, the acceleration of the vehicle 1 in the left-and-right direction, and the acceleration sensor 26b detects, for example, the acceleration of the vehicle 1 in the front-and-rear direction. The integrated ECU 30 calculates the inclination (roll angle) of the vehicle 1 in the left-and-right direction or the inclination (pitch angle) of the vehicle 1 in the front-and-rear direction based on the detection values ​​of the acceleration sensors 26a and 26b.

[0030] The vehicle height sensors 28 are connected to a suspension arm (e.g., a lower arm) constituting a suspension connecting the vehicle body 2 and the wheels 3, and detect a vertical offset amount between the suspension arm and the vehicle body 2. Additionally, as the vehicle height sensors 28, a type that directly measures the distance from the road surface by ultrasonic waves or lasers can be used. The vehicle height adjustment ECU 36 controls the hydraulic controller 56 and controls an expansion / contraction operation of each of the damper units 58 (58a, 58b, 58c, and 58d) based on the detection values ​​of the vehicle height sensors 28. For example, when a load amount of the vehicle 1 or the number of passengers changes, the vehicle height changes due to the weight.However, by controlling the expansion / contraction state of the damping units 58, the vehicle height of the vehicle 1 can be controlled to be approximately a constant height. In addition, because the damping units 58 can change the vehicle height by the vehicle speed of the vehicle 1, stable driving can be implemented according to the vehicle speed. In addition, the damping units 58 can lower the vehicle height when a passenger gets on / off or adjust the height of the luggage loading platform to load / unload luggage, and can facilitate boarding / disembarking and loading / unloading. In addition, when an uneven section (e.g.a rock, a curb, or a depression) is present on the road surface, the damping units 58 appropriately change the vehicle heights of the wheels 3 accordingly to prevent the vehicle 1 from being extremely inclined or the bottom portion of the vehicle body from coming into contact with the road surface and therefore travel becoming impossible.

[0031] The expansion / contraction state of the damping units 58 is controlled by a working fluid supplied by the hydraulic controller 56. The hydraulic controller 56 includes a hydraulic pump driven, for example, by an electric motor. The hydraulic controller 56 pumps the working fluid from a reservoir tank and discharges the working fluid to supply the working fluid to each of the damping units 58 via a valve provided in each of the wheels 3. As a result, the internal pressures of the damping units 58 are increased, and the damping units 58 are expanded, so that the vehicle height of the vehicle 1 can be increased.Meanwhile, when the working fluid is discharged from the damping units 58 via the valves and returned to the reservoir tank of the hydraulic controller 56, the internal pressures of the damping units 58 are reduced, and the corresponding damping units 58 are contracted, so that the vehicle height of the vehicle 1 can be lowered.

[0032] The configurations, arrangements, electrical connection forms and others of the various sensors and actuators described above are exemplary and can be designed (modified) in various ways.

[0033] The integrated ECU 30 includes a central processing unit (CPU) 38 and a storage device (a storage unit), such as a read-only memory (ROM) 30a, a random access memory (RAM) 30b, or a solid-state drive (SSD; flash memory) 30c. The CPU 38 includes, for example, a vehicle control module for controlling the steering system 13 and the braking system 18 as described above. Furthermore, the CPU 38 includes a module for switching the control state of the vehicle 1 from the first control mode suitable for traveling on a regular surface road to the second control mode suitable for traveling on an irregular surface road, or switching the second control mode to the first control mode by controlling other ECUs such as the display ECU 32, the engine ECU 34, and the vehicle height adjustment ECU 36.In addition, the road surface with a regular surface is, for example, a paved road surface or an equivalent road surface and a road surface referred to as "on-road," and the control mode may be an "on-road" control mode. Meanwhile, the road surface with an irregular surface is, for example, an unpaved road surface with many uneven sections, or a road surface including, for example, a sandy bottom, a swamp, a shallow stream, or a bog, and a road surface referred to as "off-road," and the control mode may be an "off-road" control mode.

[0034] The CPU 38 of the integrated ECU 30 includes, for example, a comparison unit 40 and a switching unit 42 (a controller) as modules for automatically switching the first control mode and the second control mode, respectively. The comparison unit 40 compares the detection results output by the sensors (e.g., the wheel speed sensors 22, the acceleration sensors 26, and the vehicle height sensors 28) that detect the state of the vehicle 1 with a reference value stored in advance in the storage unit, such as the ROM 30a or the SSD 30c. The reference value may include, for example, a threshold value to be compared with the detection results or a value of the number of times the threshold value is reached or exceeded within a predetermined period of time (e.g., a predetermined time or a predetermined travel distance).When, as a result of the comparison by the comparison unit 40, the detection results become greater than or equal to the reference value, the switching unit 42 switches the control of the vehicle 1 from the first control mode to the second control mode different from the first control mode. For example, assume that the tilt angle of the vehicle 1 in the left-and-right direction (in the vehicle width direction) based on the detection results of the acceleration sensors 26 is 30°, for example. Meanwhile, assume, for example, that the threshold value of the reference value stored in the ROM 30a is set as "off-road when the tilt angle is greater than or equal to 20°."In this case, because the slope of the detection results is greater than or equal to the threshold as a result of the comparison by the comparison unit 40, the switching unit 42 assumes that the vehicle 1 is traveling off-road and automatically switches the control of the display ECU 32, the engine ECU 34, the vehicle height adjustment ECU 36, and others from the first on-road control mode to the second off-road control mode. In addition, for example, assume that the reference value stored in the ROM 30a is set as "off-road when the number of occurrences of a case where the slope degree (the threshold) becomes greater than or equal to 20° is three or more." In this case, when the number of occurrences (a value of the number of occurrences) of the case where the detection results become greater than or equal to the threshold is three or more (ie,several times or more) within a predetermined period of time (e.g., within a travel of five seconds as a predetermined time or within a travel of 5 m as the predetermined travel distance), as a result of the comparison by the comparison unit 40, the switching unit 42 assumes that the vehicle 1 is traveling off-road and automatically switches the control of the display ECU 32, the engine ECU 34, the vehicle height adjustment ECU 36, and others from the first control mode for on-road traveling to the second control mode for off-road traveling. In addition, the comparison unit 40 can determine whether to switch the first control mode to the second control mode by comparing the tilt amount of the vehicle 1 in the front-and-rear direction based on the detection results of the acceleration sensors 26 and the reference value with each other.

[0035] The CPU 38 can read a program installed and stored in a non-volatile storage device, such as the ROM 30a, and implement the comparison unit 40 and the switching unit 42 according to the corresponding program. The RAM 30b temporarily stores various data used for the arithmetic operation in the CPU 38. In addition, the SSD 30c is a rewritable non-volatile storage device and can store data even when the power of the integrated ECU 30 is turned off. In addition, the CPU 38, the ROM 30a, the RAM 30b, and others can be integrated in the same package. In addition, the integrated ECU 30 can be configured to use another logical arithmetic processor, such as a digital signal processor (DSP) or a logic circuit, instead of the CPU 38.Additionally, a hard disk drive (HDD) may be provided instead of the SSD 30c, and the SSD 30c or the HDD may be provided separately from the integrated ECU 30. In addition, the integrated ECU 30 may also perform control for switching the second control mode (back) to the first control mode based on the detection results of the respective sensors.

[0036] The display ECU 32 includes a CPU 44 and a storage unit 46 (e.g., a ROM, a RAM, or SSD). The CPU 44 reads a program installed and stored in the storage unit 46 and implements a display processing module according to the corresponding program. The CPU 44 of the display ECU 32 performs processing such as processing a surrounding image of the vehicle based on the captured image data obtained from the imaging units 15, processing various information (e.g., an inclinometer and a slip indicator, described later) to be superimposed on the image, displaying various information on the display device 8, and displaying a navigation screen or an audio screen.

[0037] The engine ECU 34 includes a CPU 52 and a storage unit 54 (e.g., a ROM, a RAM, or an SSD). The CPU 52 reads a program installed and stored in the storage unit 54 and implements an engine control module according to the corresponding program. The CPU 52 of the engine ECU 34 performs processing such as determining an output of the engine unit 50 by determining a fuel injection amount or an intake air amount in the engine unit 50, an opening degree of an electronic throttle, and others based on the detection value of the accelerator sensor 20 and the detection values ​​of the wheel speed sensors 22.

[0038] The vehicle height adjustment ECU 36 includes a CPU 60 and a storage unit 62 (e.g., a ROM, a RAM, or an SSD). The CPU 60 reads a program installed and stored in the storage unit 62 and implements a vehicle height control processing module according to the corresponding program. The CPU 60 of the vehicle height adjustment ECU 36 performs processing such as determining the expansion / contraction state of the damping units 58 by determining a supply / discharge amount of the working fluid in the hydraulic controller 56 based on an input from an operation switch (not illustrated), a detection value of a weight sensor, the detection values ​​of the vehicle height sensors 28, and others.

[0039] Now, descriptions will be made regarding the processing of switching between the first control mode and the second control mode by the driving assistance system 100 configured as described above using the exemplary display of the display device 8 in Fig. 4 and the Fig. 5 to 7 provided.

[0040] As described above, the comparison unit 40 of the integrated ECU 30 monitors the state of the vehicle 1 based on the detection values ​​from the various sensors. For example, as shown in Fig. 4, when the vehicle 1 starts traveling off the road G, the attitude of the vehicle 1 inclines according to the condition of the road surface, and the inclination in the front-and-rear direction and in the left-and-right direction is repeated when the traveling continues. In the case of Fig. 4, the left rear wheel 3R enters a depression G1, and the left front wheel 3F enters a rock G2. In this case, the vehicle 1 has a posture in which the left front portion of the vehicle 1 is elevated. As the vehicle 1 continues traveling, the left front wheel 3F comes off the rock G2, and therefore the vehicle 1 has a posture in which the left front side of the vehicle 1 is lowered. At this time, for example, the acceleration sensors 26 (26a and 26b) output an acceleration that frequently fluctuates in the front-and-rear direction and the left-and-right direction as detection values. The CPU 38 can obtain the degree of inclination of the vehicle 1 based on the acceleration detected by a known calculation method.As described above, the comparison unit 40 compares the calculated tilt degree with the reference value (the threshold value) stored in the ROM 30a and others. If the calculated tilt degree is greater than or equal to the reference value, the comparison unit 40 can determine that the vehicle 1 is off-road (the vehicle 1 is traveling off-road). That is, the acceleration sensors 26 function as tilt sensors that detect the state (the tilt degree) of the vehicle 1.

[0041] In addition, for example, the vehicle height sensors 28 (28a to 28d) output values ​​of the vehicle height, which frequently fluctuates in the front-and-rear direction and the left-and-right direction, as detection values. The CPU 38 can obtain the tilt degree of the vehicle 1 by detecting a height difference degree of the left and right wheels. The comparison unit 40 compares the calculated tilt degree with the reference value (the threshold value) stored in the ROM 30a and others, and when the calculated tilt degree is greater than or equal to the reference value, it can be determined that the vehicle 1 is off-road (the vehicle is traveling off-road). That is, the vehicle height sensors 28 can function as tilt sensors that detect the state (the tilt degree) of the vehicle 1.In addition, the ROM 30a may store the height difference amount of the front and rear and left and right wheels 3 as a comparison value and compare the comparison value with the detection values ​​of the vehicle height sensors 28 (28a to 28d).

[0042] In addition, because the ground contact balance of the respective wheels 3 of the vehicle 1 tends to collapse easily when the vehicle 1 travels off-road, the specific wheel 3, for example, the wheel 3 that has entered the depression G1, may slip (idle). In this case, the wheel speed sensors 22 (22a to 22d) output the wheel speed of the slipped (idling) wheel 3 as a wheel speed detection value that is greater than that of the other wheels 3 that are not in the slipping state (idling). That is, the CPU 38 can determine whether the vehicle 1 is in the slipping state by detecting the difference in the wheel speeds of the wheels 3. The comparison unit 40 compares the calculated value indicating the slipping state (e.g.A calculated value (e.g., a duration of the slip state or the number of occurrences of the slip state within a time period) is compared with the reference value (the threshold value) stored in the ROM 30a and others. If the calculated value indicative of the slip state is greater than or equal to the reference value, it can be determined that the vehicle 1 is off-road (the vehicle is traveling off-road). That is, the wheel speed sensors 22 can function as sensors indicating the state (the value indicative of the slip state) of the vehicle 1.

[0043] In addition, even if the inclination of the road surface is small or the wheels 3 are not in the slip / (idle) state, if the road surface appears to cause immersion in water of the vehicle 1, the road surface can be considered to be off-road. As described above, the plurality of distance measuring units 16 and 17 provided in the vehicle 1 can perform detection of an obstacle or the like on the road. Meanwhile, during water crossing, the distance measuring units 16 and 17 provided at the lower positions of the vehicle 1 (e.g., on the bumpers) are immersed in the water at a relatively early stage before reaching the height at which water crossing becomes impossible due to the water level (the height at which the water level boundary line is superimposed).In this case, the reception state of the reflected waves becomes unstable in the distance measuring units 16 and 17, and therefore, operational errors occur. Accordingly, when the vehicle 1 starts traveling off-road, such as in a river or swamp, and the distance measuring units 16 and 17 are immersed in water, the plurality of distance measuring units 16 and 17 output error signals almost simultaneously. The comparison unit 40 compares the number of detected error signals with the water immersion information stored in the ROM 30a and others, such as the number and positions of the error signals output almost simultaneously. If the detected error signals match the water immersion information (the reference value or the threshold value), it can be determined that the vehicle 1 is off-road (in water) (the vehicle 1 is passing through water).

[0044] If, based on the comparison result of the comparison unit 40, it can be assumed that the vehicle 1 is off-road (the vehicle 1 is traveling off-road), the switching unit 42 switches the control of the vehicle 1 from the first control mode to the second control mode. For example, the switching unit 42 outputs a control signal to the CPU 44 of the display ECU 32 to switch the display of the display device 8.

[0045] As described above, in the comparison by the comparison unit 40, for example, when the tilt amount of the vehicle 1 in the left-and-right direction (the vehicle width direction) is greater than or equal to the reference value (the threshold value) as a result of detection based on the output values ​​of the acceleration sensors 26, or when the height difference amount (the tilt amount) of the front and rear and left and right wheels is greater than or equal to the reference value (the threshold value) as a result of detection of the output values ​​of the vehicle height sensors 28, the first control mode can be immediately switched to the second control mode. In another embodiment, the comparison unit 40 may focus on a value of the number of occurrences (e.g., three times) of a case where the detection result is greater than or equal to the threshold value within a predetermined period of time (e.g.,Within a five-second travel or within a 5-meter travel) as the reference value, and when the number of occurrences of the case where the detection result is greater than or equal to the threshold is three times or more within the predetermined time period, the integrated ECU 30 (the switching unit 42) can switch the first control mode to the second control mode. In this case, the first control mode can be avoided from being switched to the second control mode when the vehicle 1 is not actually traveling off-road, for example, in a case where the vehicle 1 is tilted or the vehicle height changes because the vehicle 1 hits a curb or the like.That is, the switching unit 42 determines that the vehicle 1 is traveling off-road when the state of the vehicle 1 changes at a predetermined frequency within a predetermined period of time, for example, when a change in the amount of inclination of the vehicle 1 or the amount of height difference of the wheels 3 changes, and performs switching to the second control mode.

[0046] Similarly, in the comparison by the comparison unit 40, for example, if the value indicating the slip state of the wheels is greater than or equal to the reference value (the threshold value), as a result of the comparison between the detection result based on the output values ​​of the vehicle speed sensors 22 and the reference value (the threshold value), the first control mode can be immediately switched to the second control mode. In another embodiment, in the comparison by the comparison unit 40, if the number of occurrences of the case where the value indicating the slip state of the wheels 3 is greater than or equal to the threshold value is greater than or equal to the number of occurrences (e.g., three times) within the predetermined time period (e.g., within a five-second run or within a 5-meter run), the ECU 30 (the switching unit 42) switches the first control mode to the second control mode.In this case, the first control mode is prevented from switching to the second control mode when the vehicle 1 is not actually traveling off-road, for example, in a case where the vehicle 1 passes over small objects or the like on the road surface, and therefore the wheels 3 are momentarily idling. That is, the switching unit 42 determines that the vehicle 1 is traveling off-road when the vehicle 1 enters the slip state with a predetermined frequency within a predetermined period of time, and performs the switching to the second control mode.

[0047] In addition, the "threshold value", the "predetermined time period", and the "number of occurrences value" may be appropriately set for the case where the vehicle 1 is assumed to be traveling off-road and switching to the second control mode is performed, and a control switching timing consistent with the preference of the occupants may be implemented.

[0048] Fig. 5 illustrates a navigation screen as an exemplary display of the first control mode in the display device 8 controlled by the display ECU 32. Fig. Fig. 5 is an example in which a recommended route 84 connecting a vehicle position marker 80 and a destination marker 82 is displayed on the screen of the display device 8 to guide the vehicle 1 to the destination. That is, the display in Fig. 5 is an exemplary display suitable for on-road driving. The exemplary display suitable for on-road driving can, for example, be an audio screen.

[0049] In Fig. 6, a screen comprising images of a surrounding of the vehicle 1, an inclinometer 66, and a slip indicator 70 is displayed as an exemplary display of the display device 8 in the second control mode, which displays information indicating the state of the vehicle 1 for off-road travel. In Fig. 6 in the display area of ​​the display device 8 is divided into several areas to display images from different directions. In Fig. 6, a front display area FV is arranged, for example, at the central upper portion of the display area of ​​the display device 8, and a left-side display area SVL and a right-side display area SVR are arranged on the left and right sides of the display area, respectively. Fig. 6, an attitude display area PV displaying the inclinometer 66 and a condition display area TV displaying the slip indicator 70 are arranged below the front display area FV. The front display area FV may display a route indicator R indicating an estimated travel direction of the vehicle 1, a front reference line Qa indicating a rough distance from the end portion 2c of the front of the vehicle body 2, lateral reference lines Pa indicating rough distances from the end portions 2d and 2f of the lateral sides of the vehicle body 2, and others to enable driving assistance for enabling travel by selecting a portion of the road surface in an appropriate condition during off-road travel. Here, the integrated ECU 30 can determine whether the vehicle 1 is traveling on the ground or in the water by the detection result (presence / absence of error signals) of the distance measuring units 16 and 17.Accordingly, the display ECU 32 may receive a signal indicating that the vehicle 1 is traveling on the ground, along with a signal for switching to the second control mode from the switching unit 42. In this case, the CPU 44 of the display ECU 32 displays images in which the display proportion of the road surface is larger than the display proportion of a body side surface 2m of the vehicle 1, in order to easily understand the state of the road surface around the front wheels 3 in the left-side display area SVL and the right-side display area SVR. In addition, the inclinometer 66 displays the inclination of the vehicle 1 in the left-and-right direction (roll angle) or the inclination of the vehicle 1 in the front-and-rear direction (pitch angle) in a position of a symbol 68 based on signals from the acceleration sensors 26 (26a and 26b).

[0050] In addition, the slip indicator meter 70 indicates the slipping wheel 3 when the slipping (idling) wheel 3 is present based on signals from the vehicle speed sensors 22 (22a to 22d). In the case of Fig. 6, the left and right front wheels 3F and the right rear wheel 3R of a vehicle symbol 72 are not in the slip / idle state and are displayed, for example, in a semi-transparent form. Meanwhile, the left rear wheel 3R is in the slip (idle) state and is displayed, for example, in red.

[0051] Fig. 7 is a view illustrating a state in which the CPU 44 of the display ECU 32 switches the screen of the display device 8 to the second control mode screen when the integrated ECU 30 judges that the vehicle 1 is in water, that is, off-road (off-road travel). As described above, because it can be determined according to the state of the error signals of the distance measuring units 16 and 17 that the vehicle 1 has entered the water crossing state, the switching unit 42 of the integrated ECU 30 can cause the display ECU 32 to display a separate screen for off-road travel.

[0052] In the case of Fig. 7, while the layout of the front display area FV, the left-side display area SVL, the right-side display area SVR and the attitude display area PV is the same as the layout in Fig. 6, the internal layout of the left-side display area SVL and the right-side display area SVR is different from that in Fig. 6. As in Fig. As illustrated in Fig. 7, the left-side display area SVL and the right-side display area SVR display a "water level limit line L" and a "water level reference line K." The "water level limit line L" is an index line indicating the height at which water passage becomes impossible when the vehicle is in the water passage, and is superimposed on a current image indicating the body side surface 2m of the vehicle 1. In addition, the "water level reference line K" is an index line that is substantially parallel to the water level limit line L without reaching the water level limit line L, and is intended to notify the driver or the like in advance of the rise in the water level.The “water level limit line L” is a line indicating a height up to which, for example, waterproofing processing or water separation processing is performed in the design stage of the vehicle 1, and a height preset by the driving performance or the like of the vehicle 1 is assigned to a position, for example, 600 mm upward away from the ground contact surface of the wheels 3. In addition, when two water level reference lines are superimposed as the “water level reference line K”, one of the two water level reference lines is superimposed as the “first water level reference line K1”, for example, at a position 400 mm downward away from the “water level limit line L”, that is, a position 200 mm upward away from the ground contact surface of the wheels 3.The other is superimposed as a "second water level reference line K2" at a position, for example, 200 mm downward from the "water level boundary line L," that is, a position 400 mm upward from the ground contact surface of the wheels 3. As described above, because the amount of water level rise toward the body side surface 2 m can be gradually indicated by providing the "water level reference line K," attention to the water level rise can be gradually performed. In addition, the presence / absence of display of the "water level reference line K" can be selected by the driver or the like.

[0053] In the case of the second control mode screen in which the water level boundary line L (the water level reference line K) is displayed, the area displayed by the body side surface 2m in the images displayed in the left-side display area SVL and the right-side display area SVR is larger than that in the case of bottom crossing in which the water level boundary line L (the water level reference line K) is not displayed. In the case of water crossing, what is mainly displayed is the extent to which the water surface W rises with respect to the water level boundary line L (the water level reference line K). Due to this, the area displayed by the body side surface 2m in the left-side display area SVL and the right-side display area SVR is enlarged. By changing the layout within the images, the visibility of the relationship between the water level boundary line L (the water level reference line K) and the water surface W can be improved.

[0054] As described above, the driving assistance system 100 detects the state of the vehicle 1, for example, the state of starting off-road travel (a road with irregular surfaces), and compares the reference value (the threshold value) with the tilt amount of the vehicle 1 in the vehicle width direction, or the tilt amount of the vehicle in the front-and-rear direction, the height difference amount of the wheels 3 of the vehicle 1 (e.g., the height difference amount of the right wheels, the height difference amount of the front and rear wheels, or the height difference amount of the front and rear wheels and the left and right wheels), the value indicating the slip state of the wheels 3, and others. If at least one of the items is greater than or equal to the reference value (the threshold value), the driving assistance system 100 automatically switches the control of the vehicle 1 to the second control mode suitable for off-road travel.Additionally, in the driving assistance system 100, it can also be determined whether the state of the vehicle 1 is underground crossing or water crossing, and switching between the first control mode and the second control mode can be performed. As a result, when the vehicle 1 starts an off-road trip, the driver does not need to manually operate the switch or the like, so the driver hardly feels uncomfortable, and further, the driver can drive (operate) the vehicle 1 in the optimal state. In addition, as described above, the first control mode can be switched to the second control mode when the number of occurrences of the case where the detection result becomes greater than or equal to the threshold value is a predetermined value or more (the value of the number of occurrences; e.g., three times).In this case, the first control mode may be switched to the second control mode when the number of times the same item, for example, the detection result of the tilt amount of the vehicle 1 in the vehicle width direction, becomes greater than or equal to the reference value (the threshold value), is a predetermined number of times (e.g., three times) or more within a predetermined time period. In another example, the first control mode may be switched to the second control mode when a sum of the number of times the case where multiple different items, for example, the detection results of the tilt amount of the vehicle 1 in the vehicle width direction and the value indicating the slip state, become greater than or equal to the threshold value, is a predetermined number of times (e.g., three times) or more within a predetermined time period.In this case, the control mode is prevented from being switched to the second control mode in response to the state of the vehicle 1, and in the case of extreme off-road driving when the state of the vehicle 1 changes into complex aspects, the control mode can be quickly switched to the second control mode.

[0055] In the above descriptions, the display mode was described as the second control mode suitable for off-road driving. However, when the vehicle speed is high during off-road driving (a road with irregular surfaces), excessive shaking or impact may act on the vehicle 1 and the occupant, causing damage to the vehicle 1 or discomfort to the occupant. Accordingly, according to the present embodiment, when the integrated ECU 30 (the switching unit 42) determines to switch the control of the vehicle 1 to the second control mode, the speed of the corresponding vehicle 1 can be regulated to be lower than that of the first control mode by setting a speed limit value.For example, when the switching unit 42 determines to switch the control mode to the second control mode, the CPU 52 of the engine ECU 34 regulates the vehicle speed to a constant vehicle speed, for example, 10 km / h, by restricting the fuel injection amount or the intake air amount, or by adjusting the opening degree of the electronic throttle, regardless of the detection value of the accelerator sensor 20, that is, regardless of the driver's force when depressing the accelerator pedal. That is, the vehicle speed of the vehicle 1 is controlled within a range of 0 km / h to 10 km / h. By performing the vehicle speed regulation, the off-road travel of the vehicle 1 can be performed more safely.Also in this case, the driving assistance system 100 detects the state of the vehicle 1, for example, the state of starting off-road travel (a road with irregular surfaces), and automatically switches the control of the vehicle 1 to the second control mode suitable for off-road travel. As a result, when the vehicle 1 starts off-road travel, the driver does not need to manually operate the switch or the like, so the driver hardly feels any inconvenience, and further, the driver can drive (operate) the vehicle 1 in the optimal state. In addition, when the vehicle speed control is performed by the engine ECU 34, the CPU 44 of the display ECU 32 may display a message such as "speed control" on the display screen of the second control mode, for example, in the front display area FV, as shown in FIG. Fig.6. In addition, an audio message such as "speed control" may be output using the audio output device 9. However, when the audio message is output, the output must be limited to approximately three times to avoid excessive notification.

[0056] Similarly, when the vehicle 1 is traveling off-road (on a road with irregular surfaces), in a case where the vehicle height is still suitable for traveling on the road, that is, in a case where the vehicle height is still low, there is a high possibility that the bumpers or the bottom portion of the vehicle body may come into contact with the road surface, and damage to the vehicle 1 may be caused, or the bottom portion of the vehicle body may travel over the rock or the like, and therefore the vehicle 1 is in the traveling-impossible state (a state where the wheels 3 are lifted off the road surface).Accordingly, in the case of the present embodiment, when the integrated ECU 30 (the switching unit 42) determines to switch the control of the vehicle 1 to the second control mode, for example, when the height difference amount of the left and right wheels of the vehicle 1 becomes greater than or equal to the reference value, the vehicle height can be made higher than the vehicle height in the first control mode. For example, when the switching unit 42 determines to switch the control of the vehicle 1 to the second control mode, the CPU 60 of the vehicle height adjustment ECU 36 discharges working fluid from the hydraulic controller 56 to expand the damping units 58 and raise the vehicle height of the vehicle 1 to a height suitable for off-road travel. By performing the vehicle height rise control, the off-road travel of the vehicle 1 can be performed more safely.Also in this case, the driving assistance system 100 detects the state of the vehicle 1, for example, the state of starting off-road travel (a road with irregular surfaces), and automatically switches the control mode to the second control mode suitable for off-road travel. As a result, when the vehicle 1 starts off-road travel, the driver does not need to manually operate the switch or the like, so the driver hardly feels any discomfort, and further, the driver can drive (operate) the vehicle 1 in the optimal state. In addition, the amount of increase in the vehicle height can be determined according to the amount of inclination of the vehicle 1. In this case, the center of gravity of the vehicle 1 is prevented from being unnecessarily raised, and therefore, the off-road travel performance can be improved while maintaining the balance of the vehicle 1.Also in this case, the CPU 44 of the display ECU 32 may superimpose and display a message such as "vehicle height is rising" on the display screen of the second control mode of the display device 8. An audio message may also be output. In addition, in the speed limit or the vehicle height control, when the number of occurrences of the case where the detection result becomes greater than or equal to the threshold value is a predetermined number of occurrences (a value of the number of times) or more, the first control mode may be switched to the second control mode. After switching to the second control mode, the display control, the speed control, and the vehicle height control may be switched to the second control mode simultaneously, or an item to be switched may be selected by a user or the like.For example, only the display control and the vehicle speed control may be switched to the second control mode. Additionally, the switching timing of the item to be switched may be changed by user selection. For example, assuming the vehicle has entered off-road driving, the display control is first switched to the second control mode. When the off-road driving continues for a predetermined period of time, the speed control is switched to the second control mode. Furthermore, when the off-road driving continues, the vehicle height control may be switched to the second control mode. Additionally, the switching order may be appropriately changed.

[0057] In the above-described embodiment, the example in which the acceleration sensors 26, the vehicle height sensors 28, the wheel speed sensors 22, the distance measuring units 16 and 17, and others are used as sensors for detecting the state of the vehicle 1 was described. However, the embodiments disclosed here are not limited to this. Other sensors can be used appropriately, and the identical effects can be obtained. For example, the tilt degree of the vehicle 1, the height difference degree, the occurrence / non-occurrence of water crossing, and others can be detected by performing image analysis on the image from the image data imaged by the imaging units 15. In addition, the integrated ECU 30 can obtain the tilt degree according to the display state of the inclinometer 66.In addition, the integrated ECU 30 can obtain the tilt amount of the vehicle 1 by extracting the horizon from the image displayed on the display device 8.

[0058] In addition, the display ECU 32 may perform viewpoint conversion processing or the like on the captured image data and cause the display device 8 to display a bird's-eye view image from which the surrounding circumstances of the vehicle 1 can be easily grasped as the image of the second control mode. In addition, when the wheels 3 are in the slipping (idling) state, the display ECU 32 may perform viewpoint conversion processing or the like on the captured image data and cause the display device 8 to display an image from which the wheels 3 in the slipping state can be more easily recognized.

[0059] Although embodiments and modifications disclosed herein have been described, these embodiments and modifications are merely exemplary and are not intended to limit the scope of the disclosure. These new embodiments may be implemented in other various forms, and various omissions, substitutions, and changes may be made without departing from the gist of the disclosure. These embodiments and modifications thereof are encompassed within the scope or gist of the disclosure and are included in the disclosure described in the claims and the equivalent scope thereof.

[0060] The principles, preferred embodiment, and mode of operation of the present invention have been described in the foregoing specification. However, the invention to be protected is not intended to be limited to the particular embodiments disclosed. Furthermore, the embodiments disclosed herein are to be considered illustrative rather than restrictive. Variations and changes may be made by third parties, and equivalents may be employed, without departing from the spirit of the present invention. Accordingly, it is expressly intended that all such variations, changes, and equivalents included within the spirit and scope of the present invention as defined in the claims be embraced thereby.

[0061] A driving assistance device (100) comprises: a comparison unit (40) that compares a detection result based on an output value output by a sensor (22, 26, 28) for detecting a state of a vehicle (1) with a previously stored reference value;and a controller (42) which, when the comparison by the comparison unit determines that the detection result is greater than or equal to the reference value, switches a first control mode to a second control mode different from the first control mode with respect to a display control capable of switching a display of information related to the vehicle, and / or a vehicle height control capable of switching a vehicle height with a vehicle height adjustment device (58, 58a, 58b, 58c and 58d) of the vehicle, and / or a vehicle speed control capable of switching a speed limit with a vehicle control device of the vehicle.

Claims

[1] Driving assistance device (100) with: a comparison unit (40) that compares a detection result based on an output value output by a sensor (22, 26, 28) for detecting a state of a vehicle (1) with a previously stored reference value; and a controller (42) which, when the comparison by the comparison unit determines that the detection result is greater than or equal to the reference value, switches a first control mode to a second control mode which is different from the first control mode with respect to a display control capable of switching a display of information relating to the vehicle, and / or a vehicle height control capable of switching a vehicle height with a vehicle height adjustment device (58, 58a, 58b, 58c and 58d) of the vehicle, and / or a vehicle speed control capable of switching a speed limit with a vehicle control device of the vehicle, wherein the sensor (22, 26, 28) comprises a sonar (16, 17), and when a sonar error signal matches immersion information, the controller (42) determines that the vehicle (1) is in a water crossing state. [2] The driving assistance device according to claim 1, wherein the sensor comprises a tilt sensor that detects a tilt amount of the vehicle. [3] The driving assistance device according to claim 1, wherein the sensor comprises a sensor that detects a value indicative of a slip state of wheels of the vehicle. [4] The driving assistance device according to claim 1, wherein the sensor comprises a sensor that detects a height difference amount of the wheels of the vehicle. [5] The driving assistance device according to any one of claims 1 to 4, wherein the controller displays, as the second control mode of the display controller, information indicating the state of the vehicle for off-road travel. [6] A driving assistance device according to claim 5, wherein the controller displays inclination information of the vehicle as information indicating the state of the vehicle for off-road travel. [7] The driving assistance device according to any one of claims 1 to 6, wherein the controller, as the second control mode of the vehicle height control, increases a driving height of the vehicle by the vehicle height adjusting device to be higher than that in the first control mode. [8] The driving assistance device according to any one of claims 1 to 7, wherein the controller sets, as the second control mode of the vehicle speed control, a speed limit value for the speed of the vehicle by the vehicle speed control device to be lower than that in the first control mode. [9] The driving assistance device according to any one of claims 1 to 8, wherein the comparison unit refers, as the reference value, to a threshold value to be compared with the detection result, and when the detection result is greater than or equal to the threshold value, the controller switches the first control mode to the second control mode. [10] The driving assistance device according to any one of claims 1 to 8, wherein the comparison unit refers, as the reference value, to a value of the number of occurrences that a value becomes greater than or equal to a predetermined threshold within a predetermined time period, and when the detection result is greater than or equal to the value of the number of occurrences within the predetermined time period, the controller switches the first control mode to the second control mode.

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