ROAD SURFACE DETECTION SYSTEM AND VEHICLE CONTROL UNIT

Abstract

A road surface detection system and a vehicle control unit are provided, capable of implementing suitable driving operation according to the waviness of a road surface in a vehicle's direction of travel. For this purpose, the road surface detection system 300, which detects a property of a road surface on which the vehicle 100 is traveling, includes the imaging unit 301, which captures an image of the road surface; the waviness estimation unit 303, which estimates the waviness of the road surface from the image; the front-to-back waviness cycle estimation unit 304, which estimates a waviness cycle in the front-to-back direction of the vehicle 100 from the image; and the road surface shape determination unit 306, which determines a shape of the road surface based on the waviness and the front-to-back waviness cycle.

Description

Technical field

[0001] The present invention relates to a road surface detection system and a vehicle control device that detects the shape of a road surface on which a vehicle is driving. background

[0002] For example, PTL 1 discloses a conventional technique for a method of recognizing the shape of a road surface. PTL 1 discloses a method for recognizing the shape of a road surface by capturing at least one image of a peripheral section in front of a vehicle using a 3D camera, wherein an uneven profile of the road surface is determined laterally with respect to a direction of travel of the vehicle along several lines from image data of the 3D camera and the shape of the road surface is recognized from the determined uneven profile. Citation list for patent literature

[0003] PTL 1: JP 2015-510119 A Overview of the invention Technical problem

[0004] In the method described in PTL 1, the uneven profile of the road surface is indexed laterally (in left-right direction) with respect to the direction of travel (driving direction or forward-reverse direction) of the vehicle, and it is not possible to capture the influence of the unevenness of the road surface on the driving operation in the direction of travel of the vehicle.

[0005] The present invention was made with regard to the problems mentioned above, and one object thereof is to provide a road surface detection system and a vehicle control device capable of realizing a suitable driving operation according to the undulations of a road surface in a direction of travel of a vehicle. Solution to the problem

[0006] To achieve the above-mentioned objective, the present invention provides a road surface detection system that detects a property of a road surface on which the vehicle is driving and includes the imaging unit that takes an image of the road surface, the ripple strength estimation unit that estimates the ripple strength of the road surface from the image, the front-to-back ripple cycle estimation unit that estimates a front-to-back ripple cycle, which is a ripple cycle in the front-to-back direction of the vehicle, from the image, and the road surface shape determination unit that determines a shape of the road surface based on the ripple strength and the front-to-back ripple cycle.

[0007] The present invention further comprises the road surface detection system, the suspension control unit which controls the stiffness of the vehicle's suspension, the drive force control unit which controls the vehicle's drive force, and the steering control unit which controls the vehicle's steering force, wherein the suspension control unit controls the stiffness of the vehicle's suspension according to the shape of the road surface determined by the road surface determination unit, the drive force control unit controls the vehicle's drive force according to the shape of the road surface determined by the road surface determination unit, and the steering control unit controls the vehicle's steering force according to the shape of the road surface determined by the road surface determination unit. Advantageous effects of the invention

[0008] According to the present invention, it is possible to implement a suitable driving operation corresponding to the undulations of a road surface in one direction of travel of a vehicle. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention. [ Fig. 2] Fig. Figure 2 is a functional block diagram of a road surface detection system according to the embodiment of the present invention. [ Fig. 3] Fig. Figure 3 is a flowchart illustrating the processing of a vehicle control device according to the embodiment of the present invention. [ Fig. 4] Fig. Figure 4 is a diagram illustrating an example of control contents of a suspension control unit, a drive force control unit and a steering control unit in each driving mode of the vehicle in good weather (when the road surface is dry) according to the embodiment of the present invention. [ Fig. 5] Fig. Figure 5 is a diagram illustrating an example of the control contents of a suspension control unit, a drive force control unit and a steering control unit in each driving mode of the vehicle in rainy weather (when a road surface is wet) according to the embodiment of the present invention. Description of the embodiments

[0009] In the following, embodiments of the present invention are described with reference to the drawings. In the drawings, identical elements are designated by the same reference numerals, and redundant descriptions are omitted.

[0010] Fig. Figure 1 is a schematic configuration diagram of a vehicle according to the present embodiment. A vehicle 100 includes a power source 101, a wheel 102, a steering wheel 103, a power steering system 104, an accelerator pedal 105, a brake pedal 106, a suspension 107, and a vehicle control unit 200.

[0011] The power source 101, for example, is at least one of a machine and an engine and drives the wheel 102 via a transmission. The wheel 102 has a tire, which is a ground contact section of the vehicle 100. The steering wheel 103 is operated by a driver, who is an occupant of the vehicle 100, during manual driving. The power steering 104 generates a steering force corresponding to the operation of the steering wheel 103.

[0012] The accelerator pedal 105 increases or decreases the driving force delivered by the power source 101 when the driver increases or decreases the degree of actuation while manually driving the vehicle 100. The brake pedal 106 increases or decreases a braking force acting on the wheel 102 when the driver increases or decreases the degree of actuation while manually driving the vehicle 100. The suspension 107 suppresses road surface vibrations that are transmitted from the wheel 102 to the vehicle body.

[0013] The vehicle control unit 200, for example, is an electronic control unit designed by a microcomputer containing a central processing unit (CPU), memory, a program, a timer, an input / output unit, and the like. The vehicle control unit 200 includes a steering control unit 201, a drive force control unit 202, a suspension control unit 203, and a road surface detection system 300. Each unit of the vehicle control unit 200 can be formed by a microcomputer, or two or more units can be integrated into one microcomputer. Furthermore, each unit of the vehicle control unit 200 can, for example, represent a function of the vehicle control unit 200 that is implemented by the CPU executing a program.

[0014] The road surface detection system 300 detects the shape and condition of the road surface and outputs this information to the steering control unit 201, the drive force control unit 202, and the suspension control unit 203. The steering control unit 201 controls the power steering 104 according to the degree of steering wheel input 103 and the shape and condition of the road surface input from the road surface detection system 300. The drive force control unit 202 controls the power source 101 according to the degree of accelerator pedal input 105 and the shape and condition of the road surface input from the road surface detection system 300.The suspension control unit 203 controls the suspension 107 according to the shape and condition of the road surface, which are fed in by the road surface detection system 300.

[0015] Fig. Figure 2 is a functional block diagram of the road surface detection system 300. The road surface detection system 300 includes a stereo camera 301 as the imaging unit, a unit 303 for estimating the waviness intensity, a unit 304 for estimating the waviness cycle in the front-to-back direction, a unit 305 for estimating the waviness cycle in the left-to-right direction, a unit 306 for determining the shape of the road surface, a unit 307 for determining the condition of the road surface, a training database 308, and an output unit 309 for road surface information. In the present embodiment, the imaging unit is formed by the stereo camera 301, but it can also be formed by a monocular camera, a millimeter-wave radar, a laser radar, or the like.

[0016] The stereo camera 301 contains two cameras, left and right, mounted on the vehicle 100, and uses these two cameras to image the road surface ahead. A parallax calculation unit 302 calculates the parallax between the two left and right images captured by the stereo camera 301. Based on the parallax information from the parallax calculation unit 302, the unit 303 estimates the degree of waviness (for example, the vertical distance from the peak to the trough of the waviness) on the road surface.

[0017] Unit 304, for estimating the front-to-back waviness cycle, calculates the waviness cycle (for example, the horizontal distance from one peak to another of the waviness in the front-to-back direction) of the road surface in the front-to-back direction based on parallax information from parallax calculation unit 302. Unit 305, for estimating the left-to-right waviness cycle, calculates the waviness cycle (for example, the horizontal distance from one peak to another of the waviness in the left-to-right direction) of the road surface in the left-to-right direction of vehicle 100 based on parallax information from parallax calculation unit 302. Unit 306, for determining the shape of the road surface, determines the shape of the road surface based on the front-to-back and left-to-right waviness cycles.

[0018] The unit 307 for determining the condition of the road surface determines a condition of the road surface (for example, a dry condition, a wet condition, a snowy condition, or a frozen condition) by comparing the luminance information contained in an image taken by the stereo camera 301 with the learning database 308. The learning database 308 holds a result of the pre-learning of the mapping between the condition of the road surface and the luminance information about the road surface.

[0019] The output unit 309 for road surface information outputs the respective determination results of unit 306 for determining the shape of the road surface and unit 307 for determining the condition of the road surface as road surface information to the steering control unit 201, the drive force control unit 202 and the suspension control unit 203.

[0020] Fig. Figure 3 is a flowchart illustrating the processing of the vehicle control unit 200. First, the parallax calculation unit 302 inputs two left and right images from the stereo camera 301 (step S1) and calculates the parallax between these two images (step S2). After step S2, the ripple estimation unit 303 calculates the ripple intensity, the front-to-back ripple cycle estimation unit 304 calculates the ripple cycle in the front-to-back direction, the left-to-right ripple cycle estimation unit 305 calculates the ripple cycle in the left-to-right direction, and the road surface condition determination unit 307 estimates the road surface condition (step S3).After step S3, the road surface shape determination unit 306 determines the shape of the road surface, and the road surface condition determination unit 307 determines the condition of the road surface (step S4). After step S4, the steering control unit 201, the drive force control unit 202, and the suspension control unit 203 each select the driving mode based on the road surface shape and condition determined in step S4 (step S5). After step S5, the steering control unit 201, the drive force control unit 202, and the suspension control unit 203 each perform a control operation according to the driving mode selected in step S5 (step S6).

[0021] Fig. Figure 4 is a diagram illustrating an example of the respective control contents of the suspension control unit 203, the drive force control unit 202 and the steering control unit 201 in each driving mode of the vehicle 100 in good weather (when the road surface is dry).

[0022] Unit 306 for determining the shape of the road surface compares predefined thresholds to classify the waviness levels into four levels of "large", "medium", "small" and "no waviness", compares predefined thresholds to classify the waviness cycles in the front-back direction into four levels of "long", "short", "random" and "no cycle", compares predefined thresholds to classify the waviness cycles in the left-right direction into two levels of "long" and "other than long", and determines the shape of the road surface according to each classification result as one of "normal paved road", "rutted road", "wavy road", "cobblestones", "terrain" and "uphill".Each threshold for classifying the waviness, the front-to-back waviness cycle, and the left-to-right waviness cycle can be set based on, for example, a result of pre-learning the mapping between the shape of the road surface and the waviness, the front-to-back waviness cycle, and the left-to-right waviness cycle.

[0023] If the waviness is "no waviness" and the front-to-back waviness cycle is "no cycle", the road surface shape is determined to be "normal paved road". If the waviness is "medium" and the left-to-right waviness cycle is "long", the road surface shape is determined to be "rutted road". If the waviness is "medium" and the front-to-back waviness cycle is "long", the road surface shape is determined to be "wavy road". If the waviness is "low" and the front-to-back waviness cycle is "short", the road surface shape is determined to be "cobblestone". If the waviness is "medium" and the front-to-back waviness cycle is "random", the road surface shape is determined to be "terrain".If the ripple intensity is "large" and the ripple cycle in the front-to-back direction is "no cycle", the shape of the road surface is determined to be "uphill".

[0024] The suspension control unit 203, the drive force control unit 202, and the steering control unit 201 select the "Normal Mode," which represents normal operation when the road surface is "normal paved road"; the "Run-out Road Mode," which stabilizes the steering process when the road surface is "rutted road"; the "Wavy Road Mode," which smooths the vehicle ride when the road surface is "wavy road"; the "Vibration Suppression Mode," which suppresses the propagation of road surface vibration when the road surface is "cobblestones"; the "Driving Performance Enhancement Mode," which reliably transmits steering input to the tires when the road surface is "off-road"; and the "Gradient Mode," which assists torque delivery when the road surface is "uphill".

[0025] In normal mode, the suspension control unit 203 controls the suspension 107 so that it has a normal stiffness suitable for driving on a normal paved road, the drive force control unit 202 controls the power source 101 so that a normal drive force suitable for driving on a normal paved road is output, and the steering control unit 201 controls the power steering 104 so that a normal steering force suitable for driving on a normal paved road is output.

[0026] In the extended-road mode, the suspension control unit 203 controls the suspension 107 similarly to the "normal mode", the drive force control unit 202 controls the power source 101 so that the acceleration / deceleration is slower than in the "normal mode", and the steering control unit 201 controls the power steering 104 so that the vehicle 100 follows the road surface more than in the "normal mode".

[0027] In undulating road mode, the suspension control unit 203 controls the suspension 107 so that the suspension 107 becomes stiffer than in "normal mode", the drive force control unit 202 controls the power source 101 so that the acceleration / deceleration becomes slower than in "normal mode", and the steering control unit 201 controls the power steering 104 similarly to "normal mode".

[0028] In vibration suppression mode, the suspension control unit 203 controls the suspension 107 so that the suspension 107 becomes softer than in "normal mode", the drive force control unit 202 controls the power source 101 so that the acceleration / deceleration becomes slower than in "normal mode", and the steering control unit 201 controls the power steering 104 similarly to "normal mode".

[0029] In driving performance improvement mode, the suspension control unit 203 controls the suspension 107 so that the suspension 107 is stiffer than in "normal mode", the drive force control unit 202 controls the power source 101 so that the torque is improved more than in "normal mode", and the steering control unit 201 controls the power steering 104 similarly to "normal mode".

[0030] In incline mode, the suspension control unit 203 controls the suspension 107 similarly to "normal mode", the drive force control unit 202 controls the power source 101 so that the torque is improved more than in "normal mode", and the steering control unit 201 controls the power steering 104 similarly to "normal mode".

[0031] Fig. Figure 5 is a diagram illustrating an example of each control content of the suspension control unit 203, the drive force control unit 202, and the steering control unit 201 in each driving mode of the vehicle 100 in rainy weather (when the road surface is wet). The following shows a difference compared to good weather (in Fig.(Figure 4) is described. The drive force control unit 202 in "normal mode" during rainy weather controls the power source 101 so that acceleration / deceleration is slower than in good weather. The suspension control unit 203 in "rough road mode" during rainy weather controls the suspension 107 so that it is softer than in "normal mode". The suspension control unit 203 in "undulating road mode" during rainy weather controls the suspension 107 in the same way as in "normal mode". As described above, by changing each control content of the steering control unit 201, the drive force control unit 202, and the suspension control unit 203 in each driving mode according to the condition of the road surface, it is possible to achieve suitable driving operation corresponding to the condition of the road surface. (Compilation)

[0032] In the present embodiment, the road surface detection system 300, which detects a property of a road surface on which the vehicle 100 is driving, includes the imaging unit 301, which takes an image of the road surface, the ripple estimation unit 303, which estimates the ripple strength of the road surface from the image, the front-to-back ripple cycle estimation unit 304, which estimates a ripple cycle in the front-to-back direction of the vehicle 100 from the image, and the road surface shape determination unit 306, which determines a shape of the road surface based on the ripple strength and the ripple cycle in the front-to-back direction.

[0033] Furthermore, according to the present embodiment, the vehicle control unit 200 includes the road surface detection system 300, the suspension control unit 203, which controls the stiffness of the suspension 107 of the vehicle 100, the drive force control unit 202, which controls the drive force of the vehicle 100, and the steering control unit 201, which controls the steering force of the vehicle 100, wherein the suspension control unit 203 controls the stiffness of the suspension of the vehicle 100 according to the shape of the road surface determined by the unit 306 for determining the shape of the road surface, and the drive force control unit 202 controls the drive force of the vehicle 100 according to the shape of the road surface determined by the unit 306 for determining the shape of the road surface.and the steering control unit 201 controls the steering force of the vehicle 100 according to the shape of the road surface determined by the unit 306 for determining the shape of the road surface.

[0034] According to the embodiment configured as described above, it is possible to achieve a suitable driving operation corresponding to the undulations of the road surface in the direction of travel (front-to-back direction) of the vehicle 100.

[0035] Furthermore, in the road surface detection system 300 according to the present embodiment, the imaging unit 301 is the stereo camera 301, the road surface detection system 300 also includes the parallax calculation unit 302, which calculates the parallax between the two images captured by the stereo camera 301, and the waviness estimation unit 303, which estimates the waviness based on the parallax. This makes it possible to estimate the waviness of the road surface with high accuracy.

[0036] Furthermore, in the road surface detection system 300 according to the present embodiment, unit 306 determines the shape of the road surface based on the waviness and the waviness cycle in the front-to-back direction, indicating that the shape of the road surface is one of the following: a normal paved road, a wavy road, cobblestones, off-road terrain, and an incline. Consequently, it is possible to achieve suitable driving operation on a normal paved road, a wavy road, cobblestones, an off-road track, and an incline.

[0037] Furthermore, according to the present embodiment, the road surface detection system also includes the unit 305 for estimating the left-right ripple cycle, which estimates a left-right ripple cycle, corresponding to the left-right ripple cycle of the vehicle 100, from the image, and the unit 306 for determining the shape of the road surface, which determines, based on the ripple intensity, the front-back ripple cycle, and the left-right ripple cycle, that the shape of the road surface is one of the following: a normal paved road, a rutted road, a wavy road, cobblestones, terrain, and an incline. This makes it possible to achieve suitable driving operation on a normal paved road, a rutted road, a wavy road, cobblestones, terrain, and an incline.

[0038] Furthermore, when the unit 306 for determining the shape of the road surface in the vehicle control unit 100, according to the present embodiment, determines that the shape of the road surface is the worn road, the suspension control unit 203 controls the stiffness of the suspension similarly to the case where the road surface is determined to be a normal paved road. The drive force control unit 202 controls the drive force so that the acceleration / deceleration of the vehicle 100 is slower than in the case where the road surface is determined to be a normal paved road. The steering control unit 201 controls the steering force so that the vehicle 100 follows the road surface more closely than in the case where the road surface is determined to be a normal paved road. As a result, it is possible to achieve suitable driving operation on the worn road.

[0039] Furthermore, in the vehicle control unit 200 according to the present embodiment, when the unit 306 determines the shape of the road surface, the suspension control unit 203 controls the stiffness of the chassis 107 so that the chassis 107 becomes stiffer than when it is determined that the road surface is a normal paved road; the drive force control unit 202 controls the drive force so that the acceleration / deceleration of the vehicle 100 becomes slower than when it is determined that the road surface is a normal paved road; and the steering control unit 201 controls the steering force similarly to when it is determined that the road surface is a normal paved road. Accordingly, suitable driving operation can be achieved.

[0040] Furthermore, in the vehicle control unit 200 according to the present embodiment, when the unit 306 determines the shape of the road surface and specifies that the road surface is cobblestones, the suspension 107 is adjusted so that it becomes softer than when the road surface is determined to be a normal paved road. The drive force control unit 202 adjusts the drive force so that the acceleration / deceleration of the vehicle 100 is slower than when the road surface is determined to be a normal paved road. Finally, the steering control unit 201 adjusts the steering force similarly to when the road surface is determined to be a normal paved road. This enables suitable driving on the cobblestones.

[0041] Furthermore, in the vehicle control unit 200 according to the present embodiment, when the unit 306 determines the shape of the road surface and specifies that the road surface is off-road, the suspension 107 is stiffer than when the road surface is specified as a normal paved road. The drive force control unit 202 controls the drive force so that the torque of the vehicle 100 is enhanced more than when the road surface is specified as a normal paved road. Finally, the steering control unit 201 controls the steering force similarly to when the road surface is specified as a normal paved road. Accordingly, suitable off-road driving is possible.

[0042] Furthermore, in the vehicle control unit 200 according to the present embodiment, when the unit 306 determines the shape of the road surface and specifies that the shape of the road surface is the gradient, the suspension stiffness 107 is adjusted similarly to the case where the road surface is determined to be a normal paved road. The drive force control unit 202 adjusts the drive force so that the torque of the vehicle 100 is enhanced more than when the road surface is determined to be a normal paved road. The steering control unit 201 adjusts the steering force similarly to the case where the road surface is determined to be a normal paved road. This enables suitable driving operation on the gradient.

[0043] Furthermore, the road surface detection system 300 in the vehicle control unit 200 according to the present embodiment also includes the learning database 308, which contains a result of pre-learning the mapping between the state of the road surface and the luminance information of the road surface, and the road surface state determination unit 307, which determines the state of the road surface by comparing the luminance information contained in the image of the road surface with the learning database 308, wherein the suspension control unit 203 controls the stiffness of the suspension of the vehicle 100 according to the shape of the road surface determined by the road surface shape determination unit 306 and the road surface state determined by the road surface state determination unit 307.The drive force control unit 202 controls the drive force of the vehicle 100 according to the shape of the road surface determined by unit 306 and the condition of the road surface determined by unit 307, and the steering control unit 201 controls the steering force of the vehicle 100 according to the shape of the road surface determined by unit 306 and the condition of the road surface determined by unit 307. As a result, it is possible to achieve suitable driving operation corresponding to the condition of the road surface.

[0044] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above and includes various modifications. For example, the embodiments described above have been described in detail for ease of understanding of the present invention and are not necessarily limited to those that have all the configurations described. Reference symbol list 100 vehicles 101 Power source 102 wheels 103 Steering wheel 104 Power steering 105 accelerator pedal 106 Brake pedal 107 Suspension 200 vehicle control unit 201 Steering control unit 202 Drive force control unit 203 Suspension control unit 300 road surface detection system 301 Imaging unit (stereo camera) 302 Parallax Calculation Unit 303 Unit for estimating ripple intensity 304 Unit for estimating the ripple cycle in the front-to-back direction 305 Unit for estimating the ripple cycle in the left-right direction 306 Unit for determining the shape of the road surface 307 Unit for determining the condition of the road surface 308 Learning Database 309 Output unit for road surface information QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2015-510119 A

[0003]

Claims

[1] Road surface detection system that detects a property of a road surface on which a vehicle is driving, with an imaging unit that captures an image of the road surface, a unit for estimating the degree of waviness, which estimates the waviness of the road surface from the image, a unit for estimating the front-to-back ripple cycle, which estimates a front-to-back ripple cycle of the vehicle from the image, and a unit for determining the shape of the road surface, which determines a shape of the road surface based on the waviness strength and the waviness cycle in the forward-backward direction. [2] Road surface detection system according to claim 1, wherein the imaging unit is a stereo camera, the road surface detection system also includes a parallax calculation unit that calculates the parallax between two images captured by the stereo camera, and The unit for estimating ripple strength estimates the ripple strength based on the parallax. [3] Road surface detection system according to claim 1, wherein the unit for determining the shape of the road surface, based on the waviness intensity and the waviness cycle in the front-back direction, determines that the shape of the road surface is one of the following: a normal paved road, a wavy road, cobblestones, terrain and a gradient. [4] Road surface detection system according to claim 1, further comprising: a unit for estimating the ripple cycle in the left-right direction, which estimates a ripple cycle in the left-right direction, which is a ripple cycle in the left-right direction of the vehicle, from the image, wherein the unit for determining the shape of the road surface, based on the degree of waviness, the front-to-back waviness cycle and the left-to-right waviness cycle, determines that the shape of the road surface is one of the following: a normal paved road, a rutted road, a wavy road, cobblestones, terrain or a gradient. [5] Vehicle control device which includes: the road surface detection system according to claim 4; a suspension control unit that controls the stiffness of the vehicle's suspension; a drive force control unit that controls the vehicle's drive force; and a steering control unit that controls the steering force of the vehicle, wherein the suspension control unit controls the stiffness of the vehicle's suspension according to a shape of the road surface determined by the unit for determining the shape of the road surface, The drive force control unit controls the vehicle's drive force according to the shape of the road surface determined by the road surface shape control unit, and The steering control unit controls the steering force of the vehicle according to the shape of the road surface determined by the unit for determining the shape of the road surface. [6] Vehicle control device according to claim 5, wherein in a case where the unit for determining the shape of the road surface determines that the shape of the road surface is the rutted road, The suspension control unit controls the stiffness of the suspension similarly to a case where the road is determined to be a normal paved road. The drive force control unit controls the drive force in such a way that the acceleration / deceleration of the vehicle is slower than in a case where the road is determined to be a normal paved road, and The steering control unit controls the steering force so that the vehicle follows the road surface, compared to a case where the road surface is determined to be a normal paved road. [7] Vehicle control device according to claim 5, wherein in a case where the unit for determining the shape of the road surface determines that the shape of the road surface is the wavy road, The suspension control unit controls the stiffness of the suspension so that the suspension is stiffer than in a case where the road is determined to be a normal paved road. The drive force control unit controls the drive force in such a way that the acceleration / deceleration of the vehicle is slower than in a case where the road is determined to be a normal paved road, and The steering control unit controls the steering force in a similar way to a case where it is determined that the road is a normal paved road. [8] Vehicle control device according to claim 5, wherein in a case where the unit for determining the shape of the road surface determines that the shape of the road surface is cobblestones, The suspension control unit controls the stiffness of the suspension so that the suspension is softer than in a case where the road is determined to be a normal paved road. The drive force control unit controls the drive force in such a way that the acceleration / deceleration of the vehicle is slower than in a case where the road is determined to be a normal paved road, and The steering control unit controls the steering force in a similar way to a case where it is determined that the road is a normal paved road. [9] Vehicle control device according to claim 5, wherein in a case where the unit for determining the shape of the road surface determines that the shape of the road surface is terrain, The suspension control unit controls the stiffness of the suspension so that the suspension is stiffer than in a case where the road is determined to be a normal paved road. The drive force control unit controls the drive force in such a way that the vehicle's torque is improved more than in the case of determining that the road is a normal paved road, and The steering control unit controls the steering force in a similar way to a case where it is determined that the road is a normal paved road. [10] Vehicle control device according to claim 5, wherein in a case where the unit for determining the shape of the road surface determines that the shape of the road surface is the gradient, The suspension control unit controls the stiffness of the suspension in a similar way to a case where the road is determined to be a normal paved road. The drive force control unit controls the drive force in such a way that the vehicle's torque is improved more than in the case of determining that the road is a normal paved road, and The steering control unit controls the steering force in a similar way to a case where it is determined that the road is a normal paved road. [11] Vehicle control device according to claim 5, wherein the road surface detection system includes: a learning database that holds a result of pre-learning a mapping between a state of the road surface and luminance information of the road surface; and a unit for determining the condition of the road surface, which determines the condition of the road surface by comparing luminance information contained in an image of the road surface with the learning database, The suspension control unit controls the stiffness of the vehicle's suspension according to a road surface shape determined by the road surface shape unit and a road surface condition determined by the road surface condition unit. The drive force control unit controls the vehicle's drive force according to the shape of the road surface determined by the road surface shape unit and the road surface condition determined by the road surface condition unit, and The steering control unit controls the steering force of the vehicle according to the shape of the road surface determined by the unit for determining the shape of the road surface and the condition of the road surface determined by the unit for determining the condition of the road surface.

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