Vehicle control device

Abstract

To provide a vehicle control device that enables behavior of running safety of a vehicle to be easily varied.SOLUTION: A vehicle control device 13 comprises: a vehicle condition detecting device 24; a calculation control device 14; and a vehicle behavior control device 15. The vehicle condition detecting device 24 detects a road surface situation of a road on which a vehicle 10 runs or a vehicle situation which is a situation of the vehicle 10 which runs. The calculation control device 14 determines whether the road surface situation or the vehicle situation varies with respect to a predetermined threshold. The vehicle behavior control device 15 varies behavior of safety of the vehicle 10 in accordance with a result of calculation performed by the calculation control device 14.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a vehicle control device, and more particularly to a vehicle control device that changes the behavior of a vehicle with respect to driving safety. [Background technology]

[0002] In recent years, various visual assistance devices have been developed to expand the visual range of vehicle drivers (for example, Patent Document 1).

[0003] One example of a visual aid is a front view monitor. In the front view monitor, image data captured by a front camera attached to the front end face of the vehicle is displayed on a center display inside the vehicle. In this way, the occupants can visually check the blind spots formed in front or to the sides of the vehicle through the center display, thereby improving safety when the vehicle is traveling.

[0004] Furthermore, in recent years, various devices have appeared that change the behavior of a vehicle with respect to its driving safety in accordance with the driving conditions of the vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-038372 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the above-mentioned front view monitor, the occupant must perform a call-up action such as pressing a button inside the vehicle to activate the front view monitor, which makes activating the front view monitor cumbersome.In addition, when a blind spot formed in front of or to the side of the vehicle needs to be checked immediately, the action to activate the front view monitor may not be completed in time.

[0007] The above-mentioned problems are similar to those for vehicle components other than the front view monitor, and there has been a problem in that it is difficult to immediately change the behavior of the vehicle related to its driving safety when a safety-related situation changes while the vehicle is traveling.

[0008] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a vehicle control device that can easily change the behavior of the vehicle related to the driving safety. [Means for solving the problem]

[0009] The present invention is a vehicle control device which changes vehicle behavior in response to changes in the driving conditions of the vehicle, and includes a vehicle condition detection device, a calculation control device, a vehicle behavior control device, an imaging device which images an area around the front wheels of the vehicle, and a display device which displays an image within a passenger compartment of the vehicle, wherein the vehicle condition detection device detects a contact state between the front wheels and a road surface on which the vehicle is driving, and the calculation control device determines whether the front wheels are slipping or not based on the contact state, and when it is determined by the calculation control device that the front wheels are slipping, the vehicle behavior control device causes the display device to display the image captured by the imaging device, and when the calculation control device determines that the front wheels are not slipping, the vehicle behavior control device ends the display of the image by the display device, Furthermore, the vehicle behavior control device causes the display device to display the image captured by the image capturing device when the position of the vehicle is changing while the wheels of the vehicle are not rotating. It is characterized by: Effect of the Invention

[0013] According to the present invention, it is possible to provide a vehicle control device that can easily change the behavior of the vehicle related to the driving safety. [Brief description of the drawings]

[0017] [Figure 1] 1 is a block diagram showing a connection configuration of a vehicle equipped with a vehicle control device according to an embodiment of the present invention. [Diagram 2] 1 is a diagram showing a configuration of a display device in a vehicle equipped with a vehicle control device according to an embodiment of the present invention. [Diagram 3] 4 is a flowchart showing an operation of the vehicle control device according to the embodiment of the present invention. [Figure 4] 1A, 1B, and 1C are schematic diagrams showing a vehicle control device according to an embodiment of the present invention, in which (A), (B), and (C) are schematic diagrams showing a situation in which a vehicle equipped with the vehicle control device travels on a sloped road. [Diagram 5] FIG. 1 is a diagram showing a vehicle control device according to an embodiment of the present invention, and is a schematic diagram showing a situation in which a vehicle equipped with the vehicle control device travels on a road on which stones exist. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] A vehicle control device according to an embodiment of the present invention will be described in detail below with reference to the drawings. In the following description, the front, rear, up, down, left and right directions are used, and the left and right directions refer to the left and right directions when the vehicle 10 is viewed from the front. Furthermore, in the following description, the same members are generally given the same reference numerals, and repeated description will be omitted.

[0019] FIG. 1 is a block diagram showing a connection configuration of a vehicle 10 equipped with a vehicle control device 13.

[0020] Referring to FIG. 1, a vehicle 10 mainly has an arithmetic and control device 14, an input device 12, a vehicle drive device 16, an exterior environment recognition device 22, a memory device 18, a vehicle behavior control device 15, a vehicle driving device 20, a photographing device 23, a vehicle condition detection device 24, a vehicle safety control device 25, and a display device 17.

[0021] The arithmetic and control device 14 is a control means of the vehicle 10, and is, for example, an electronic control unit (ECU) including an arithmetic device that performs various calculations. The arithmetic and control device 14 executes a predetermined arithmetic process required for the vehicle 10 to travel, based on input information input from the input device 12, etc. The arithmetic and control device 14 also executes a predetermined arithmetic process for operating the vehicle control device 13. Specifically, for example, while the vehicle 10 is traveling, the arithmetic and control device 14 determines whether the road surface condition or the vehicle condition has changed by a certain amount or more, and if it determines that these conditions have changed by a certain amount or more, it changes the safety-related behavior of the vehicle 10. This matter will be described later with reference to FIG. 3, etc.

[0022] The input device 12 is composed of switches such as push buttons, a touch panel, etc. that can be operated by the driver 21. By operating the input device 12, the driver 21 can give instructions to start or end various functions of the vehicle 10.

[0023] The vehicle drive device 16 is composed of an engine, a motor, etc., which are power sources for driving the vehicle 10, a braking device, a steering device, etc. The vehicle drive device 16 also accelerates, decelerates, and steers the vehicle 10 according to the amount of operation of the vehicle driving device 20 by the driver 21.

[0024] The exterior environment recognition device 22 is a device that recognizes the environment outside the vehicle 10, and is, for example, an image sensor that captures an image in front of the vehicle 10, a radar device, a lidar device, or the like.

[0025] The storage device 18 is made up of a RAM and a ROM, and stores information required for the running of the vehicle 10. The storage device 18 also stores programs required for executing the operation of the vehicle control device 13.

[0026] The vehicle behavior control device 15 changes the safety-related behavior of the vehicle 10 when the arithmetic and control device 14 determines that the road surface conditions or vehicle conditions have changed relative to a predetermined threshold. Here, the threshold refers to the change in gradient over time or distance of the road surface conditions of the road 26 shown in Fig. 4. The threshold of the vehicle conditions refers to, for example, the contact state of the front wheels 27 with the road 26, which will be described later with reference to Fig. 5, more specifically, whether the front wheels 27 are slipping or not.

[0027] The vehicle driving device 20 is configured to accept operations performed by a driver 21 who drives the vehicle 10 to steer and adjust the vehicle speed of the vehicle 10. Specifically, the vehicle driving device 20 has a steering wheel, an accelerator pedal, and a brake pedal, which are not shown here.

[0028] The image capturing device 23 is, for example, a front view monitor disposed at the front end of the vehicle 10, and captures images of blind spots that cannot be seen by the driver 21 seated in the driver's seat. Furthermore, the image capturing device 23 may be an image sensor that captures images of the wheels of the vehicle 10, for example, the front wheels and their vicinity.

[0029] The vehicle condition detection device 24 detects the road surface condition of the road on which the vehicle 10 runs, or the vehicle condition, which is the condition of the vehicle 10 itself while running. The vehicle condition detection device 24 includes, as an example, either or both of an inclination detection sensor 241 and a ground contact detection sensor 242.

[0030] The inclination detection sensor 241 is a sensor that detects the inclination of the road on which the vehicle 10 travels. Specifically, as the inclination detection sensor 241, an acceleration sensor built into a map locator, an acceleration sensor used in an ABS (Anti-lock braking system) or a VDC (Vehicle dynamics control), or an acceleration sensor for detecting a collision type can be adopted.

[0031] The ground contact detection sensor 242 is a sensor that detects a state in which the tires of the vehicle 10 are in contact with the road 26 described below, for example, a state in which the tires are slipping, and determines whether or not there is a slip based on the rotation speed and torque of the tires. As the ground contact detection sensor 242, a wheel speed sensor that detects the rotation speed of the wheels can be used.

[0032] The vehicle safety control device 25 is a device that controls the behavior related to safety of the vehicle 10, and is, for example, a device that executes ACC (Adaptive Cruise Control). Furthermore, the vehicle safety control device 25 also functions as an engine control device.

[0033] The display device 17 is a display device formed of a liquid crystal panel or the like that is arranged inside the vehicle cabin, for example, on the dashboard or in its vicinity, and displays information related to the traveling of the vehicle 10 to inform the driver 21 of the information.

[0034] Here, among the above-mentioned components, the memory device 18, the vehicle behavior control device 15, the vehicle driving device 20, the imaging device 23, the vehicle condition detection device 24, the vehicle safety control device 25 and the display device 17 constitute the vehicle control device 13.

[0035] FIG. 2 is a diagram showing the displays provided on the dashboard 19 of the vehicle 10. As shown in FIG.

[0036] 1, a multifunction display 29, a center display 30, and a multi-information display 31 are provided on the dashboard 19. The multifunction display 29 is disposed at the center of the width of the dashboard 19, at the upper end side. The center display 30 is disposed at the center of the width of the dashboard 19, below the multifunction display 29. The multi-information display 31 is disposed behind the steering wheel 32.

[0037] In this embodiment, when it is determined that the road surface condition or the vehicle condition has changed by a certain amount or more, a display is performed to change the safety-related behavior of the vehicle 10, as described later. Such a display is performed using the multi-function display 29, the center display 30, or the multi-information display 31 as the display device 17.

[0038] 3 is a flowchart showing the operation of the vehicle control device 13. The operation of the vehicle control device 13 will be described with reference to FIG.

[0039] In step S10, the arithmetic and control device 14 starts the vehicle drive device 16, which is, for example, an engine.

[0040] In step S11, the driver 21 changes the shift range from P (parking) to, for example, D (drive) in order to drive the vehicle 10. Thereafter, based on an instruction from the driver 21 or the arithmetic and control device 14, the vehicle 10 drives in a fully automatic driving state, a semi-automatic driving state, or a manual driving state.

[0041] In step S12, the arithmetic and control device 14 determines whether the road surface condition of the road 26 on which the vehicle 10 is traveling, for example, whether the change in gradient is equal to or greater than a certain level. Here, the change in gradient refers to a change in gradient over time or a change in gradient over distance.

[0042] Step S12 will be described in detail with reference to Fig. 4. Fig. 4(A), Fig. 4(B) and Fig. 4(C) are schematic diagrams showing a situation in which a vehicle 10 equipped with a vehicle control device 13 travels on a sloped road 26. An inclination detection sensor 241 detects the inclination angle of the road 26 on which the vehicle 10 is traveling, and the arithmetic and control device 14 judges whether the change in the gradient of the road 26 is equal to or greater than a certain level based on a change in the input from the inclination detection sensor 241.

[0043] 4(A), vehicle 10 is traveling on road 26. Road 26 has, from the right side on the page, flat road 261, ramp 262, and flat road 263. Here, a case will be described in which vehicle drive device 16 is approaching the boundary between ramp 262 and flat road 263.

[0044] When the vehicle 10 approaches the end of the ramp 262, the inclination angle of the road 26 changes significantly. For example, the inclination angle of the ramp 262 is 10 degrees, and the inclination angle of the flat road 263 is 0 degrees. Therefore, at the connection between the ramp 262 and the flat road 263, the inclination angle of the road 26 is smaller by 10 degrees.

[0045] When the vehicle 10 approaches the end of the ramp 262, it becomes difficult for the driver 21 driving the vehicle 10 to grasp the situation on the flat road 263. Therefore, if an obstacle or the like is present on the flat road 263, it is assumed that it is not easy to avoid the obstacle. In this embodiment, as described later, even without any operation by the driver 21, an image captured in front of the vehicle 10 is displayed on the display device 17, thereby improving safety at the connection point between the ramp 262 and the flat road 263. Here, the image includes a moving image and a still image.

[0046] If the answer is YES in step S12, that is, if there is a change relative to a predetermined threshold value of the road 26, the arithmetic and control device 14 proceeds to step S13. Here, the predetermined threshold value is a change in gradient to such an extent that the driver 21 in the vehicle 10 cannot get a good view of the flat road 263 ahead, and depends on the height of the vehicle 10, the height of the viewpoint of the driver 21, and the like.

[0047] If the result of step S12 is NO, that is, if the change in the gradient of the road 26 has not changed relative to the predetermined threshold value, the arithmetic and control device 14 proceeds to step S17.

[0048] In step S13, based on the instruction of the arithmetic and control device 14, the vehicle behavior control device 15 performs monitor display as an example of control for enhancing safety. Specifically, based on the instruction of the arithmetic and control device 14, the photographing device 23 photographs the flat road 263 in front of the vehicle 10, and the display device 17 displays the image photographed by the photographing device 23. In this manner, the driver 21 can grasp the situation of the flat road 263 in front of the vehicle 10 through the display device 17 without performing any operation. Therefore, when an obstacle exists on the flat road 263, the driver 21 can avoid the obstacle by operating the steering wheel or the brake. Furthermore, the situation of the flat road 263 in front of the vehicle 10 is displayed on the display device 17, so that the driver 21 can concentrate on driving.

[0049] In step S14, the arithmetic and control device 14 judges whether or not the change in gradient of the road 26 has ended. Specifically, if the change in the inclination angle input from the slope detection sensor 241 is less than a certain value, the arithmetic and control device 14 judges that the change in gradient of the road 26 has ended.

[0050] If the answer is YES in step S14, that is, when the gradient change of the road 26 has ended, the arithmetic and control device 14 proceeds to step S15 immediately or after a certain period of time has elapsed.

[0051] In step S15, the image captured by the image capturing device 23 is not displayed on the display device 17. That is, the display status of the display device 17 remains the same as before step S12, even if the driver 21 does not perform an instruction action to end the display.

[0052] If the result in step S14 is NO, that is, if the gradient of the road 26 continues to change, the arithmetic and control unit 14 continues the display in step S13.

[0053] In step S16, the driver 21 puts the shift range into a position other than D (drive), for example, P (parking), and stops the vehicle 10. This causes the vehicle 10 to stop traveling.

[0054] In step S17, the arithmetic and control device 14 determines whether the vehicle conditions of the vehicle 10 have changed relative to a predetermined threshold, for example, whether the vehicle 10 is slipping.

[0055] FIG. 5 is a schematic diagram showing a situation in which a vehicle 10 equipped with a vehicle control device 13 travels on a road 26 on which a stone 28 exists.

[0056] When a large number of stones 28 exist on the road 26, the front wheels 27 of the vehicle 10 may slip if they run over the stones 28. In this embodiment, the slip of the front wheels 27 is detected by the ground contact detection sensor 242. The ground contact detection sensor 242 can detect that the front wheels 27 are slipping because the rotation amount of the front wheels 27 is smaller than the rotation amount of the other wheels. Alternatively, the ground contact detection sensor 242 can detect that the front wheels 27 are slipping based on the torque of the front wheels 27 being smaller than a predetermined value. Furthermore, the ground contact detection sensor 242 can detect that the front wheels 27 are slipping based on both the rotation amount and torque of the front wheels 27.

[0057] If the answer is YES in step S17, that is, if the front wheels 27 are slipping, the arithmetic and control device 14 proceeds to step S18.

[0058] If the answer is NO in step S17, that is, if the front wheels 27 are not slipping, the arithmetic and control device 14 returns to step S12.

[0059] In step S18, based on the instruction of the arithmetic and control device 14, the vehicle behavior control device 15 causes the vehicle safety control device 25 to perform monitor display as an example of control for enhancing safety. Specifically, referring to FIG. 5, based on the instruction of the arithmetic and control device 14, the imaging device 23 attached near the front wheel 27 of the vehicle 10 captures the front wheel 27 and a stone 28 present in its vicinity. Then, based on the instruction of the arithmetic and control device 14, even in a state where there is no instruction input by the driver 21, the image captured by the imaging device 23 is displayed on the display device 17. In this way, the driver 21 can recognize that the front wheel 27 is slipping due to the stone 28, and can concentrate on driving with peace of mind. Furthermore, the driver 21 can predict the trajectory of the front wheel 27, and thus can avoid the sidewall cut of the front wheel 27.

[0060] In step S19, the arithmetic and control device 14 judges whether or not the slip of the front wheels 27 has ended. The ground contact detection sensor 242 can detect that the front wheels 27 are not slipping when the rotation amount of the front wheels 27 becomes equal to the rotation amount of the other wheels. Alternatively, the ground contact detection sensor 242 can detect that the front wheels 27 are not slipping based on the torque of the front wheels 27 being greater than a predetermined value. Furthermore, the ground contact detection sensor 242 can detect that the front wheels 27 are not slipping based on both the rotation amount and torque of the front wheels 27.

[0061] If the answer is YES in step S19, i.e., if slippage of the front wheels 27 has ended, the arithmetic and control device 14 proceeds to step S15 and ends the display of the image captured by the imaging device 23 immediately or after a certain period of time has elapsed, even if the driver 21 does not give an instruction to end the display.

[0062] If the answer is NO in step S19, that is, if the slipping of the front wheels 27 has ended, the arithmetic and control unit 14 continues the monitor display in step S18.

[0063] The above-described embodiment can provide the following main effects.

[0064] According to the vehicle control device 13 of the present invention, when it is determined that the road conditions or vehicle conditions have changed by a certain amount or more, the safety-related behavior of the vehicle 10 is changed, thereby making it possible to increase safety while the vehicle is traveling without the passenger having to perform any special operation in response to the road conditions or vehicle conditions.

[0065] Furthermore, if the vehicle control device 13 determines that the change in the inclination angle measured by the vehicle condition detection device 24 is equal to or greater than a certain level, the image of the front side of the vehicle 10 captured by the imaging device 23 is displayed on the display device 17. In this way, even if the inclination angle of the road surface changes, the passenger can accurately grasp the road surface conditions ahead and drive safely.

[0066] Furthermore, if the vehicle control device 13 determines that the wheels are slipping, it displays an image of the wheels or their surroundings captured by the image capture device 23 on the display device 17. In this way, the driver 21 can accurately grasp the cause of the slippage and the road surface conditions around the wheels.

[0067] Furthermore, when the vehicle control device 13 determines that the road surface conditions or the vehicle conditions have changed by a certain amount or more, it causes the vehicle behavior control device 15 to execute control for enhancing safety. Therefore, it is possible to perform driving with enhanced safety according to the road surface conditions or the vehicle conditions.

[0068] Although the embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and modifications can be made without departing from the scope of the present invention. In addition, the above-described embodiments can be combined with each other.

[0069] For example, in the above-described embodiment, the vehicle behavior control device 15 performs monitor display as an example of control for enhancing safety, but can execute other controls as control for enhancing safety. For example, when a change in gradient of the road 26 or slippage of the front wheels 27 is detected, the vehicle behavior control device 15 can interrupt the ACC as control for executing control for protecting the occupants, thereby improving the safety during the running of the vehicle 10. Furthermore, the arithmetic and control device 14 can determine that the road surface conditions are such that wheel slippage is likely to occur, and execute control for limiting the engine speed and shifting to a running mode in which spinning is unlikely to occur, as control for enhancing safety.

[0070] Furthermore, referring to FIG. 4, in the embodiment described above, when the vehicle 10 travels from an uphill slope 262 onto a flat road 263, an image photographed of the area in front of the vehicle is displayed on the display device 17. However, it is also possible to display an image photographed of the area in front of the vehicle on the display device 17 when the vehicle travels from a flat road onto a downward slope.

[0071] Furthermore, in step S11 etc. of Fig. 3, an automatic transmission is exemplified as the transmission device equipped in the vehicle 10, but a manual transmission can be used as the transmission device. When a manual transmission is used as the transmission device, in step S11 etc. shown in Fig. 3, control similar to that of an automatic transmission can be executed according to the shift range and the state of the parking brake.

[0072] Also, in step S17 in FIG. 3, control is performed by the vehicle safety control device 25 when the shift range is D, i.e., in the drive state, but regardless of the shift range, if the vehicle condition detection device 24 detects that the vehicle position is changing with the tires not rotating, it may be determined that the vehicle is slipping down, and control may be performed by the vehicle safety control device 25.

[0073] 2 shows the multi-function display 29, the center display 30, and the multi-information display 31 as examples of the display device 17, other display devices may also be used as the display device 17. For example, a digital mirror or the like may also be used as the display device 17. The vehicle control device of the present invention is a vehicle control device that changes the vehicle behavior in response to a change in the driving conditions of the vehicle, and includes a vehicle condition detection device, a calculation control device, and a vehicle behavior control device, the vehicle condition detection device detects the road surface conditions of the road surface on which the vehicle is driving, or the vehicle conditions that are the conditions of the vehicle itself while driving, the calculation control device judges whether the road surface conditions or the vehicle conditions have changed relative to a predetermined threshold, and the vehicle behavior control device changes the safety-related behavior of the vehicle in response to the calculation result of the calculation control device. According to the present invention, when it is judged that the road surface conditions or the vehicle conditions have changed relative to a predetermined threshold, the safety during driving of the vehicle can be improved by changing the safety-related behavior of the vehicle, without the passenger having to perform any special operation in response to the road surface conditions or the vehicle conditions. In addition, in the vehicle control device of the present invention, the road surface condition is the inclination of the road surface, and the vehicle control device further includes an image capturing device that captures an image of the front side of the vehicle and a display device that displays an image in the cabin of the vehicle, the vehicle condition detection device is an inclination detection sensor that measures the inclination angle of the road surface on which the vehicle is traveling, and the arithmetic and control device displays the traveling direction of the vehicle captured by the image capturing device on the display device when it is determined that the change in the inclination angle measured by the inclination detection sensor is equal to or greater than a certain level. According to the present invention, when the vehicle condition detection device determines that the change in the inclination angle measured is equal to or greater than a certain level, an image of the front side of the vehicle captured by the image capturing device is displayed on the display device, so that the passenger can accurately grasp the road surface condition ahead and drive safely even if the inclination angle of the road surface changes. In addition, the vehicle control device of the present invention further includes a recognition device that recognizes the wheel or the surroundings of the wheel of the vehicle, and a display device that displays an image in the passenger compartment of the vehicle, the vehicle condition detection device being a ground contact detection sensor that measures the ground contact state of the wheel and the road surface, and the arithmetic and control device being characterized in that, if the wheel has changed relative to a predetermined threshold, the wheel or the surroundings of the wheel recognized by the recognition device are displayed on the display device. According to the vehicle control device of the present invention, if it is determined that the ground contact state of the road surface has changed relative to a predetermined threshold, an image of the wheel or the surroundings thereof photographed by the photographing device is displayed on the display device, allowing the passenger to accurately grasp the cause of the slippage and the road surface condition around the wheel. In addition, in the vehicle control device of the present invention, the vehicle conditions further include a vehicle driving control device that controls behavior related to the driving performance of the vehicle, and the arithmetic and control device causes the vehicle driving control device to execute passenger protection control when the road surface conditions or the vehicle conditions have changed by more than a certain amount. According to the present invention, when it is determined that the road surface conditions or the vehicle conditions have changed by more than a certain amount, passenger protection control is executed, thereby making it possible to drive with increased safety according to the road surface conditions or the vehicle conditions. [Explanation of symbols]

[0074] 10 Vehicles 12 Input Devices 13 Vehicle control device 14 Arithmetic and control device 15 Vehicle behavior control device 16 Vehicle drive system 17 Display device 18 Storage device 19 Dashboard 20 Vehicle driving device 21 Driver 22 External environment recognition device 23 Imaging Equipment 24 Vehicle condition detection device 241 Slope detection sensor 242 Ground detection sensor 25 Vehicle safety control device 26 Road 261 Flat road 262 ramp 263 Flat road 27 Front wheel 28 stones 29 Multi-function display 30 Center display 31 Multi-information display 32 Steering wheel

Claims

1. A vehicle control device that changes the vehicle behavior in response to changes in the vehicle's driving conditions, a vehicle condition detection device, a calculation control device, a vehicle behavior control device, an image capture device that captures an image of an area around a front wheel of the vehicle, and a display device that displays an image in a passenger compartment of the vehicle; the vehicle condition detection device detects a contact state between a road surface on which the vehicle is traveling and the front wheels; The arithmetic and control device determines whether or not the front wheels are slipping based on the ground contact state, when the arithmetic and control device determines that the front wheels are slipping, the vehicle behavior control device causes the display device to display an image captured by the image capturing device; when the image is displayed on the display device and the arithmetic and control device determines that the front wheels are not slipping, the display device ends the display of the image; Furthermore, the vehicle behavior control device is characterized in that, when the position of the vehicle is changing while the wheels of the vehicle are not rotating, the image captured by the photographing device is displayed on the display device.

2. a slope detection sensor for measuring the slope angle of the road surface; A front photographing device that photographs the front side of the vehicle, The arithmetic and control device determines whether the change in the tilt angle is equal to or greater than a threshold value, when the arithmetic and control device determines that the change in the tilt angle is equal to or greater than the threshold value, the vehicle behavior control device causes the display device to display a forward image captured by the forward image capturing device, The vehicle control device according to claim 1, characterized in that when the forward image is displayed on the display device and the arithmetic and control device determines that the change in the inclination angle is not greater than or equal to the threshold value, the display of the forward image on the display device is terminated.

3. A vehicle safety control device that executes ACC is further provided, 2. The vehicle control device according to claim 1, wherein the vehicle behavior control device interrupts execution of the ACC when the vehicle safety control device is executing the ACC and the arithmetic control device determines that the front wheels are slipping.

4. A vehicle safety control device that executes ACC is further provided, The vehicle behavior control device includes: When the vehicle safety control device is executing the ACC and the arithmetic and control device determines that the front wheels are slipping, the vehicle behavior control device interrupts the execution of the ACC, 3. The vehicle control device according to claim 2, further comprising: a vehicle safety control device that is configured to execute the ACC and that causes the vehicle behavior control device to interrupt execution of the ACC when the vehicle safety control device is executing the ACC and the arithmetic and control device determines that the change in the inclination angle is equal to or greater than the threshold value.

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