JP2009132307A - Drive assistance system, drive assistance method and drive assistance program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide drive assistance system, drive assistance method and drive assistance program capable of performing a suspension control in relation to a difference in level of a control object according to a degree of awakening of a driver. <P>SOLUTION: A control system 1 performs the suspension control when a vehicle passes the difference in level. In the control system 1, the degree of awakening of the driver is detected, a level value according to the degree of awakening is set, whether or not the difference in level of the control object is detected is determined. The control system 1 is provided with a navigation computer 10 for deciding whether or not the suspension control is executed according to the level value when the difference in level is detected in front of the vehicle. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support system, a driving support method, and a driving support program.

Conventionally, a system has been proposed that controls the damping force of a suspension in accordance with a road surface condition in cooperation with a navigation device having information on a road (see, for example, Patent Document 1). The system described in Patent Document 1 includes an arithmetic device that calculates the vehicle position based on a GPS receiver or the like, a reading device that reads map data, and the like. The system also determines the presence or absence of road irregularities based on road surface information stored in the map data, and controls the damping force of the suspension according to the irregularities.
JP 2000-322695 A

  However, in the above system, suspension control is executed regardless of the driver's arousal level. In other words, when the vehicle is in a state of drowsy driving, for example, even when the vehicle passes through a step constructed for the purpose of alerting the driver, the suspension control is executed, so that the driver is awakened. I can't urge you.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving support system, a driving support method, and a driving support capable of performing suspension control on a step to be controlled according to the driver's arousal level. To provide a program.

In order to solve the above problems, the invention according to claim 1 is a driving support system that performs suspension control when a vehicle passes through a step, and detects a driver's arousal level and corresponds to the arousal level. Level value setting means for setting a level value, step detection means for determining whether or not a step to be controlled is detected in front of the vehicle, and when the step is detected in front of the vehicle, the level value is determined according to the level value. And determining means for determining whether to execute suspension control.

  The invention described in claim 2 is the driving support system according to claim 1, further comprising speed acquisition means for acquiring the speed of the vehicle, wherein the level value setting means includes the acquired speed and the driver. The gist is to set the level value according to the degree of awakening.

  According to a third aspect of the present invention, in the driving support method for performing suspension control when the vehicle passes through the step using the control unit that performs suspension control on the step, the control unit determines the driver's arousal level. Detecting, setting a level value according to the arousal level, determining whether a step to be controlled is detected in front of the vehicle, and when detecting the step in front of the vehicle, The gist is to determine whether to execute suspension control accordingly.

According to a fourth aspect of the present invention, in a driving support program for performing suspension control when a vehicle passes through a step using a control unit that performs suspension control on the step, the control unit is provided with a driver awakening. A level value setting means for detecting a degree and setting a level value according to the arousal level; a step detecting means for determining whether a step to be controlled is detected in front of the vehicle; The gist is to function as a determination means for determining whether to execute suspension control according to the level value when a step is detected.

  According to the first aspect of the present invention, when a step to be controlled is detected in front of the vehicle, it is determined whether to execute suspension control for the step based on a level value corresponding to the driver's arousal level. Accordingly, each step on the road can be caused to function as a step that promotes the driver's awakening according to the driver's arousal level, thereby prompting the driver's attention.

  According to the second aspect of the present invention, since the level value corresponding to the vehicle speed and the arousal level is set, it is possible to determine the necessity of alerting more accurately and determine the execution of the suspension control. It is possible to prevent the driver from feeling bothered by frequent alerting.

  According to the method of claim 3, when a step to be controlled is detected in front of the vehicle, it is determined whether to execute suspension control for the step based on a level value corresponding to the driver's arousal level. Accordingly, each step on the road can be caused to function as a step that promotes the driver's awakening according to the driver's arousal level, thereby prompting the driver's attention.

  According to the fourth aspect of the present invention, whether or not suspension control for the step is executed based on the level value corresponding to the driver's arousal level when the step to be controlled is detected in front of the vehicle according to the driving support program. Determine. Accordingly, each step on the road can be caused to function as a step that promotes the driver's awakening according to the driver's arousal level, thereby prompting the driver's attention.

(First embodiment)
Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. FIG. 1 is a block diagram of a suspension control system (hereinafter simply referred to as a control system 1) as a driving support system. The control system 1 has a navigation computer 10. The navigation computer 10 corresponds to the control means and functions as a level value setting means, a step detection means, a determination means, and a speed acquisition means.

The navigation computer 10 has a CPU, a RAM, a ROM, and the like, and manages suspension control according to a driving support program stored in the ROM or the like.
The navigation computer 10 calculates the current position of the vehicle 100 (see FIG. 3). Specifically, the absolute position of the vehicle is calculated by inputting a position detection signal from the GPS receiver 11. Further, a vehicle speed signal and a direction detection signal are input from the vehicle speed sensor 12 and the gyro 13, respectively, the relative position from the reference position is calculated by autonomous navigation, and the own vehicle position is specified in combination with the absolute position.

  In addition, the navigation computer 10 uses the geographic data storage unit 14 to detect route guidance to the destination and road surface steps. The geographic data storage unit 14 is an external storage medium such as an internal hard disk or an optical disk, and stores route data 15, map drawing data 16, and step data 17. The route data 15 includes link data related to each link in the predetermined area and node data related to the node.

  When the destination is input by operating the touch panel display 18 or the operation button 19, the navigation computer 10 searches for a guidance route from the vehicle position to the destination and displays it on the display 18. Further, a map screen around the vehicle position or around the designated point is displayed on the display 18.

The step data 17 is data relating to steps on the road, such as steps such as thin layer coating and unevenness that prevent overspeed, and steps such as thin layer coating that suppresses falling asleep. The step data 17 is data based on information collected by the map maker to create a map, and is stored in the geographic data storage unit 14 together with the route data 15 and the map drawing data 16.

  As shown in FIG. 2, the step data 17 includes a step position 17A and a type 17B. The step position 17A is data indicating the position of the step, and has the absolute coordinates of the step, the number of the link with the step, the name of the road, and the like. The type 17B indicates the type of step and is set by the map maker. As this type 17B, for example, an identifier indicating a step for preventing overspeed, an identifier indicating a step for preventing a drowsy driving, and the like are stored. Or you may store the identifier provided with respect to all the level | step differences constructed for the purpose of alerting a driver | operator.

  Further, as shown in FIG. 1, the control system 1 includes a wakefulness detection device 20. The wakefulness detection device 20 is a known device that detects a decrease in the driver's wakefulness, that is, a dozing state. For example, using a camera provided at a position where the driver's face can be photographed, the time when the driver closes his eyes is detected. to decide. Alternatively, a detection signal may be acquired from a steering angle sensor attached to the steering shaft of the vehicle, and it may be determined whether or not the driver is asleep due to a characteristic frequency based on the detection signal.

  The wakefulness detection device 20 outputs an ON signal to the navigation computer 10 when detecting a decrease in the driver's wakefulness. Further, in a state where the driver's arousal level is high, the arousal level detection device 20 outputs an off signal to the navigation computer 10. That is, the on signal and the off signal are signals indicating whether or not the driver's arousal level is reduced. The on signal indicates a decrease in the arousal level and the off signal indicates a state of being awake.

  The navigation computer 10 acquires a detection signal from the arousal level detection device 20. Then, ON / OFF of the detection signal is set as a level value as it is, and the determination flag F1 stored in the RAM or the like is turned off or turned on according to the level value. The determination flag F1 is a flag indicating whether suspension control is possible, and is set to a value indicating “on” when it is determined that suspension control is to be executed, and to a value indicating “off” when it is determined not to execute suspension control. When the navigation computer 10 receives an ON signal indicating a decrease in the arousal level from the arousal level detection device 20, the navigation computer 10 sets the value of the determination flag F1 to a value indicating “OFF”. When an off signal indicating that the arousal level is high is input, the value of the determination flag F1 is set to a value indicating “on”.

  The navigation computer 10 determines whether or not to perform suspension control for the level difference based on the value of the determination flag F1. While the determination flag F1 is “off”, the driver is approaching a dozing state and needs to be awakened. Therefore, even when the step to be controlled is detected in front of the vehicle, the step control is executed. do not do. Thereby, when the vehicle 100 passes through the steps, the vibration of the vehicle body increases, so that the driver can be awakened.

On the other hand, when the determination flag F1 is set to “off”, the navigation computer 10 shifts to a state in which suspension control for the step to be controlled can be executed.
Further, when the navigation computer 10 passes through a step other than the step data 17 stored in the geographic data storage unit 14, the navigation computer 10 generates and stores data regarding the step. Specifically, the navigation computer 10 determines the presence or absence of a step based on a detection value based on the step detection sensor 21 attached to the vehicle 100. As the level difference detection sensor 21, a known sensor such as an acceleration sensor can be used.

For example, the step detection sensor 21 is a pressure sensor having a piezo element, and the vehicle 100
The suspension device 26 is provided. The step detection sensor 21 outputs a detection signal corresponding to a change in the damping force of the absorber of the suspension device 26 to the navigation computer 10, and the navigation computer 10 calculates a rate of change in the damping force based on the detection signal. If the rate of change exceeds a predetermined value, it is determined that there is a step to be controlled at the passing point. Alternatively, the step detection sensor 21 may be an acceleration sensor that detects acceleration in the height direction of the vehicle 100, and when the vertical acceleration of the vehicle 100 is equal to or greater than a predetermined value, it may be determined that there is a step to be controlled. Alternatively, the vibration frequency may be calculated from the vehicle speed when passing through the step and the vertical acceleration of the vehicle 100, and the presence or absence of the step to be controlled may be determined using the vibration frequency.

  When the step is detected, the navigation computer 10 generates step data 17. The step data 17 generated at this time is data relating to a step that is not registered in advance in the geographic data storage unit 14. Further, the step data 17 has almost the same data configuration as that shown in FIG. When the navigation computer 10 can detect the step type 17B, the type 17B stores an identifier indicating the step type.

  For example, as shown in FIG. 3, when the step B, which is a thin layer coating, is applied to the road surface at a predetermined interval, the period of the waveform of the detection signal of the step detection sensor 21 is constant. In this case, the navigation computer 10 determines that the step B is a step intentionally constructed for the purpose of prompting attention based on the waveform of the detection signal (attention step), and classifies the identifier indicating the attention step. 17B. Alternatively, the alerting step may be detected using a camera and an image processor (not shown) attached to the vehicle 100. When the type of the step B is not determined and when the determination is made but the determination is not made, the type 17B of the step data 17 is a null value (Null).

  The generated step data 17 is stored in the learning data storage unit 22. For example, when a step is detected over a predetermined section such as 10 m, the navigation computer 10 stores at least one of the start point and the end point of the step area as the step position 17A.

  Based on the step data 17 stored in the geographic data storage unit 14 and the step data 17 stored in the learning data storage unit 22, the navigation computer 10 determines whether or not there is a step to be controlled ahead of the traveling direction of the vehicle. to decide. For example, when a guide route to the destination is set, it is determined whether or not there is a step on the guide route within a predetermined distance from the vehicle position in the traveling direction. If the destination is not set or the vehicle position deviates from the guide route, is there a step within a predetermined distance centered on the vehicle position or within a predetermined distance from the vehicle position along the road? Determine whether.

  When determining that there is a step to be controlled, the navigation computer 10 determines whether or not the determination flag F1 is “off”. When the determination flag F1 is “off”, the suspension control for the step is not executed, and when the determination flag F1 is “on”, the process shifts to a standby state in which the suspension control is awaited.

When the vehicle 100 reaches the level of the step to be controlled in the standby state, the navigation computer 10 controls the suspension device 26 by outputting a control signal to an ECU (Electronic Control Unit) 25. The suspension device 26 includes a coil spring and an actuator that controls the damping force. The ECU 25 drives a piston in the actuator to control the flow resistance of the oil and reduce the damping force. As a result, when the driver is awakened, the suspension can be softened and the ride quality can be improved even when the step is passed.
(Processing procedure)
Next, the processing procedure of the navigation computer 10 will be described with reference to FIGS. FIG. 4 is a processing procedure of setting processing for setting execution or cancellation of suspension control, and FIG. 5 is a processing procedure of suspension control.

  As shown in FIG. 4, the navigation computer 10 determines whether to start the suspension control mode (step S1). For example, it may be determined that the step control mode is started when the ignition module of the vehicle is turned on. Alternatively, it may be determined that the step control mode is started when the step control mode is selected by a driver's touch panel operation or the like. If the control mode is not started (NO in step S1), the determination in step S1 is repeated.

  If it is determined that the step control mode is to be started (YES in step S1), the navigation computer 10 activates the arousal level detection device 20 and determines whether or not the driver's arousal level has decreased (step S2). The navigation computer 10 determines the arousal level based on on / off of the detection signal input from the arousal level detection device 20. The wakefulness detection device 20 detects the driver's wakefulness at a predetermined sampling interval, and outputs a detection signal to the navigation computer 10.

  When the navigation computer 10 receives a detection signal from the arousal level detection device 20, the navigation computer 10 determines whether or not a value derived from the detection signal is greater than or equal to a predetermined value. In the present embodiment, when the detection signal is on, it is determined that the detection signal is equal to or greater than a predetermined value (YES in step S2), and the determination flag F1 is set to “off” (step S3).

  On the other hand, when the OFF signal is input from the arousal level detection device 20, the navigation computer 10 determines that the value derived from the detection signal is less than a predetermined value (NO in step S2), for example, and sets the determination flag F1 to “ON”. (Step S4).

  When the determination flag F1 is set, the navigation computer 10 determines whether or not to end the control mode (step S5). For example, when the ignition module OFF signal is input, it is determined that the control mode is ended. Alternatively, it is determined that the control mode is ended based on the driver's touch panel operation. If it is determined that the control mode has ended (YES in step S5), the process for determining whether suspension control is possible is ended. If it is determined not to end the control mode (NO in step S5), the process returns to step S2 to repeat the above-described processing.

  Further, the navigation computer 10 performs the suspension control process shown in FIG. 5 simultaneously with the setting process shown in FIG. First, similarly to step S1, the navigation computer 10 determines whether or not the control mode is to be started (step S11). If it is determined that the control mode is to be started (YES in step S11), the navigation computer 10 controls the vehicle in front of the vehicle based on the step data 17. It is determined whether or not a step is detected (step S12). If the control mode is not started (NO in step S11), the determination in step S11 is repeated.

  Describing step S12 in detail, the navigation computer 10 acquires the vehicle position and searches the geographic data storage unit 14 and the learning data storage unit 22 to extract step data 17 ahead of the vehicle position. Further, the step position 17A of the step data 17 is compared with the own vehicle position to calculate the relative distance L between the step and the own vehicle position. For example, as shown in FIG. 3, the relative distance L between the vehicle position P1 and the step position P2 indicated by the step position 17A of the step data 17 is calculated. When the step position P2 has a start point and an end point of a section with a step, a point close to the own vehicle position P1 is set as the step position P2. If it is determined that the relative distance L is equal to or less than the predetermined distance L1, the navigation computer 10 determines that a step to be controlled is detected in front of the vehicle (YES in step S12).

  If there is a step to be controlled, the process proceeds to step S13. On the other hand, when it is determined that there is no step (NO in step S12), it is determined whether or not to end the control mode (step S17) as in step S5. If it is determined that the control mode is to be ended (YES in step S17), the suspension control for the step is ended. If it is determined not to end the control mode (NO in step S17), the process returns to step S12.

  In step S13, the navigation computer 10 determines whether or not the determination flag F1 is “off”. If the determination flag F1 is set to “OFF” in the process shown in FIG. 4, that is, if the driver's arousal level is low (YES in step S13), the navigation computer 10 performs suspension control for the step. Without executing, the process proceeds to step S17. Therefore, the damping force of the suspension is maintained in the state at that time regardless of the type of the step at the front. For this reason, when the determination flag F1 is maintained “off” until the vehicle passes the step, the vibration of the vehicle body increases due to the step and the driver who has lowered arousal naturally pays attention to the vehicle speed and the like. Driving. Thereby, the driver's arousal level can be increased.

  On the other hand, when the determination flag F1 is “ON” in step S13, that is, when the driver is awake (NO in step S13), suspension control is performed. Specifically, the navigation computer 10 determines whether to execute suspension control, in other words, whether it is time to start control (step S14). At this time, the navigation computer 10 determines that it is the start timing when the relative distance L between the vehicle position P1 and the step position P2 reaches a predetermined distance L2 (<predetermined distance L1) (in step S14). YES). Alternatively, the start timing may be determined when there is a step in the traveling direction of the vehicle 100 and there is no branch point that can be turned right or left between the vehicle 100 and the step. If it is determined that it is not the start timing (NO in step S14), the process proceeds to step S17.

  When it is determined that it is the start timing, the navigation computer 10 executes the suspension control as described above (step S15) to reduce the damping force. Further, the navigation computer 10 determines whether or not the vehicle has passed the step while maintaining the state where the damping force is reduced (step S16). While not passing through the step (NO in step S16), the suspension control is continued (step S15). When it is determined that the vehicle has passed through the step (YES in step S16), the process returns to the normal mode and the process proceeds to step S17.

According to the first embodiment, the following effects can be obtained.
(1) In 1st Embodiment, the navigation computer 10 of the control system 1 acquires the detection signal which shows a driver | operator's arousal state from the arousal level detection apparatus 20, and judges a driver | operator's arousal level. Further, when a step to be controlled is detected in front of the vehicle 100, suspension control for the step is not performed when the driver's arousal level is low, and suspension control for the step is performed when the level of arousal is high. . Accordingly, each step on the road functions as a step that promotes the driver's awakening, and the driver's attention can be drawn by passing the step of the vehicle 100.

(2) In the first embodiment, the navigation computer 10 acquires a step detection signal from the step detection sensor 21 that detects a step on the road. Further, the step data 17 is generated based on the detection result, and the generated step data 17 is stored in the learning data storage unit 22. Further, the navigation computer 10 determines the presence or absence of a step to be controlled based on the step data 17 stored in the learning data storage unit 22. For this reason, even if the step is not registered in advance in the geographic data storage unit 14, the step data 17 through which the vehicle 100 frequently passes can be accumulated.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG. Note that the second embodiment has a configuration in which only the setting process of the first embodiment is changed, and thus detailed description of similar parts is omitted.

  The arousal level detection apparatus 20 according to the present embodiment outputs a value corresponding to the degree of decrease in the arousal state to the navigation computer 10 as the awakening level. For example, when the arousal level detection device 20 is a device that detects the time when the driver closes his eyes, if the time is long, a low value such as “1” is output as the awakening level, and the time when the eyes are closed If is short, a high value such as “7” is output. Further, when the arousal level detection device 20 is a device that detects a dozing state based on a characteristic frequency based on a detection signal from the steering angle sensor, the arousal level is calculated from the disturbance of the waveform, and is output to the navigation computer 10. .

  First, similarly to step S1, the navigation computer 10 determines whether or not to start the control mode (step S20). If it is determined to start the control mode (YES in step S20), the navigation computer 10 Similarly, it is determined whether or not the arousal level has decreased (step S21). At this time, the navigation computer 10 determines whether or not the arousal level is equal to or less than a predetermined threshold “5” such as “5”. When the arousal level is “5” or less, that is, when the person is approaching a dozing state, it is determined that the awakening level has decreased.

  If it is determined that the arousal level has not decreased (NO in step S21), determination flag F1 is turned on (step S26), the process proceeds to step S27, and it is determined whether or not to end the control mode. On the other hand, if it is determined that the awakening level has decreased (YES in step S21), navigation computer 10 acquires the vehicle speed based on the vehicle speed signal input from vehicle speed sensor 12 (step S22). Furthermore, the alert level as a level value is calculated based on the arousal level and the vehicle speed (step S23). The alerting level is a level indicating the necessity of alerting. The higher the level value, the greater the need for alerting.

  Specifically, the navigation computer 10 stores a map in which the arousal level and the vehicle speed are associated with each other in a storage unit (not shown), and determines the alert level based on the map. In this map, the alerting level is set higher as the arousal level decreases. In addition, the alert level is set higher as the vehicle speed increases. Alternatively, the alert level may be calculated based on a predetermined expression using the awakening level and the vehicle speed as parameters.

  After calculating the alert level, the navigation computer 10 determines whether the alert level is equal to or higher than a predetermined value (step S24). The predetermined value is a threshold value for determining whether or not to call attention by not executing suspension control. When the alert level is equal to or higher than the predetermined value (YES in step S24), determination flag F1 is turned off (step S25). If the alert level is less than the predetermined value (NO in step S24), determination flag F1 is set on (step S26).

When determination flag F1 is set, navigation computer 10 determines whether or not to end the control mode (step S27), similarly to step S5, and determines that the control mode is ended (YES in step S27). The process is terminated. If it is determined not to end the control mode (NO in step S27), the process returns to step S21 and the above-described processing is repeated.

Therefore, according to the second embodiment, the following effects can be obtained in addition to the effects described in the first embodiment.
(3) In the second embodiment, when there is a step to be controlled in front of the vehicle, the navigation computer 10 sets a warning level according to the vehicle speed and the driver's arousal level. For this reason, since the alert level is determined according to the driver's arousal level and the vehicle speed, alert by vibration at the time of passing the step can be performed only when necessary. Therefore, for example, the driver's arousal level is slightly reduced, but when the vehicle speed is low, it is possible to prevent the driver from being alerted. Can be. In addition, when the vehicle speed is high and the driver's arousal level is also reduced, the alerting can be surely executed.

In addition, you may change this embodiment as follows.
In the above embodiment, when the determination flag F1 is off, the suspension control for the step is not executed and the current suspension mode is maintained. However, the suspension may be controlled to be hard.

  The step to be controlled may include a lane mark that gives sound and vibration when the tire steps on the boundary line, in addition to the above step. Further, whether or not suspension control is possible may be executed according to the driver's arousal level and the relative position to the lane mark.

  -Whether or not suspension control is possible may be set using the type 17B of the step data 17. For example, the suspension control may not be executed when the driver's arousal level is lowered and the step in front of the vehicle is a step constructed for the purpose of alerting the driver, such as prevention of snoozing.

  In the second embodiment, when the alerting level is equal to or higher than the predetermined value A, the suspension control may not be performed and alarm processing such as output of an alarm sound may be performed. Further, when the alert level is less than the predetermined value A and greater than or equal to the predetermined value B, suspension control may not be executed, and when the alert level is less than the predetermined value B, suspension control may be performed. .

  In the second embodiment, the alert level is calculated after determining a decrease in the arousal level. However, as shown in FIG. 7, after determining that the control mode is to be started (YES in step S20), the arousal level is calculated. The degree of attention may be acquired (step S28), and the alerting level may be calculated at predetermined time intervals according to the arousal level and the vehicle speed.

In the above embodiment, an information processing device other than the navigation computer 10 may execute setting processing and suspension control.
In the above embodiment, the damping force is controlled by driving the actuator of the suspension device 26, but the damping force may be controlled by other methods.

The block diagram of a driving assistance system. The conceptual diagram of level | step difference data. The top view which shows the relative position of a level | step difference position and a vehicle. The flowchart of a setting process. The flowchart of suspension control. The flowchart of 2nd Embodiment. The flowchart of another example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Control system as a driving assistance system, 10 ... Level value setting means, level | step difference detection means, determination means, speed acquisition means, navigation computer as control means, 100 ... vehicle, B ... level difference.

Claims (4)

In a driving support system that performs suspension control when a vehicle passes through a step,
Level value setting means for detecting a driver's arousal level and setting a level value according to the arousal level;
A step detecting means for determining whether a step to be controlled is detected in front of the vehicle;
A driving support system comprising: a determination unit that determines whether to execute suspension control according to the level value when the step is detected in front of the vehicle. The driving support system according to claim 1,
Further comprising speed acquisition means for acquiring the speed of the vehicle;
The level value setting means includes:
The driving support system, wherein the level value corresponding to the acquired speed and the driver's arousal level is set. In a driving support method for performing suspension control when a vehicle passes through a step using a control unit that performs suspension control on the step,
The control means is
Detect the driver's arousal level, set the level value according to the awakening level,
In the front of the vehicle, it is determined whether a step to be controlled is detected, and
A driving support method, wherein when the step is detected in front of a vehicle, it is determined whether or not suspension control is executed according to the level value. In a driving support program for performing suspension control when a vehicle passes through a step using a control unit that performs suspension control on the step,
The control means;
Level value setting means for detecting a driver's arousal level and setting a level value according to the arousal level;
A step detecting means for determining whether a step to be controlled is detected in front of the vehicle;
A driving support program that functions as a determination unit that determines whether to execute suspension control according to the level value when the step is detected in front of a vehicle.

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