JP2012144211A - Travel control device, travel control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent falling down by automatically determining a road surface situation in a travel direction in advance.SOLUTION: The travel control device for controlling travel of a vehicle in accordance with the gradient of the road surface includes a road surface situation prediction means for predicting the situation of the road where the vehicle is expected to travel, and a determination means for determining whether the situation of the road expected to be traveled which is predicted by the road surface situation prediction means satisfies the desired condition or not, and controls travel of the vehicle when it is determined that the situation of the road where the vehicle is expected to travel does not satisfy the desired condition by the determination means.

Description

  The present invention relates to a travel control device, a travel control method, and a program.

  As an aging society progresses, electric carts are increasingly used as a means of moving elderly people. However, because the driver is an elderly person, accidents such as operation mistakes or misrecognition have caused a series of accidents where the car body falls due to deviation from the road or entering a road with a steep slope. Yes.

Japanese Patent Laid-Open No. 10-164927 JP-A-10-151963

  In Patent Document 1, it is determined that the detection result of the omnidirectional inclination sensor is out of the safety reference range in a passenger-type traveling vehicle equipped with an omnidirectional inclination sensor that senses the degree of inclination in the front-rear direction and the left-right direction with respect to the horizontal of the traveling body. Then, a safety device in a riding type traveling vehicle for informing a passenger is disclosed.

  Further, in Patent Document 2, in a mobile agricultural machine equipped with a left vehicle height sensor, a right vehicle height sensor, and an inclination angle sensor, a movement that stops driving the engine when a predetermined inclination of the machine body is detected for a predetermined time or more. Agricultural machinery is disclosed.

  However, the conventional techniques described in Patent Document 1 and Patent Document 2 only perform post-processing for the current position where the traveling vehicle is placed, and the traveling vehicle is There is a problem in that it is impossible to take a countermeasure in advance by predicting in advance what road surface condition will be encountered. Therefore, the problem of grasping the situation where the vehicle is placed in advance and preventing an accident in advance has not been solved.

  Accordingly, the present invention has been made in view of the above problems, and a traveling control device, a traveling control method, and a traveling control method capable of preventing a fall by automatically determining in advance a road surface condition in a direction in which the vehicle travels. And to provide a program.

  In order to solve the above-described problem, a travel control device according to the present invention is a travel control device that controls the travel of a vehicle according to a slope of a road surface, the road surface state prediction unit that predicts the road surface state scheduled to travel, Judgment means for judging whether or not the planned road surface condition predicted by the road condition prediction means satisfies a desired condition, and the judgment means judges that the planned road condition does not satisfy the desired condition In such a case, the vehicle travel is controlled.

  The travel control method according to the present invention is a travel control method for controlling the travel of a vehicle according to the gradient of the road surface, the step of predicting the road surface condition scheduled to travel by a road surface condition prediction unit, and the determination unit A step of determining whether or not the planned road surface condition predicted by the road condition prediction unit satisfies a desired condition; and the determination unit determines that the planned road surface condition does not satisfy the desired condition. And a step of controlling the running of the vehicle.

  Furthermore, the program in the present invention is a program to be executed by a computer of a travel control device that controls the travel of the vehicle according to the gradient of the road surface, and a process of predicting the road surface situation scheduled to travel by a road surface state prediction unit; A process for determining whether the road surface condition scheduled for traveling predicted by the road surface condition predicting means satisfies a desired condition by a determining means; and the road surface condition scheduled for traveling satisfied by the determining means. And a process for controlling the travel of the vehicle when it is determined that the vehicle is not present.

  ADVANTAGE OF THE INVENTION According to this invention, the traveling control apparatus, traveling control method, and program which can aim at fall prevention can be obtained by automatically determining the road surface condition of the advancing direction in advance.

It is a block diagram which shows schematic structure of the traveling control apparatus in embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram (top view, side view) showing an outline of a vehicle equipped with a travel control device in an embodiment of the present invention. It is a figure which shows the axial direction of the vehicle carrying the traveling control apparatus in embodiment of this invention. It is a figure explaining predicting the road surface condition in the same direction as the direction of travel about vehicles carrying a run control device in an embodiment of the present invention. It is a figure explaining predicting the road surface situation in the direction orthogonal to the advancing direction about vehicles carrying a run control device in an embodiment of the present invention. It is a figure explaining the period until the front wheel F of the vehicle carrying the traveling control apparatus in the embodiment of the present invention approaches the slope and the rear wheel R gets on the slope. It is a figure explaining in detail the period until the front wheel F of the vehicle carrying the traveling control apparatus in the embodiment of the present invention approaches the slope and the rear wheel R gets on the slope. It is a figure explaining that the front wheel F and the rear wheel R of the vehicle carrying the traveling control apparatus in the embodiment of the present invention are rising. The vehicle equipped with the travel control apparatus according to the embodiment of the present invention is a) a period until the ultrasonic distance sensor 11 is inclined and the front wheel F is inclined; b) the front wheel F is inclined and the rear wheel R is It is a figure which shows the detection distance and detection angle of a sensor in the period until it approaches the gradient, and c) the period when the rear wheel R approaches the gradient. It is a flowchart figure explaining a series of operation | movement of the vehicle carrying the traveling control apparatus in embodiment of this invention.

  Next, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the part which is the same or it corresponds, The duplication description is simplified thru | or abbreviate | omitted suitably. The contents of the present invention will be described in detail. A plurality of ultrasonic distance sensors for detecting the distance to the ground are installed in the vehicle, and the distance between the road surface at the position where the front wheel F of the vehicle passes and the sensor will be determined in the future. Measure and calculate the slope of the road slope from the distance data obtained by the ultrasonic distance sensor, and estimate the slope angle of the place where the vehicle body will pass in the future, together with the data of the angle sensor built into the vehicle body If the vehicle is determined to be dangerous, the vehicle is forcibly controlled.

  FIG. 1 is a block diagram showing a schematic configuration of a travel control device according to an embodiment of the present invention. In FIG. 1, a travel control device 1 is mounted on a vehicle (not shown) and controls the travel of the vehicle. The overall operation control of the travel control device 1 is controlled by a CPU (Central Processing Unit) unit 19 via an I / O (Input / Output) interface unit 10, and the CPU unit 19 is stored in the memory unit 18. The overall operation of the travel control device 1 is controlled by reading the program. The memory unit 18 also stores a threshold value for performing operation control of the travel control device 1 described later. The ultrasonic distance sensor unit 11 constituting the traveling control device 1 is provided outside the vehicle, and the vehicle is scheduled to travel in the future in the same direction as the traveling direction of the vehicle or a direction orthogonal thereto. The distance between a certain road surface is measured using ultrasonic waves.

  The built-in angle sensor unit 12 is provided in the interior of the vehicle, and the absolute horizontal plane of the vehicle and the road surface on which the vehicle is scheduled to travel in the same direction or a direction orthogonal to the traveling direction of the vehicle. It measures the angle.

  The axle rotation sensor unit 13 reads the rotational speed of the axle of the front wheel F and / or the rear wheel R of the vehicle. Each value detected from the ultrasonic distance sensor unit 11, the built-in angle sensor unit 12, and the axle rotation sensor unit 13 is input to the I / O interface unit 10.

  When data is input from the ultrasonic distance sensor unit 11, the built-in angle sensor unit 12, and the axle rotation sensor unit 13, the I / O interface unit 10 raises an interrupt signal to the CPU unit 19. Upon receiving the interrupt signal, the CPU unit 19 reads data from the ultrasonic distance sensor unit 11, the built-in angle sensor unit 12, and the axle rotation sensor unit 13 from the I / O interface unit 10, and the road surface on which the vehicle will travel in the future. Is calculated.

  The CPU unit 19 compares the threshold of the tilt angle stored in the memory unit 18 with the calculated angle, and determines whether to continue or stop the traveling of the vehicle. When the determination process ends, the CPU unit 19 sends determination result information to the I / O interface unit 10.

  The I / O interface unit 10 outputs a control signal to the drive control unit 14 based on the determination result information sent from the CPU unit 19. And the drive control part 14 outputs a drive signal with respect to the motor 15 based on the control signal output from the I / O interface part 10, and the motor 15 controls driving | running | working and a stop of a vehicle.

  The travel control device 1 operates using the battery 17 as a power source, and the power source supplied from the battery 17 is controlled by the power source control unit 16.

  Next, an outline of a vehicle equipped with the travel control device 1 according to the embodiment of the present invention will be described with reference to FIG. FIG. 2 is a diagram (a top view and a side view) showing an outline of a vehicle equipped with a travel control device according to an embodiment of the present invention.

  In the vehicles 20 and 21 of FIG. 2, the ultrasonic distance sensor 11 is provided outside the vehicles 20 and 21, and the built-in angle sensor 12 is provided inside the vehicles 20 and 21. In FIG. 2, the left diagram is a top view of a vehicle equipped with the travel control device as viewed from above, and the right diagram is a side view of the vehicle as viewed from the side. It should be noted that the ultrasonic distance sensor 11 may have any shape as long as it is directed from the tip of the vehicles 20 and 21 in the traveling direction. The upper right view is provided at a position slightly above the height of the wheel at the tip of the vehicle, and the lower right view is provided at substantially the same position as the height of the vehicle. Moreover, in the left figure, it is provided at a position slightly ahead of the front wheel F, and the ultrasonic distance sensor 11 provided at a position slightly ahead of the front wheel F follows the steering direction of the front wheel F to the left and right. It may be configured to move.

  Next, the axial direction of the vehicle used in the future description will be described with reference to FIG. 3 regarding the vehicle equipped with the travel control device in the embodiment of the present invention. FIG. 3 is a diagram illustrating an axial direction of the vehicle C on which the travel control device according to the embodiment of the present invention is mounted.

  In FIG. 3, when the vehicle C has the A direction as the traveling direction, the axis indicating the gradient between the road surface scheduled to travel in the same direction as the traveling direction A and the absolute horizontal position will be referred to as the X axis in the future. The description will be made assuming that the axis indicating the gradient (inclination) between the road surface scheduled to travel in the direction orthogonal to the direction A and the absolute horizontal position is the Y axis.

  Next, a case where the vehicle climbs a gradient having a certain angle from the absolute horizontal plane will be described with reference to FIG. FIG. 4 is a diagram for explaining prediction of a road surface condition in the same direction (X axis) as the traveling direction for a vehicle equipped with the travel control device in the embodiment of the present invention.

  In FIG. 4, a) Considering the period until the ultrasonic distance sensor 11 is inclined and the front wheel F is inclined, the ultrasonic distance sensor 11 detects the distance from the ground in front and the number of rotations of the axle. From the relationship with the distance traveled by the vehicle body calculated by the tire diameter, which is read by the axle rotation sensor unit 13 having a built-in, the inclination angle θ of the X axis that will pass through is calculated.

Now, the gradient angle of the X axis is θ, the height of the inclination is h, the movement distance of the vehicle body is m, the measurement distance of the ultrasonic distance sensor 11 is a, and the height of the ultrasonic distance sensor when there is no inclination is H. Then
Tanθ = h / m (1)
h = Ha (2)
m = tire diameter × circumference π × rotational speed (3)
It becomes.

  The final inclination angle of the X axis is calculated by the sum of the angle calculated from the distance measured by the ultrasonic distance sensor 11 and the angle measured by the built-in angle sensor 12 built in the vehicle body.

That is,
X-axis tilt angle = angle calculated from distance measured by ultrasonic distance sensor 11 + angle measured by built-in angle sensor 12 (4)
Is required. However, when the vehicle body is moving on a horizontal plane, the angle of the built-in angle sensor 12 is zero (horizontal with the ground). When the calculated final inclination angle of the X axis is determined to be an angle equal to or greater than a predetermined threshold, an alarm is generated to control the traveling of the vehicle body. Specifically, control such as stopping the traveling of the vehicle body or making a U-turn of the vehicle body is performed.

  Next, FIG. 5 is a diagram illustrating a case where a road surface condition in the direction orthogonal to the traveling direction (Y axis) is predicted for the vehicle C equipped with the travel control device in the embodiment of the present invention. FIG. 5 is a diagram for explaining a case where the road surface condition in the direction orthogonal to the traveling direction is predicted from the front of the vehicle C with respect to the vehicle C equipped with the travel control device according to the embodiment of the present invention.

  Also in FIG. 5, the distance measurement by the ultrasonic distance sensor 11 is performed using the left and right sensors, respectively, and the horizontal inclination (Y axis) is similarly calculated. That is, when the measurement distance of the right ultrasonic distance sensor 11 is R, the measurement distance of the left ultrasonic distance sensor is L, and the height of the ultrasonic distance sensor 11 when there is no inclination is H, the case where there is no inclination is shown. By subtracting from the height of the ultrasonic distance sensor 11, the height of the inclination is calculated.

That is,
Right tilt height Rh = HR (5)
Left tilt height Lh = HL (6)
The difference in tilt height between left and right is Rh-Lh (7)
It becomes.

Here, if the width between the left and right ultrasonic distance sensors 11 is W, the left and right inclination angles θ of the Y axis are
Tan θ = (Rh−Lh) / W (8)
Is calculated by By adding the angle detected by the built-in angle sensor 12 to the final left-right inclination,
Y-axis tilt angle = angle calculated from distance measured by left and right ultrasonic distance sensors 11 + angle measured by built-in angle sensor 12 (9)
Is required. Note that the angle of inclination of the Y-axis is calculated from the equation (9) regardless of the state of the vehicle body.

  Next, with reference to FIG. 6, a description will be given of a period from when the front wheel F of the vehicle body is leaning to when the rear wheel R is inclined. FIG. 6 is a diagram for explaining a period until the front wheel F of the vehicle on which the travel control apparatus according to the embodiment of the present invention is mounted is on a slope and the rear wheel R is on a slope.

  In FIG. 6, if the inclination angle is equal to or smaller than the threshold value, the vehicle body continues to move forward and starts to rise. As the vehicle body rises, the vehicle body approaches the inclined road surface and the distance between the ultrasonic distance sensor 11 and the road surface increases. Then, as shown in FIG. 8 to be described later, when the front wheel F and the rear wheel R of the vehicle are completely in a state of increasing the gradient, the distance between the ultrasonic distance sensor 11 and the road surface becomes constant.

  On the other hand, for the absolute horizontal, the vehicle body increases the angle in the X-axis direction, and this angle is detected by the built-in angle sensor 12. Then, the final angle in the X-axis direction is calculated in the same manner as the period in FIG. 4 until a) the ultrasonic distance sensor 11 reaches the inclination and the front wheel F approaches the inclination. FIG. 7 is a diagram for explaining in detail a period until the front wheel F of the vehicle on which the traveling control apparatus according to the embodiment of the present invention is mounted approaches the slope and the rear wheel R gets on the slope. The meanings of a, H, and h in FIG. 7 are the same as those in FIG.

That is,
X-axis tilt angle = angle calculated from distance measured by ultrasonic distance sensor 11 + angle measured by built-in angle sensor 12 (10)
If it is determined that the angle of inclination of the X-axis is equal to or greater than a predetermined threshold, an alarm is generated to control the travel of the vehicle body. Specifically, control such as stopping the traveling of the vehicle body or making a U-turn of the vehicle body is performed.

  Next, a period after the front wheels F and the rear wheels R of the vehicle are completely on the gradient will be described with reference to FIG. FIG. 8 is a diagram for explaining that the front wheels F and the rear wheels R of the vehicle on which the travel control apparatus according to the embodiment of the present invention is mounted are rising.

  When the vehicle body is completely on the slope, it becomes horizontal to the sloped road surface. That is, since the measurement value of the ultrasonic distance sensor 11 is the same as the height of the sensor, the calculation result of the angle calculated from the distance is zero.

  On the other hand, with respect to absolute horizontal, the angle of inclination of the X axis is detected by a built-in angle sensor 12 built in the vehicle body. In this case, the final angle of inclination of the X axis is the above-described equation (4) or ( The inclination angle itself detected by the built-in angle sensor 12 built in the vehicle body is obtained by the equation (10).

  If there is a change in the measurement distance of the ultrasonic distance sensor 11, the inclination angles of the X axis and the Y axis are calculated from the movement distance of the vehicle body, and the angles measured by the built-in angle sensor 12 built in the vehicle are added to obtain the final result. The angle is calculated, it is determined whether or not the angle is within the threshold value, and this operation is repeated. That is, according to the present invention, it is possible to determine whether or not the vehicle is dangerous before the vehicle itself falls into a dangerous state by predicting the inclination angle (road surface condition) of the place through which the vehicle passes. It is a feature.

  Next, referring to FIG. 9, a) a period until the ultrasonic distance sensor 11 is inclined and the front wheel F is inclined, a) a period until the front wheel F is inclined and the rear wheel R is inclined. , C) In the period when the rear wheel R is approaching the gradient, (a) the measured value of the distance between the ultrasonic distance sensor 11 and the road surface, (b) the X-axis calculated from the measured distance value of (a) An inclination angle, (c) an X-axis inclination angle measured by the built-in angle sensor 12, and (d) a final X-axis inclination angle will be described.

  FIG. 9 shows a period in which a vehicle equipped with the travel control device according to the embodiment of the present invention is a) a period when the front wheel F starts to be inclined, and b) a period until the front wheel F is inclined and the rear wheel R is inclined. FIG. 5 is a diagram illustrating sensor detection distances and detection angles in a period after the front wheels F and rear wheels R of the vehicle are completely on a slope.

  First, during the period a), the distance between the ultrasonic distance sensor 11 and the road surface gradually decreases, while the calculated inclination angle rises instantaneously, and the built-in angle sensor 12 does not yet detect the angle. The inclination angle is determined by the inclination angle calculated by the ultrasonic distance sensor 11.

  Next, during the period of a), as the distance between the ultrasonic distance sensor 11 and the road surface gradually increases, the calculated inclination angle also decreases, and this time the angle detected by the built-in angle sensor 12 Therefore, the total tilt angle is determined by the tilt angle detected by the ultrasonic distance sensor 11 and the built-in angle sensor 12.

  Finally, during the period of c), the distance between the ultrasonic distance sensor and the road surface is constant, and the calculated angle is zero. Further, since the tilt angle detected by the built-in angle sensor 12 is also constant, the total tilt angle is determined by the tilt angle detected by the built-in angle sensor 12.

Finally, a series of operations of the vehicle equipped with the above-described travel control device according to the present invention will be described.
FIG. 10 is a flowchart for explaining a series of operations of the vehicle equipped with the travel control device according to the embodiment of the present invention.

  When the vehicle starts traveling, the distance measurement with the ground is started by the ultrasonic distance sensor 11 (step, hereinafter referred to as “S”) 101. Next, the rotation number of the tire shaft is measured by the axle rotation sensor unit 13 (S102). Further, the built-in angle sensor 12 detects the tilt angle in the X axis and the Y axis (S103). Then, the travel distance of the vehicle is calculated from the tire shaft rotation speed read in S102 (S104).

  Finally, in S106, the final X is obtained by taking the sum of the angle on the X axis calculated from the distance measured by the ultrasonic distance sensor 11 and the angle on the X axis detected by the built-in angle sensor 12. Calculate the angle of inclination in the axis.

  Then, it is determined whether or not the angle in the X-axis direction of the vehicle body calculated in S106 is within a threshold value (S107). If it is within the threshold value (S107: Yes), the process proceeds to S108 and exceeds the threshold value. (S107: No), the process proceeds to S111 to stop the vehicle from moving forward.

  If the vehicle body angle calculated in S106 is within the threshold (S107: Yes), the process proceeds to S108, the angle on the Y axis calculated from the distance measured by the ultrasonic distance sensor 11, and the built-in angle sensor. The final tilt angle on the Y axis is calculated by taking the sum of the angle on the Y axis detected in Step 12.

  Then, it is determined whether or not the angle in the Y-axis direction of the vehicle body calculated in S108 is within the threshold (S109). If it is within the threshold (S109: Yes), the process proceeds to S110 and exceeds the threshold. (S109: No), the process proceeds to S111 to stop the vehicle from moving forward.

  Further, it is determined whether or not the angle of the vehicle body in the Y-axis direction calculated in S108 is within a threshold value (S109). If it is within the threshold value (S109: Yes), the process proceeds to S110 to advance the vehicle. continue.

  In the above embodiment, the description has been made assuming that the vehicle is an electric cart. However, the type of vehicle is not limited to the electric cart, and the traveling control device of the present invention is mounted on various types of vehicles. It is possible.

  Moreover, in the said embodiment, although the ultrasonic distance sensor was assumed and demonstrated as a sensor which measures the distance with the road surface of the advancing direction, as a kind of sensor, it is not restricted to what used the ultrasonic wave. Of course, any sensor may be used as long as it can measure the distance between the road surface in the traveling direction and the vehicle. Furthermore, although the ultrasonic distance sensor is provided outside the vehicle and the built-in angle sensor is provided inside the vehicle in the above embodiment, these sensors are described below. If it is a location where the function can be exhibited, it can be provided at any location of the vehicle, and any number of sensors can be provided.

  Then, the CPU unit 19 (FIG. 1) for controlling the operation of the traveling control performs the processing of the operation of the traveling control device mounted on the vehicle that executes the flowchart shown in FIG. Control is performed based on a computer-readable program stored in a memory unit 18 (FIG. 1) including a read only memory (RAM), a random access memory (RAM), and the like.

  As described above, unlike the prior art, in the future, the distance between the road surface where the vehicle passes and the sensor will be measured, and the slope gradient of the road surface will be calculated from the distance data obtained by the sensor, Together with the sensor data built into the vehicle body, the gradient angle of the place where the vehicle will pass is estimated in the future, so if it is determined that it is dangerous to continue traveling, Driving can be controlled forcibly.

  The present invention has been described above by the preferred embodiments of the present invention. While the invention has been described with reference to specific embodiments thereof, various modifications and changes can be made to these embodiments without departing from the broader spirit and scope of the invention as defined in the claims. is there.

DESCRIPTION OF SYMBOLS 1 Traveling control apparatus 10 I / O interface part 11 Ultrasonic distance sensor part 12 Built-in angle sensor part 13 Axle rotation sensor part 14 Drive control part 15 Motor 16 Power supply control part 17 Battery 18 Memory part 19 CPU part 20, 21 Vehicle C Vehicle F front wheel R rear wheel

Claims (16)

  A travel control device for controlling the travel of a vehicle according to a road surface gradient, a road surface state prediction unit that predicts the road surface state that is scheduled to travel, and the road surface state that is scheduled to travel is predicted by the road surface state prediction unit. Determining means for determining whether or not a desired condition is satisfied; and when the determining means determines that the road surface condition to be traveled does not satisfy the desired condition, controlling the traveling of the vehicle. A travel control device.   The travel control apparatus according to claim 1, wherein the road surface state prediction unit predicts the road surface state scheduled to travel in the same direction as the traveling direction of the vehicle.   The travel control device according to claim 1, wherein the road surface state prediction unit predicts the road surface state scheduled to travel in a direction orthogonal to the traveling direction of the vehicle.   5. The desired condition according to claim 1, wherein a gradient of the road surface scheduled to travel in the same direction as the traveling direction is a gradient having a predetermined angle with respect to the absolute horizontal position of the vehicle. The travel control device according to any one of claims.   5. The desired condition according to claim 1, wherein a gradient of the road surface scheduled to travel in a direction orthogonal to the traveling direction is a gradient having a predetermined angle with respect to an absolute horizontal position of the vehicle. The travel control device according to any one of claims.   The travel control device according to any one of claims 1 to 3, wherein the road surface condition prediction unit includes a plurality of detection units.   The travel control apparatus according to claim 7, wherein the plurality of detection units are provided at arbitrary locations of the vehicle.   The travel control device according to claim 8, wherein the detection unit measures a first distance between the vehicle and a road surface planned to travel in the same direction as the traveling direction.   The travel control device according to claim 8, wherein the detection unit measures a second distance between the vehicle and a road surface scheduled to travel in a direction orthogonal to the traveling direction.   9. The travel control apparatus according to claim 8, wherein the detection unit measures a first angle between an absolute horizontal position of the vehicle and a road surface scheduled to travel in the same direction as the traveling direction.   9. The travel control apparatus according to claim 8, wherein the detection unit measures a second angle between an absolute horizontal position of the vehicle and a road surface scheduled to travel in a direction orthogonal to the traveling direction.   The gradient of the road surface scheduled to travel in the same direction as the traveling direction is the sum of the angle calculated from the first distance measured by the detection means and the first angle measured by the detection means. The travel control device according to any one of claims 5, 8, 9, and 11, wherein the travel control device is calculated by:   The gradient of the road surface scheduled to travel in the direction orthogonal to the traveling direction is the sum of the angle calculated from the second distance measured by the detecting means and the second angle measured by the detecting means. The travel control device according to claim 6, wherein the travel control device is calculated by:   2. The system according to claim 1, further comprising a notification unit, wherein the notification unit performs notification when the determination unit determines that the road surface condition scheduled to travel does not satisfy the desired condition. Travel control device.   A travel control method for controlling travel of a vehicle according to a road surface gradient, the step of predicting the road surface condition scheduled to travel by a road surface condition prediction unit, and the travel predicted by the road surface condition prediction unit by a determination unit A step of determining whether or not the planned road surface condition satisfies a desired condition; and if the determination means determines that the planned road surface condition does not satisfy the desired condition, the vehicle is driven. And a step of controlling.   A program to be executed by a computer of a travel control device that controls the travel of a vehicle according to a road surface gradient, a process for predicting the road surface condition scheduled to travel by a road surface condition prediction unit, and a road condition prediction unit by a determination unit When it is determined by the determination means that the road surface condition scheduled to travel does not satisfy the desired condition, the process of determining whether the road surface condition scheduled to travel satisfies a desired condition, And a process for controlling travel of the vehicle.

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