JP2015141641A - Follow-up support device, follow-up support method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a follow-up support device, a follow-up support method and a program capable of selecting a follow-up target vehicle to be followed-up by automatic driving and the travel position of an own vehicle with respect to the follow-up target vehicle.SOLUTION: The follow-up support device includes: candidate vehicle detection means for detecting a candidate vehicle which is positioned ahead the own vehicle and which the own vehicle can follow-up by automatic driving; presentation means for presenting the position of the candidate vehicle to a driver; follow-up enabling position acquisition means for acquiring a follow-up enabling position of the candidate vehicle on the basis of a positional relation between the candidate vehicle and the own vehicle on a road; follow-up enabling position display means for displaying the follow-up enabling position of the candidate vehicle acquired via the follow-up enabling position acquisition means in a selectable manner; and selection acceptance means for accepting the selective instruction of the follow-up enabling position of the candidate vehicle.

Description

  The present invention relates to a follow-up support apparatus, a follow-up support method, and a program for presenting candidate vehicles that can follow-up.

Conventionally, various techniques for presenting candidate vehicles capable of following traveling have been proposed.
For example, for each object whose distance is measured by the radar device, a traveling vehicle that can follow the vehicle is selected based on the distance between the vehicle, the relative speed, the relative angle, and the like. The background and the preceding vehicle photographed by the imaging device are displayed on the display device, and the followable traveling vehicle is displayed surrounded by a frame (mark). By selecting and specifying one of the traveling vehicles that can be followed by the driver, this traveling vehicle is set as the following target vehicle, and is displayed in an identifiable manner surrounded by a frame of a different color from the other traveling vehicles. . There is a travel control device for an automobile that controls the drive mechanism of the host vehicle so as to travel while keeping the distance between the target vehicle and the host vehicle constant (see Patent Document 1).

JP 10-86698 A

  However, in the traveling control device for an automobile described in Patent Document 1 described above, the following target vehicle needs to travel in the traveling lane of the own vehicle, and the traveling position of the own vehicle with respect to the following target vehicle cannot be selected. is there. Furthermore, there is a problem that it is not possible to select a tracking target vehicle in consideration of a driving function mounted on a traveling vehicle capable of following, for example, an automatic driving function or an adaptive cruise control function.

  Therefore, the present invention has been made to solve the above-described problems, and a follow-up support device that can select a follow-up target vehicle that follows automatic driving and a travel position of the host vehicle with respect to the follow-up target vehicle. A tracking support method and program are provided.

  In order to achieve the above object, a tracking support apparatus (2), a tracking support method, and a program according to the present invention include a tracking support apparatus that presents candidate vehicles capable of following driving, a tracking support method using the tracking support apparatus, and This is a program capable of realizing the following functions for the following support apparatus. Specifically, candidate vehicle detection means (41) for detecting a candidate vehicle that can be followed by automatic driving located in front of the host vehicle, presentation means (15) for presenting the position of the candidate vehicle to the driver, and the candidate Followable position acquisition means (41) for acquiring the followable position of the candidate vehicle based on the positional relationship between the vehicle and the host vehicle on the road, and the candidate vehicle acquired via the followable position acquisition means. A followable position display means (41) that displays a followable position in a selectable manner and a selection accepting means (41) that accepts an instruction to select the followable position of the candidate vehicle.

  In the follow-up support device, the follow-up support method, and the program having the above-described configuration, a candidate vehicle that can follow the vehicle is presented and a followable position of the candidate vehicle is displayed in a selectable manner. The driver inputs the selection instruction of the position where the candidate vehicle can follow through the selection receiving means, and simultaneously selects the tracking target vehicle to be tracked by automatic driving and the traveling position of the own vehicle with respect to the tracking target vehicle. can do.

It is a block diagram which shows an example of the structure regarding this invention in the own vehicle. It is a main flowchart which shows the "candidate vehicle presentation process" performed in a navigation apparatus. It is a figure which shows an example which detects the surrounding vehicle ahead of the own vehicle. It is a figure which shows an example which displayed the position of the candidate vehicle. 3 is a sub-flowchart showing a sub-process of “candidate vehicle attribute detection / allocation process” in FIG. FIG. 6 is a sub-flowchart showing a sub-process of “mounted function estimation process based on vehicle behavior” of FIG. 5. 6 is a sub-flowchart showing a sub-process of “followable position determination process” in FIG. 5. 6 is a sub-flowchart showing a sub-process of “followable position determination process” in FIG. 5. 3 is a sub-flowchart showing a sub-process of “candidate vehicle attribute assignment display process” in FIG. 2. 3 is a sub-flowchart showing a sub-process of “candidate vehicle attribute assignment display process” in FIG. 2. It is explanatory drawing explaining the vehicle behavior of a candidate vehicle. It is a figure which shows an example of the back space of a candidate vehicle. It is a figure which shows an example in which a candidate vehicle exists on the right side. It is a figure which shows an example of the left side space of the candidate vehicle of FIG. It is a figure which shows an example which displayed the mounting function of the candidate vehicle. It is a figure which shows an example which displayed the followable position of the candidate vehicle of FIG. It is a figure which shows an example which displayed the followable position of a candidate vehicle. It is a figure which shows an example which displayed the followable position of a candidate vehicle. It is a figure which shows an example which displayed the followable position of a candidate vehicle. It is a figure which shows an example which displayed the followable position of the candidate vehicle which concerns on other embodiment. It is a figure which shows an example which displayed the mounting function of the candidate vehicle which concerns on other embodiment.

  Hereinafter, a tracking support device, a tracking support method, and a program according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

[Schematic configuration of own vehicle]
A schematic configuration of the host vehicle 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the host vehicle 1 according to the present embodiment basically includes a navigation device 2 installed on the host vehicle 1 and a vehicle control ECU (Electronic Control Unit) 3.

  Here, the navigation device 2 is provided on the center console or panel surface of the interior of the host vehicle 1, and displays a map around the vehicle and a search route to the destination, and voice guidance regarding route guidance. Is provided. Then, the current position of the host vehicle 1 is specified by the GPS 31 or the like, and when the destination is set, a search for a plurality of routes to the destination and guidance according to the set guide route are displayed on the liquid crystal display 15 or This is performed using the speaker 16. The detailed configuration of the navigation device 2 will be described later.

  The vehicle control ECU 3 is an electronic control unit that controls the entire host vehicle 1. The vehicle control ECU 3 is connected to a navigation control unit 13 (to be described later) included in the navigation device 2. The vehicle control ECU 3 detects a vehicle-mounted display (vehicle-mounted LCD) 5 for displaying a speedometer, a human interface (HMI) 6, a front shooting camera 76A, a rear shooting camera 76B, a millimeter wave radar 77, and a vehicle speed. A vehicle speed sensor 51 and the like are connected.

  The vehicle control ECU 3 includes a CPU 71 as an arithmetic device and a control device, an internal storage device such as a RAM 72 used as a working memory when the CPU 71 performs various arithmetic processes, and a ROM 73 in which a control program and the like are recorded. Yes. Then, the CPU 71 creates an operation plan based on the route data of the guide route received from the navigation control unit 13 of the navigation device 2, the gradient information of each link on the route, the link length, and the like.

  The human interface 6 is provided with a follow-up vehicle detection button 61 for instructing the start of detection of candidate vehicles that follow in automatic driving. The driver automatically presses the following vehicle detection button 61 on a toll road such as a highway automobile national road, an urban highway, a general toll road, etc., so that the vehicle control ECU 3 automatically detects the front photographing camera 76A and the millimeter wave radar 77. It is possible to instruct the start of detection of surrounding vehicles in front of the vehicle.

  When an instruction to start detection of surrounding vehicles in front of the host vehicle is input, the CPU 71 notifies the navigation device 2 of a detection start signal indicating that the tracking vehicle detection button 61 has been pressed. Thereafter, the CPU 71 detects the relative position of the surrounding vehicle ahead of the host vehicle 1 with respect to the host vehicle 1 using the front shooting camera 76 </ b> A and the millimeter wave radar 77. When the navigation device 2 instructs the tracking target vehicle and the travel position of the host vehicle with respect to the tracking target vehicle, the CPU 71 controls driving of an engine device (not shown), a brake device, electric power steering, and the like. Then, the follow-up traveling of the follow-up target vehicle is started at the travel position of the own vehicle with respect to the follow-up target vehicle instructed by the automatic driving.

  The front shooting camera 76A is attached in the vicinity of the rear mirror of the host vehicle 1, and is configured by a CCD camera or the like to capture the front of the host vehicle and outputs an image signal to the vehicle control ECU 3. The rear photographing camera 76B is attached to the rear end portion of the host vehicle 1, and is configured by a CCD camera or the like to photograph the rear of the host vehicle and outputs an image signal to the vehicle control ECU 3. The CPU 71 performs image processing on the image signal input from the front shooting camera 76 </ b> A, detects the relative position of the surrounding vehicle ahead of the host vehicle with respect to the host vehicle 1, and outputs the detected position to the navigation device 2. In addition, the CPU 71 performs image processing on the image signal input from the rear photographing camera 76 </ b> B, detects a space around the host vehicle, and outputs the detected space to the navigation device 2.

  The millimeter wave radar 77 is attached to the center position of the front end of the host vehicle 1, detects the distance to the surrounding vehicle in front of the host vehicle and the relative speed of the surrounding vehicle, and detects the detected distance to the surrounding vehicle and the surrounding vehicle. Relative speed data is output to the vehicle control ECU 3. The CPU 71 detects the relative position of the surrounding vehicle in front of the own vehicle with respect to the own vehicle 1 based on the distance to the surrounding vehicle and the relative speed data of the surrounding vehicle input from the millimeter wave radar 77, and outputs to the navigation device 2. To do.

[Schematic configuration of navigation device]
Next, a schematic configuration of the navigation device 2 will be described. As shown in FIG. 1, the navigation apparatus 2 according to the present embodiment includes a current location detection processing unit 11 that detects the current position of the host vehicle, a data recording unit 12 that records various data, and input information. The navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display (LCD) 15 for displaying information such as a map to the operator, and route guidance A communication device 17 that communicates with a speaker 16 that outputs voice guidance related to, etc., a road traffic information center (not shown), a map information distribution center (not shown), and the like via a mobile phone network, and the liquid crystal display 15 It is comprised from the touchscreen 18 with which the surface was mounted | worn.

Instead of the touch panel 18, a remote controller, joystick, mouse, touch pad, etc. may be provided.
A vehicle speed sensor 51 is connected to the navigation control unit 13. The navigation control unit 13 is electrically connected to the vehicle control ECU 3 so as to be able to acquire the relative positional relationship and the like of the surrounding vehicle ahead of the host vehicle with respect to the host vehicle 1.

  Hereinafter, each component constituting the navigation device 2 will be described. The current position detection processing unit 11 includes a GPS 31 and the like, and includes the current position of the own vehicle 1 (hereinafter referred to as “own vehicle position”), the own vehicle direction, The travel distance, elevation angle, etc. can be detected. For example, it is possible to detect the turning speed of the three axes by the gyro sensor, and to detect the azimuth (horizontal direction) and the traveling direction of the elevation angle.

  Further, the communication device 17 can receive the latest traffic information and weather information distributed from a probe center, a road traffic information center, and the like (not shown) at predetermined time intervals (for example, every five minutes). It is configured. The “traffic information” is, for example, detailed information related to traffic information such as travel time of each link, road traffic information regarding road traffic congestion, traffic regulation information due to road construction, building construction, and the like. In the case of road traffic information, the detailed information is the actual length of the traffic jam, the time when traffic congestion is expected to be resolved, and in the case of traffic regulation information, the duration of road construction, construction work, etc. The type of traffic regulation such as lane regulation, the time zone of traffic regulation, etc. The communication device 17 is configured to be capable of two-way communication with a communication device mounted on a surrounding vehicle of the host vehicle 1.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25 stored in the hard disk, a predetermined program, etc. And a driver (not shown) for writing the data. The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 2.

  Here, the navigation map information 26 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, Search for intersection data related to intersections, node data related to node points, link data related to roads (links), search data for searching routes, facility data related to POI (Point of Interest) such as stores that are a type of facility, and points. Search data and the like.

  In addition, as node data, actual road junctions (including intersections, T-junctions, etc.), node coordinates (positions) set for each road according to the radius of curvature, etc. Elevation, node attribute indicating whether the node is a node corresponding to an intersection, etc., a connection link number list that is a list of link IDs that are identification numbers of links connected to the node, and a node of a node adjacent to the node via a link Data related to an adjacent node number list that is a list of numbers is recorded.

  Further, as link data, a link ID for specifying a link for each link constituting the road, a link length indicating the length of the link, a coordinate position (for example, latitude and longitude) of the start point and end point of the link, Data indicating presence / absence of median, link slope, road width to which link belongs, number of lanes, legal speed, level crossing, etc., for corners, indicate curvature radius, intersection, T-junction, corner entrance and exit, etc. Regarding the road type, in addition to general roads such as national roads, prefectural roads and narrow streets, data representing toll roads such as national highways, urban highways, general toll roads, and toll bridges are recorded.

  Furthermore, regarding toll roads, data relating to the toll road entrance and exit attachment roads (rampways), toll gates (interchanges), charges for each travel section, and the like are recorded. A toll road such as a national highway, a city highway, a car road, and a general toll road is referred to as a toll road. One-digit or two-digit national roads excluding toll roads, three-digit or more national roads, major local roads, prefectural roads, municipal roads, etc. are called general roads.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guide route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured. This link cost is data indicating the average travel time required to pass through the link, and is, for example, “3 (min)”.

The facility data includes hotel, amusement park, palace, hospital, gas station, parking lot, station, airport, ferry landing, interchange (IC), junction (JCT), service area, parking area (PA). POI names and addresses, telephone numbers, coordinate positions on the map (for example, latitude and longitude of the center position, entrance, exit, etc.), facility icons and landmarks that display the location of the facility on the map, etc. Are stored together with the facility ID that identifies the POI. In addition, a registered facility ID for specifying a registered facility such as a convenience store or a gas station registered by the user is also stored.
The contents of the map information DB 25 are updated by downloading update information distributed from the map information distribution center (not shown) via the communication device 17.

  As shown in FIG. 1, the navigation control unit 13 constituting the navigation device 2 is a working device that controls the entire navigation device 2, the CPU 41 as the control device, and the CPU 41 performs various arithmetic processes. In addition to being used as a memory, it has a RAM 42 for storing route data when a route is searched, an internal storage device such as a ROM 43 for storing control programs, a timer 45 for measuring time, etc. Yes. The ROM 43 also stores programs such as “candidate vehicle presentation processing” (see FIG. 2) for displaying candidate vehicles that can be followed as described later and displaying the positions where the candidate vehicles can follow.

  The operation unit 14 is operated when correcting the current position at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or when searching for information about facilities, etc. Consists of keys and multiple operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches.

  Also, the liquid crystal display 15 includes map information currently traveling, map information around the destination, operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic As described later, information, news, weather forecast, time, e-mail, TV program, and the like, candidate vehicles that can be followed and the positions where the candidate vehicles can follow are displayed.

  Further, the speaker 16 outputs voice guidance or the like for guiding traveling along the guidance route based on an instruction from the navigation control unit 13. Here, the voice guidance to be guided includes, for example, “200m ahead, turn right at XX intersection”.

  The touch panel 18 is a transparent panel-like touch switch mounted on the display screen of the liquid crystal display 15. Various instruction commands can be input by pressing buttons or a map displayed on the screen of the liquid crystal display 15. It is possible to do the same. Note that the touch panel 18 may be configured by an optical sensor liquid crystal method or the like that directly presses the screen of the liquid crystal display 15.

[Candidate vehicle presentation processing]
Next, in the host vehicle 1 configured as described above, the process is executed by the CPU 41 of the navigation device 2, and the candidate vehicle that can follow the vehicle is presented and the followable position of the candidate vehicle is displayed. The “candidate vehicle presentation process” will be described with reference to FIGS. The program shown in the flowchart in FIG. 2 is executed by the CPU 41 when a detection start signal indicating that the tracking vehicle detection button 61 is pressed from the vehicle control ECU 3 is input to the navigation device 2.

  As shown in FIG. 2, first, in step (hereinafter abbreviated as S) 11, the CPU 41 of the navigation device 2 detects the vehicle 1 detected for each of the surrounding vehicles ahead of the vehicle with respect to the vehicle control ECU 3. Request to send a relative position. And CPU41 memorize | stores the relative position with respect to the own vehicle 1 of the surrounding vehicle ahead of the own vehicle received from vehicle control ECU3 in RAM42.

  Subsequently, in S12, the CPU 41 reads from the navigation map information 26 the width of the road and the number of lanes to which the link where the vehicle position exists belongs. Then, the CPU 41 sequentially reads out the relative positions of the surrounding vehicles ahead of the host vehicle from the RAM 42 and exists within the range Xm ahead of the host vehicle over the entire width of the road, for example, within the range 120 m ahead of the host vehicle. A determination process for determining whether or not to perform is executed. For example, as shown in FIG. 3, it is determined whether or not another vehicle exists within a substantially rectangular range Xm ahead of the host vehicle over the entire width of the toll road 81 on which the host vehicle 1 is traveling. Then, when there is no other vehicle within the range Xm ahead of the host vehicle (S12: NO), the CPU 41 proceeds to the process of S13.

  In S <b> 13, the CPU 41 displays on the liquid crystal display 15 that there is no candidate vehicle capable of following the vehicle ahead, and ends the process. For example, the CPU 41 displays “No candidate vehicle that can be followed” on the liquid crystal display 15, and performs voice guidance “No candidate vehicle that can be followed” via the speaker 16.

  On the other hand, when another vehicle exists within the range of the vehicle front Xm (S12: YES), the CPU 41 stores the relative position of the other vehicle in the RAM 42 as the relative position of the candidate vehicle that can follow the vehicle. The process proceeds to S14. In S <b> 14, the CPU 41 creates a bird's-eye view of the candidate vehicle capable of following and traveling on the road Xm ahead of the host vehicle and the host vehicle 1, and displays the overhead view on the liquid crystal display 15. For example, as shown in FIG. 3, when there is a candidate vehicle 82 that can follow and travel ahead of the lane in which the host vehicle 1 travels, the CPU 41 travels on a toll road 81 as shown in FIG. 4. An overhead view of the host vehicle 1 and the candidate vehicle 82 as viewed from above is created and displayed on the liquid crystal display 15.

Then, CPU41 selects the candidate vehicle located in the outermost part from a center line among the candidate vehicles which can carry out the follow-up driving | running | working which exists ahead of the own vehicle. In S15, the CPU 41 executes a sub-process of “candidate vehicle attribute detection / allocation process”.
Here, the sub-process of “candidate vehicle attribute detection / allocation process” will be described with reference to FIG.

  As shown in FIG. 5, first, in S111, the CPU 41 determines a vehicle ID for the selected candidate vehicle, for example, determines “1” as the vehicle ID, that is, assigns the vehicle ID to this candidate. The vehicle is stored in the RAM 42 in association with the relative position of the vehicle with respect to the host vehicle 1.

  In S112, the CPU 41 performs two-way communication with the communication device of the selected candidate vehicle via the communication device 17, that is, performs vehicle-to-vehicle communication and performs the driving function mounted on the candidate vehicle. Request to be informed. And when mounting function information regarding the driving function mounted on the candidate vehicle is received from the candidate vehicle, the CPU 41 stores the information in the RAM 42 in association with the vehicle ID of the candidate vehicle, and then proceeds to the processing of S113. On the other hand, when the mounted function information related to the driving function mounted on the candidate vehicle is not received from the candidate vehicle, the CPU 41 determines that the inter-vehicle communication cannot be performed, and proceeds to the process of S113.

  In S113, the CPU 41 executes determination processing for determining whether or not the mounted function information related to the driving function mounted on the candidate vehicle is stored in the RAM 42 in association with the vehicle ID of the candidate vehicle. And when it determines with the mounting function information regarding the drive function mounted in the candidate vehicle having been linked | related with vehicle ID of the said candidate vehicle and memorize | stored in RAM42 (S113: YES), CPU41 performs the process of S114. Migrate to

  In S114, the CPU 41 reads out the mounting function information mounted on the candidate vehicle stored in the RAM 42 in association with the vehicle ID of the candidate vehicle, and the driving function mounted on the candidate vehicle is the “automatic driving” function. Judgment processing is performed to determine whether or not. When it is determined that the driving function installed in the candidate vehicle is the “automatic driving” function (S114: YES), the CPU 41 proceeds to the process of S115.

  In S115, the CPU 41 reads the function flag from the RAM 42, sets “automatic” indicating that the automatic driving function is installed in the function flag, stores the function flag in the RAM 42 in association with the vehicle ID of the candidate vehicle, The process proceeds to S120. When the navigation device 2 is activated, “normal” is set in the function flag and stored in the RAM 42.

  On the other hand, when it is determined that the driving function installed in the candidate vehicle is not the “automatic driving” function (S114: NO), the CPU 41 proceeds to the process of S116. In S116, the CPU 41 re-reads the mounted function information associated with the vehicle ID of the candidate vehicle and stored in the RAM 42, and the driving function mounted on the candidate vehicle keeps the inter-vehicle distance from the preceding vehicle constant. A determination process for determining whether or not the “adaptive cruise control (ACC)” function that follows in the state is performed.

  If it is determined that the driving function installed in the candidate vehicle is an “adaptive cruise control (ACC)” function that follows the vehicle with a constant distance from the vehicle ahead (S116: YES) CPU41 transfers to the process of S117. In S117, the CPU 41 reads out the function flag from the RAM 42, sets “semi-automatic” indicating that the adaptive cruise control (ACC) function is installed in the function flag, and associates it with the vehicle ID of the candidate vehicle. Then, the process proceeds to S120.

  On the other hand, if it is determined that the driving function installed in the candidate vehicle is not the “adaptive cruise control (ACC)” function (S116: NO), the CPU 41 proceeds to the process of S118. In S118, the CPU 41 reads out the function flag from the RAM 42, sets “normal” indicating that the function for following the preceding vehicle is not installed in the function flag, and stores it in the RAM 42 in association with the vehicle ID of the candidate vehicle. After that, the process proceeds to S120.

  On the other hand, when it is determined in S113 that the installed function information related to the driving function installed in the candidate vehicle is not stored in the RAM 42 in association with the vehicle ID of the candidate vehicle (S113: NO), the CPU 41 performs S119. Move on to processing. In S <b> 119, the CPU 41 executes a sub-process (see FIG. 6) of “installation function estimation process based on vehicle behavior” described later. Thereafter, in S120, the CPU 41 executes a sub-process (see FIG. 7) of “followable position determination process” described later, and then returns to the main flowchart.

  And CPU41 performs the determination process which determines whether the next candidate vehicle exists in the center lane side of the candidate vehicle which provided vehicle ID. And when it determines with the next candidate vehicle existing in the center lane side of the candidate vehicle which provided vehicle ID, CPU41 selects the next candidate vehicle and performs the process of S15 again. On the other hand, when it is determined that the next candidate vehicle does not exist on the center lane side of the candidate vehicle to which the vehicle ID is assigned, that is, the vehicle ID is assigned to all candidate vehicles that are in front of the host vehicle and can follow the vehicle. The CPU 41 proceeds to the process of S16. In S <b> 16, the CPU 41 executes a sub-process (see FIG. 9) of “candidate vehicle attribute assignment display process” described later, and then ends the process.

[Installation function estimation process based on vehicle behavior]
Next, a sub-process of the “mounted function estimation process based on vehicle behavior” executed by the CPU 41 in S119 will be described with reference to FIGS. As shown in FIG. 6, first, in S <b> 211, the CPU 41 measures the inter-vehicle distance M <b> 1 between the candidate vehicle and the preceding vehicle traveling in front of the traveling lane on which the candidate vehicle travels with respect to the vehicle control ECU 3. To request.

  Thereby, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front capturing camera 76A, and the inter-vehicle distance between the candidate vehicle and the preceding vehicle traveling in front of the traveling lane on which the candidate vehicle travels. M1 is measured and transmitted to the navigation device 2 at a predetermined processing time, for example, at a processing time of 0.1 second.

  For example, as shown in FIG. 11, the CPU 41 causes the vehicle control ECU 3 to measure the inter-vehicle distance M1 between the candidate vehicle 83 and the forward vehicle 84 positioned in front of the travel lane 85 on which the candidate vehicle 83 travels. To request. As a result, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front capturing camera 76A, and the candidate vehicle 83 and the front vehicle 84 positioned in front of the travel lane 85 on which the candidate vehicle 83 travels. The inter-vehicle distance M1 is measured and transmitted to the navigation device 2 at a predetermined processing time, for example, at a processing time of 0.1 second.

In S212, when the CPU 41 receives the inter-vehicle distance M1 between the candidate vehicle and the preceding vehicle traveling in front of the travel lane in which the candidate vehicle travels from the vehicle control ECU 3, the inter-vehicle distance M1 is stored in the RAM 42. Memorize in time series.
Subsequently, in S213, the CPU 41 instructs the vehicle control ECU 3 to perform a distance N1 from a white line (for example, a roadside belt, a lane boundary line, etc.) in the travel lane of the candidate vehicle, that is, a horizontal line from the white line. Request to measure position N1.

  Thereby, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front capturing camera 76A, and from the white line (for example, roadside lane, lane boundary line, etc.) in the travel lane of the candidate vehicle. The distance N1 is measured and transmitted to the navigation device 2 at a predetermined processing time, for example, at a processing time of 0.1 second.

  For example, as shown in FIG. 11, the CPU 41 requests the vehicle control ECU 3 to measure the distance N <b> 1 from the white line 86 in the travel lane 85 of the candidate vehicle 83. As a result, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front capturing camera 76A, measures the distance N1 from the white line 86 in the travel lane 85 of the candidate vehicle 83, and performs a predetermined processing time. Thus, for example, the data is transmitted to the navigation device 2 with a processing time of 0.1 seconds.

In S214, when the CPU 41 receives the distance N1 from the white line in the travel lane of the candidate vehicle, that is, the horizontal position N1 from the white line from the vehicle control ECU 3, the CPU 41 uses the distance N1 from the white line as the horizontal position N1. Are stored in the RAM 42 in time series.
Subsequently, in S215, the CPU 41 counts the number of data of the inter-vehicle distance M1 stored in the RAM 42 and the distance N1 from the white line, and each count value becomes a certain number or more, for example, 100 to 200 or more. Determination processing for determining whether or not has been performed is executed. That is, the CPU 41 executes a determination process for determining whether or not the inter-vehicle distance M1 and the distance N1 from the white line are measured within a certain travel distance, for example, within a travel distance of 500 m.

  Then, when the count values of the data numbers of the inter-vehicle distance M1 and the distance N1 from the white line stored in the RAM 42 are less than a certain number (S215: NO), the CPU 41 executes the processes after S211 again. On the other hand, when the count values of the data numbers of the inter-vehicle distance M1 and the distance N1 from the white line stored in the RAM 42 are equal to or larger than a certain number (S215: YES), the CPU 41 proceeds to the process of S216.

  In S216, the CPU 41 reads all the inter-vehicle distances M1 stored in the RAM 42, calculates an average value of the inter-vehicle distances M1, and then squares and sums the differences between the inter-vehicle distances M1 and the average value to obtain an inter-vehicle distance M1. Is calculated and stored in the RAM. Further, the CPU 41 reads all the distances N1 from the white line stored in the RAM 42, calculates the average value of the distances N1 from the white lines, and then squares and sums the difference between the distance N1 from each white line and the average value. Then, the variance value NV of the distance N1 from the white line is calculated and stored in the RAM 42.

  Subsequently, in S217, the CPU 41 reads the variance value MV of the inter-vehicle distance M1 from the RAM 42, and determines whether the value of the square root of the variance value MV, that is, the standard deviation is equal to or less than a certain value, for example, 30 cm or less. The determination process to be executed is executed. If it is determined that the value of the square root of the variance value MV is greater than a certain value, for example, greater than 30 cm (S217: NO), the CPU 41 does not have a function of following the preceding vehicle in the candidate vehicle. And the process proceeds to S218.

  In S218, the CPU 41 reads the function flag from the RAM 42, sets “normal” indicating that the function for following the preceding vehicle is not installed in the function flag, and stores it in the RAM 42 in association with the vehicle ID of the candidate vehicle. To do. Thereafter, the CPU 41 ends the sub-process, returns to the “candidate vehicle attribute detection / allocation process” sub-process (see FIG. 5), and proceeds to the process of S120.

  On the other hand, when it is determined that the square root value of the variance value MV is equal to or less than a certain value, for example, 30 cm or less (S217: YES), the CPU 41 proceeds to the process of S219. In S219, the CPU 41 reads the variance value NV of the distance N1 from the white line from the RAM 42, and determines whether the value of the square root of the variance value NV, that is, the standard deviation is equal to or less than a certain value, for example, 50 cm or less. Execute the judgment process.

  And when it determines with the value of the square root of variance value NV being below a fixed value, for example, 50 cm or less (S219: YES), CPU41 presumes that the automatic driving function is mounted in the candidate vehicle. Then, the process proceeds to S220. In S220, the CPU 41 reads the function flag from the RAM 42, sets “automatic” indicating that the automatic driving function is installed in the function flag, and stores it in the RAM 42 in association with the vehicle ID of the candidate vehicle. Thereafter, the CPU 41 ends the sub-process, returns to the “candidate vehicle attribute detection / allocation process” sub-process (see FIG. 5), and proceeds to the process of S120.

  On the other hand, when it is determined that the square root value of the variance value NV is larger than a certain value, for example, larger than 50 cm (S219: NO), the CPU 41 keeps the distance between the candidate vehicle and the preceding vehicle constant. Assuming that the adaptive cruise control (ACC) function to follow is installed, the process proceeds to S221. In S221, the CPU 41 reads the function flag from the RAM 42, sets “semi-automatic” indicating that the adaptive cruise control (ACC) function is installed in the function flag, and associates it with the vehicle ID of the candidate vehicle. To remember. Thereafter, the CPU 41 ends the sub-process, returns to the “candidate vehicle attribute detection / allocation process” sub-process (see FIG. 5), and proceeds to the process of S120.

[Followable position determination processing]
Next, the sub-process of the “followable position determination process” executed by the CPU 41 in S120 will be described based on FIGS. 7, 8, and 12 to 14. FIG. As shown in FIG. 7, first, in S311, the CPU 41 requests the vehicle control ECU 3 to measure the rear space of the candidate vehicle.

  Thereby, for example, as shown in FIG. 12, the CPU 71 of the vehicle control ECU 3 obtains image data obtained by photographing the distance D1 from the front end portion of the host vehicle 1 to the rear end portion of the candidate vehicle 88 by the front photographing camera 76A. Measurement is performed by image processing, or measurement is performed by the millimeter wave radar 77 and output to the navigation device 2. Further, the CPU 71 performs image processing on the image data photographed by the front photographing camera 76 </ b> A and the image data photographed by the rear photographing camera 76 </ b> B, and a space behind the front end of the host vehicle 1 behind the candidate vehicle 88. The distance L1 is measured and output to the navigation device 2.

  Then, the CPU 41 receives from the vehicle control ECU 3 a distance D1 from the front end of the host vehicle 1 to the rear end of the candidate vehicle and a distance L1 of the space behind the tip of the host vehicle 1 behind the candidate vehicle. After the distances D1 and L1 are stored in the RAM 42, the process proceeds to S312.

  In S312, the CPU 41 reads from the navigation map information 26 whether or not the distance D1 from the front end portion of the host vehicle 1 to the rear end portion of the candidate vehicle is equal to or greater than a certain value, for example, the legal speed of the currently traveling link, A determination process is performed to determine whether or not the distance travels for 3 seconds at the legal speed. That is, the CPU 41 determines whether or not a safe inter-vehicle distance can be taken between the candidate vehicle and the host vehicle 1. The distance D1 from the front end portion of the host vehicle 1 to the rear end portion of the candidate vehicle is not less than a predetermined value and not more than a predetermined distance, for example, not more than a distance that travels for 5 seconds at the legal speed of the currently traveling link. It is. This is because if the distance D1 is larger than the predetermined distance, an interruption of another vehicle may occur between the host vehicle 1 and the candidate vehicle.

  And when it determines with the distance D1 from the front-end part of the own vehicle 1 to the rear-end part of a candidate vehicle being shorter than a fixed value (S312: NO), CPU41 transfers to the process of S313. In S313, the CPU 41 reads the rear flag from the RAM 42, sets the rear flag to OFF and stores it in the RAM 42, and then proceeds to the processing of S316.

  On the other hand, when it is determined that the distance D1 from the front end of the host vehicle 1 to the rear end of the candidate vehicle is equal to or greater than a certain value (S312: YES), the CPU 41 proceeds to the process of S314. In S314, the CPU 41 reads from the navigation map information 26 whether or not the distance (D1 + L1) of the rear space of the candidate vehicle is equal to or greater than Y (m), for example, from the navigation map information 26, and at this legal speed. The determination process which determines whether it is more than the distance which drive | works for 12 seconds is performed. That is, the CPU 41 determines whether it is possible to travel safely behind the candidate vehicle by taking a sufficient inter-vehicle distance between the candidate vehicle and the host vehicle 1.

  And when it determines with the distance (D1 + L1) of the back space of a candidate vehicle being less than Y (m) (S314: NO), CPU41 transfers to the process of said S313. On the other hand, if it is determined that the distance (D1 + L1) of the rear space of the candidate vehicle is equal to or greater than Y (m) (S314: YES), the CPU 41 proceeds to the process of S315. In S315, the CPU 41 reads the backward flag from the RAM 42, sets the backward flag to ON and stores it in the RAM 42, and then proceeds to the process of S316.

  In S316, the CPU 41 requests the vehicle control ECU 3 to measure the distance H1 from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle. Thereby, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data photographed by the front photographing camera 76A, measures the distance H1 from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle, It transmits to the navigation apparatus 2. And CPU41 memorize | stores the distance H1 in RAM42, when the distance H1 from the center of the width direction of the own vehicle 1 to the center of the width direction of a candidate vehicle is received from vehicle control ECU3.

  As shown in FIG. 13, the CPU 71 of the vehicle control ECU 3 sets the center in the width direction of the host vehicle 1 to 0, and the center in the width direction of the candidate vehicle 89 exists on the right side with respect to the center in the width direction of the host vehicle 1. In this case, the distance H1 from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle is “positive”. Further, when the center in the width direction of the candidate vehicle 89 exists on the left side with respect to the center in the width direction of the host vehicle 1, the CPU 71 extends from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle. The distance H1 is “negative”.

  Thereafter, the CPU 41 determines whether or not the candidate vehicle is present in the right lane of the host vehicle 1, that is, whether or not the candidate vehicle is present in the same travel lane as the host vehicle 1 or the left lane of the host vehicle 1. Execute the judgment process. Specifically, the CPU 41 reads a distance H1 from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle from the RAM 42, and determines whether the distance H1 is a predetermined first value or less, for example, the distance H1 is A determination process for determining whether or not the value is 1 (m) or less is executed.

  When it is determined that the position of the candidate vehicle is the same traveling lane as that of the own vehicle 1 or the left lane of the own vehicle 1, specifically, when it is determined that the distance H1 is greater than 1 (m) ( (S316: NO), the CPU 41 proceeds to the process of S317. In S317, the CPU 41 reads the right flag from the RAM 42, sets the right flag to OFF and stores it in the RAM 42, and then proceeds to the process of S321.

  On the other hand, if it is determined that the position of the candidate vehicle is not the right lane of the host vehicle 1, specifically, if it is determined that the distance H1 is 1 (m) or less (S316: YES), the CPU 41 The process proceeds to S318. In S318, the CPU 41 requests the vehicle control ECU 3 to measure the right space of the candidate vehicle.

  As a result, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front-facing camera 76A, and sets the length F1 of the right space of the candidate vehicle from the front end of the host vehicle 1 to the front end of the candidate vehicle. Measure and send to navigation device 2. And CPU41 memorize | stored the length F1 of the right side space of a candidate vehicle in RAM42, if the length F1 of the right side space of the candidate vehicle from the front-end | tip part of the own vehicle 1 to the front-end | tip part of a candidate vehicle is received from vehicle control ECU3. Thereafter, the process proceeds to S319.

  In S319, the CPU 41 executes a determination process for determining whether or not the length F1 of the right space of the candidate vehicle is equal to or greater than Z (m), that is, whether it is equal to or greater than the safe inter-vehicle distance. Specifically, the CPU 41 reads out the legal speed of the currently traveling link from the navigation map information 26, and executes a determination process for determining whether or not the distance traveled for 2 to 3 seconds at this legal speed. If it is determined that the length F1 of the right space of the candidate vehicle from the front end portion of the host vehicle 1 to the front end portion of the candidate vehicle is shorter than Z (m) (S319: NO), the CPU 41 proceeds to S317 above. After executing the process, the process proceeds to S321.

  On the other hand, when it is determined that the length F1 of the right space of the candidate vehicle from the front end portion of the host vehicle 1 to the front end portion of the candidate vehicle is equal to or greater than Z (m) (S319: YES), the CPU 41 proceeds to S320. Transition to processing. In S320, the CPU 41 reads the right flag from the RAM 42, sets the right flag to ON and stores it in the RAM 42, and then proceeds to the process of S321.

  As shown in FIG. 8, in S <b> 321, the CPU 41 determines whether or not the position of the candidate vehicle is not the left lane of the own vehicle 1, that is, the travel lane of the same vehicle 1 as that of the own vehicle 1. A determination process for determining whether the lane is the right lane is executed. Specifically, the CPU 41 reads a distance H1 from the center in the width direction of the host vehicle 1 to the center in the width direction of the candidate vehicle from the RAM 42, and determines whether the distance H1 is a predetermined second value or more, for example, the distance H1 is The determination process which determines whether it is more than -1 (m) is performed.

  When it is determined that the position of the candidate vehicle is the same travel lane as the own vehicle 1 or the right lane of the own vehicle 1, specifically, when it is determined that the distance H1 is smaller than −1 (m). (S321: NO), the CPU 41 proceeds to the process of S322. In S322, the CPU 41 reads the left flag from the RAM 42, sets the left flag to OFF and stores it in the RAM 42, and then proceeds to the process of S326.

  On the other hand, when it is determined that the position of the candidate vehicle is not the left lane of the host vehicle 1, specifically, when it is determined that the distance H1 is −1 (m) or more (S321: YES), the CPU 41 , The process proceeds to S323. In S323, the CPU 41 requests the vehicle control ECU 3 to measure the left space of the candidate vehicle.

  Thus, the CPU 71 of the vehicle control ECU 3 performs image processing on the image data captured by the front-facing camera 76A, and calculates the length F1 of the left-side space of the candidate vehicle from the front end of the host vehicle 1 to the front end of the candidate vehicle. Measure and send to navigation device 2. For example, as illustrated in FIG. 14, the CPU 71 performs image processing on image data captured by the front-facing camera 76 </ b> A, and calculates the length F <b> 1 of the left space 92 of the candidate vehicle 91 that travels in the right lane 90 of the host vehicle 1. Measure and send to navigation device 2.

  And CPU41 memorize | stored the length F1 of the left side space of a candidate vehicle in RAM42, if the length F1 of the left side space of the candidate vehicle from the front-end | tip part of the own vehicle 1 to the front-end | tip part of a candidate vehicle is received from vehicle control ECU3. Thereafter, the process proceeds to S324. In S324, the CPU 41 executes a determination process for determining whether the left side space length F1 of the candidate vehicle is equal to or greater than Z (m), that is, whether it is equal to or greater than the safe inter-vehicle distance. Specifically, the CPU 41 reads out the legal speed of the currently traveling link from the navigation map information 26, and executes a determination process for determining whether or not the distance traveled for 2 to 3 seconds at this legal speed.

  If it is determined that the length F1 of the left space of the candidate vehicle from the front end portion of the host vehicle 1 to the front end portion of the candidate vehicle is shorter than Z (m) (S324: NO), the CPU 41 proceeds to S322 above. After executing the process, the process proceeds to S326. On the other hand, when it is determined that the length F1 of the left space of the candidate vehicle from the front end portion of the host vehicle 1 to the front end portion of the candidate vehicle is equal to or greater than Z (m) (S324: YES), the CPU 41 proceeds to S325. Transition to processing. In S325, the CPU 41 reads the left flag from the RAM 42, sets the left flag to ON and stores it in the RAM 42, and then proceeds to the processing of S326.

  In S326, the CPU 41 reads the rear flag, the right flag, and the left flag from the RAM 42, and stores them in the RAM 42 in association with the vehicle ID of the candidate vehicle. Thereafter, the CPU 41 ends the sub-process, and returns to the “candidate vehicle attribute detection / allocation process” sub-process (see FIG. 5).

[Candidate vehicle attribute assignment display processing]
Next, the sub-process of the “candidate vehicle attribute assignment display process” executed by the CPU 41 in S16 will be described based on FIG. 9, FIG. 10, and FIGS. As shown in FIG. 9, first, in S411, the CPU 41 selects candidate vehicles displayed on the liquid crystal display 15 in S14 according to the order of selecting candidate vehicles in S15, and reassigns the vehicle ID assigned in S111. . Specifically, among the candidate vehicles displayed in front of the host vehicle 1, the CPU 41 sequentially assigns each vehicle ID “1” assigned in S111 from the candidate vehicle displayed on the outermost side to the center line. ”,“ 2 ”,...

  Subsequently, the CPU 41 selects the vehicle ID assigned first in S111. In S412, the CPU 41 reads out the function flag, the rear flag, the right flag, and the left flag associated with the vehicle ID from the RAM 42. Thereafter, in S413, the CPU 41 executes a determination process for determining whether the function flag associated with the vehicle ID is “automatic”, “semi-automatic”, or “normal”.

  When the function flag is “automatic” (S413: automatic), the CPU 41 proceeds to the process of S414. In S414, the CPU 41 displays the candidate vehicle to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15, surrounded by a solid line frame, and then proceeds to the processing of S417. Accordingly, the driver can easily confirm that the candidate vehicle displayed surrounded by the solid frame is equipped with the automatic driving function.

  If the function flag is “semi-automatic” (S413: semi-automatic), the CPU 41 proceeds to the process of S415. In S415, the CPU 41 surrounds and displays the candidate vehicle to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15, and then proceeds to the processing of S417. Thereby, the driver can easily confirm that the adaptive cruise control (ACC) function is mounted on the candidate vehicle surrounded and displayed by the broken-line frame.

  If the function flag is “normal” (S413: normal), the CPU 41 proceeds to the process of S416. In S416, the CPU 41 surrounds and displays the candidate vehicle to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15, and then proceeds to the processing of S417. Thus, the driver can easily confirm that the candidate vehicle displayed surrounded by the dotted frame is not equipped with the automatic driving function.

  For example, as shown in FIG. 15, candidate vehicles 95, 96, and 97 that can be followed are displayed on the liquid crystal display 15 in front of the host vehicle 1. The candidate vehicle 95 at the left end is displayed surrounded by a broken-line frame 95 </ b> A, indicating that the candidate vehicle 95 is equipped with an adaptive cruise control (ACC) function. Further, the center candidate vehicle 96 is displayed surrounded by a solid frame 96A, indicating that the candidate vehicle 96 is equipped with an automatic driving function. In addition, the rightmost candidate vehicle 97 is displayed surrounded by a dotted frame 97A, and the candidate vehicle 97 displays that the automatic driving function is not installed. As a result, the driver can easily check the driving functions mounted on the candidate vehicles 95 to 97 traveling in front of the host vehicle.

  Subsequently, as shown in FIG. 9, in S417, the CPU 41 executes a determination process for determining whether or not the rear flag associated with the vehicle ID is set to ON. When the rear flag associated with the vehicle ID is OFF (S417: NO), the CPU 41 proceeds to the process of S419. On the other hand, when the rear flag associated with the vehicle ID is ON (S417: YES), the CPU 41 proceeds to the process of S418.

  In S418, the CPU 41 displays a followable position mark indicating a followable position, for example, a downward triangle mark, below the candidate vehicle given the vehicle ID among the candidate vehicles displayed on the liquid crystal display 15. Thereafter, the process proceeds to S419. Thereby, the driver can easily confirm that the rear of the candidate vehicle is a traveling position that can be followed by automatic driving.

  Note that when the followable position mark displayed on the lower side of the candidate vehicle is pressed, the CPU 41 sets the candidate vehicle whose pressed followable position mark is pressed to the vehicle control ECU 3 as the follow target vehicle. Then, the vehicle is instructed to follow the vehicle following the target vehicle following automatic driving. Then, the CPU 71 of the vehicle control ECU 3 follows the candidate vehicle in which the followable position mark is pressed following the vehicle by automatic driving.

  And as shown in FIG. 10, in S419, CPU41 performs the determination process which determines whether the right side flag linked | related with the said vehicle ID is set to ON. And when the right flag linked | related with the said vehicle ID is OFF (S419: NO), CPU41 transfers to the process of S421. On the other hand, when the right flag associated with the vehicle ID is ON (S419: YES), the CPU 41 proceeds to the process of S420.

  In S420, the CPU 41 projects a followable position mark indicating a followable position on the right and lower right sides of the candidate vehicle given the vehicle ID among the candidate vehicles displayed on the liquid crystal display 15, for example, in the right direction. After displaying the triangle mark to be projected and the triangle mark projecting diagonally downward to the right, the process proceeds to S421. As a result, the driver can easily confirm that the right side and the diagonally right rear of the candidate vehicle are travel positions that can be followed by automatic driving.

  When any of the followable position marks displayed on the right side and the lower right side of the candidate vehicle is pressed, the CPU 41 instructs the vehicle control ECU 3 to select the candidate vehicle for which the followable position mark is pressed. The target vehicle is set as the tracking target vehicle, and an instruction is given to follow the vehicle on the right side or diagonally right behind the tracking target vehicle by automatic driving. Then, the CPU 71 of the vehicle control ECU 3 follows the right side of the candidate vehicle where the followable position mark is pressed or diagonally right behind by automatic driving.

  Subsequently, in S421, the CPU 41 executes a determination process for determining whether or not the left flag associated with the vehicle ID is set to ON. If the left flag associated with the vehicle ID is OFF (S421: NO), the CPU 41 determines whether there is a vehicle ID assigned next to the vehicle ID in S111. If it is determined in S111 that there is a vehicle ID assigned next to the vehicle ID, the CPU 41 selects the next vehicle ID and executes the processing from S412 again. On the other hand, if it is determined in S111 that there is no vehicle ID assigned next to the vehicle ID, the CPU 41 ends the sub-process and returns to the main flowchart.

  On the other hand, when the left flag associated with the vehicle ID is ON (S421: YES), the CPU 41 proceeds to the process of S422. In S <b> 422, the CPU 41 protrudes in the left direction from the candidate vehicle displayed on the liquid crystal display 15, indicating a followable position mark on the left and lower left sides of the candidate vehicle to which the vehicle ID is assigned. A triangle mark and a triangle mark protruding diagonally to the left are displayed. Thereby, the driver can easily confirm that the left side and the diagonally left rear of the candidate vehicle are travel positions that can be followed by automatic driving.

  Thereafter, the CPU 41 determines whether or not there is a vehicle ID assigned next to the vehicle ID in S111. If it is determined in S111 that there is a vehicle ID assigned next to the vehicle ID, the CPU 41 selects the next vehicle ID and executes the processing from S412 again. On the other hand, if it is determined in S111 that there is no vehicle ID assigned next to the vehicle ID, the CPU 41 ends the sub-process and returns to the main flowchart.

  In addition, when any of the followable position marks displayed on the left side and the lower left side of the candidate vehicle is pressed, the CPU 41 follows the candidate vehicle in which the followable position mark is pressed with respect to the vehicle control ECU 3. The target vehicle is set, and an instruction is given to follow the autonomous vehicle on the left side or the diagonally left side of the following target vehicle. Then, the CPU 71 of the vehicle control ECU 3 follows the left side of the candidate vehicle where the followable position mark has been pressed or the diagonally left behind by automatic driving.

  For example, as shown in FIG. 16, candidate vehicles 95, 96, and 97 that can be followed are displayed on the liquid crystal display 15 in front of the host vehicle 1. And since the back flag linked | related with vehicle ID of each candidate vehicle 95-97 is set to ON, and the right side flag and the left side flag are set to OFF, the frame 95A of the broken line surrounding each candidate vehicle 95-97, At the lower ends of the solid line frame 96A and the dotted line frame 97A, downward triangular marks 98, 99, and 101 are displayed as followable position marks.

  Therefore, the driver sets the candidate vehicle 95 equipped with the adaptive cruise control (ACC) function as the follow target vehicle by pressing down the downward triangle mark 98, and follows the candidate vehicle 95 by following the automatic driving. can do. Further, the driver can set the candidate vehicle 96 equipped with the automatic driving function as the follow target vehicle by pressing the downward triangular mark 99, and can follow the candidate vehicle 96 following the automatic driving. . Further, the driver can set the candidate vehicle 97 not equipped with the automatic driving function as the follow target vehicle by pressing down the downward triangle mark 101, and can follow the candidate vehicle 97 following the automatic driving. .

  For example, as shown in FIG. 17, the own vehicle 1 is displayed on the central traveling lane and the candidate vehicle 103 is displayed in front of the traveling lane of the own vehicle 1 on the liquid crystal display 15. The candidate vehicle 103 is displayed surrounded by a solid line frame 103A indicating that the automatic driving function is installed. Further, since no other vehicle is traveling in the left and right traveling lanes of the candidate vehicle 103, the rear flag, the right flag, and the left flag associated with the vehicle ID of the candidate vehicle 103 are set to ON. As a result, on the right side, lower right corner, lower end, lower left corner, and left side of the solid line frame 103A surrounding the candidate vehicle 103, triangular marks 105A to 105E that protrude outward are displayed as followable position marks. The

  Accordingly, the driver presses one of the triangular marks 105A to 105E to set the candidate vehicle 103 equipped with the automatic driving function as the tracking target vehicle, and corresponds to the pressed triangular mark of the candidate vehicle 103. It is possible to follow the vehicle with automatic driving at the driving position. For example, the driver can follow and drive the vehicle diagonally right behind the candidate vehicle 103 by automatic driving by pressing the triangle mark 105B. In addition, the driver can follow the left side of the candidate vehicle 103 by automatic driving by pressing the triangle mark 105E.

  For example, as shown in FIG. 18, the own vehicle 1 is displayed on the central travel lane on the liquid crystal display 15, and the candidate vehicle 106 is displayed in front of the left travel lane of the own vehicle 1. A candidate vehicle 107 is displayed in front of the right traveling lane. The candidate vehicles 106 and 107 are displayed surrounded by solid lines 106A and 107A indicating that the automatic driving function is installed. Further, no other vehicle is traveling ahead of the traveling lane of the host vehicle 1. For this reason, the back flag and the right flag associated with the vehicle ID of the candidate vehicle 106 are set to ON, and the left flag is set to OFF. The rear flag and the left flag associated with the vehicle ID of the candidate vehicle 107 are set to ON, and the right flag is set to OFF.

  As a result, triangular marks 108A to 108C projecting outward are displayed as followable position marks on the right side, lower right corner, and lower end of the solid line frame 106A surrounding the candidate vehicle 106. Also, triangular marks 109A to 109C protruding outward are displayed as followable position marks on the lower end, lower left corner, and left side of a solid line frame 107A surrounding the candidate vehicle 107.

  Therefore, the driver presses one of the triangular marks 108A to 108C to set the candidate vehicle 106 equipped with the automatic driving function as the tracking target vehicle, and corresponds to the pressed triangular mark of the candidate vehicle 106. It is possible to follow the vehicle with automatic driving at the driving position. Further, the driver presses one of the triangular marks 109A to 109C to set the candidate vehicle 107 equipped with the automatic driving function as the tracking target vehicle, and corresponds to the pressed triangular mark of the candidate vehicle 107. It is possible to follow the vehicle with automatic driving at the driving position. For example, the driver can follow and drive the vehicle diagonally right behind the candidate vehicle 106 by automatic driving by pressing the triangle mark 108B. In addition, the driver can follow the left side of the candidate vehicle 107 by automatic driving by pressing the triangle mark 109C.

  For example, as shown in FIG. 19, the own vehicle 1 is displayed on the central traveling lane on the liquid crystal display 15, and the candidate vehicle 111 is displayed in front of the left traveling lane of the own vehicle 1. The candidate vehicle 112 is displayed in front of the driving lane. The candidate vehicles 111 and 112 are displayed surrounded by solid frames 111A and 112A indicating that the automatic driving function is installed. Further, no other vehicle is traveling in front of the traveling lane on the right side of the host vehicle 1. Therefore, the rear flag associated with the vehicle ID of the candidate vehicle 111 is set to ON, and the right flag and the left flag are set to OFF. The rear flag and the right flag associated with the vehicle ID of the candidate vehicle 1112 are set to ON, and the left flag is set to OFF.

  As a result, a triangular mark 113A protruding downward is displayed as a followable position mark at the lower end of the solid line frame 111A surrounding the candidate vehicle 111. In addition, triangular marks 115A to 115C projecting outward are displayed as followable position marks on the right side, lower right corner, and lower end of the solid line frame 112A surrounding the candidate vehicle 112.

  Therefore, the driver can set the candidate vehicle 111 equipped with the automatic driving function as the tracking target vehicle by pressing the triangle mark 113A, and can follow the vehicle by automatic driving behind the candidate vehicle 111. The driver presses one of the triangular marks 115A to 115C to set the candidate vehicle 112 equipped with the automatic driving function as the tracking target vehicle, and corresponds to the pressed triangular mark of the candidate vehicle 112. It is possible to follow the vehicle with automatic driving at the driving position. For example, the driver can follow the vehicle in an automatic manner following diagonally right behind the candidate vehicle 112 by pressing the triangle mark 115B.

  As described in detail above, in the host vehicle 1 according to the present embodiment, the CPU 41 of the navigation device 2 displays candidate vehicles that can follow the host vehicle 1 and follow the vehicle on the liquid crystal display 15 in an overhead view. If the candidate vehicle is equipped with an automatic driving function, the candidate vehicle is displayed surrounded by a solid frame. If the candidate vehicle is equipped with the adaptive cruise control function, the candidate vehicle is displayed surrounded by a broken-line frame. If the candidate vehicle is not equipped with an automatic driving function, the candidate vehicle is displayed surrounded by a dotted frame. Thus, the driver can easily confirm the driving function installed in the candidate vehicle by looking at the type of frame surrounding the candidate vehicle.

  Further, when it is possible to follow the candidate vehicle, the CPU 41 can selectably display a followable position mark at the lower end of the frame surrounding the candidate vehicle displayed on the liquid crystal display 15. Further, the CPU 41 can selectably display a followable position mark on the right and lower right corners of the frame surrounding the candidate vehicle displayed on the liquid crystal display 15 when the candidate vehicle can follow the right side and diagonally right behind. . Further, the CPU 41 can selectably display a followable position mark on the left side and the lower left corner of the frame surrounding the candidate vehicle displayed on the liquid crystal display 15 when the candidate vehicle can follow the left side and diagonally left behind. .

  Therefore, the driver can easily confirm the travel position where the candidate vehicle can follow the vehicle by the followable position mark of the candidate vehicle displayed on the liquid crystal display 15. In addition, the driver can press the followable position mark while considering the function mounted on the candidate vehicle according to the type of the frame surrounding the candidate vehicle displayed on the liquid crystal display 15, so that the followable position mark is displayed. The candidate vehicle can be selected as the tracking target vehicle, and the traveling position of the host vehicle 1 with respect to the tracking target vehicle can be selected simultaneously.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. In the embodiment of the present invention, the vehicle control ECU 3 does not depend on the driver's operation to control all the operations of the accelerator operation, the brake operation, and the steering wheel operation, which are the operations related to the behavior of the vehicle among the operations of the vehicle. It has been described as automatic operation. However, the automatic driving that does not depend on the driver's operation means that the vehicle control ECU 3 controls at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the vehicle operations. Good. On the other hand, manual driving depending on the driver's operation has been described as a driver performing an accelerator operation, a brake operation, and a steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle. Further, for example, the following may be performed.

  (A) For example, the CPU 41 may display, on the liquid crystal display 15, the candidate vehicle that can follow the vehicle, instead of an overhead view, as viewed by the driver from behind. For example, instead of the overhead view of the candidate vehicle 103 shown in FIG. 17, as shown in FIG. 20, a solid line indicating that the driver has seen the candidate vehicle 103 from the rear and is equipped with an automatic driving function. You may make it display on the liquid crystal display 15 by enclosing with the frame 117. FIG. Further, instead of the triangular marks 105A to 105E, the arrows 118A to 118E facing outward may be displayed at the rear end of the candidate vehicle 103 as the followable position marks.

  Accordingly, the driver presses one of the arrows 118A to 118E to set the candidate vehicle 103 equipped with the automatic driving function as the follow target vehicle, and the travel position corresponding to the pressed arrow of the candidate vehicle 103. It is possible to follow the vehicle with automatic driving. For example, the driver can follow and drive the vehicle diagonally right behind the candidate vehicle 103 by automatic driving by pressing the arrow 118B. Further, the driver can follow the left side of the candidate vehicle 103 by automatic driving by pressing the arrow 118E.

  (B) Also, for example, when the function flag is “automatic” (S413: automatic), in S414, the CPU 41 is a candidate vehicle to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15. May be displayed surrounded by a thick solid line frame. When the function flag is “semi-automatic” (S413: semi-automatic), in S415, the CPU 41 displays candidate vehicles to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15 as a thin solid line. You may make it display by enclosing with a frame.

  When the function flag is “normal” (S413: normal), in S416, the CPU 41 displays candidate vehicles to which the vehicle ID is assigned among the candidate vehicles displayed on the liquid crystal display 15 as a thin dotted frame. You may make it display by enclosing. Thereby, the driver can easily confirm that the automatic driving function level mounted on the candidate vehicle is higher as the thickness of the frame surrounding the candidate vehicle is larger.

  For example, instead of the display of FIG. 16, as shown in FIG. 21, the CPU 41 may display the candidate vehicle 95 equipped with the adaptive cruise control (ACC) function surrounded by a thin solid line frame 95B. . Further, the CPU 41 may display the candidate vehicle 96 equipped with the automatic driving function surrounded by a thick solid frame 96B. Alternatively, the candidate vehicle 97 not equipped with the automatic driving function may be displayed by being surrounded by a thin dotted frame 97B.

  Then, the CPU 41 may display downward triangular marks 98, 99, and 101 as followable position marks at the lower ends of the frames 95B, 96B, and 97B. Thereby, the driver can easily confirm that the automatic driving function level mounted on each candidate vehicle 95-97 is higher as the thickness of each frame 95B, 96B, 97B surrounding each candidate vehicle 95-97 is thicker. Can do.

  Moreover, although the embodiment which actualized the follow-up support apparatus according to the present invention has been described above, the follow-up support apparatus can also have the following configuration, and in this case, the following effects can be obtained.

For example, the first configuration is as follows.
The followable position can be set at the rear side in the traveling direction from the front end portion at the outer peripheral portion of the candidate vehicle.
According to the following support device having the above configuration, the driver can set the traveling position with respect to the following target vehicle to the rear side in the traveling direction from the front end portion of the following target vehicle.

The second configuration is as follows.
The followable position acquisition means is configured such that a distance from a front end portion of the own vehicle to a rear end portion of the candidate vehicle is equal to or more than a first distance that is a safe inter-vehicle distance, and the own vehicle has an inter-vehicle distance of the first distance. When the candidate vehicle follows, if there is a space of a second distance or more behind the candidate vehicle so that a safe inter-vehicle distance can be formed behind the own vehicle, the candidate vehicle follows the candidate vehicle. It is set as a possible position.
According to the following support device having the above-described configuration, when the rear of the candidate vehicle is set as a followable position of the following target vehicle, a safe inter-vehicle distance of a first distance or more is between the following target vehicle and the host vehicle. In addition, the other vehicle can follow the vehicle while forming a safe inter-vehicle distance behind the host vehicle.

The third configuration is as follows.
When the candidate vehicle is located in one of the left and right lanes in front of the host vehicle, the followable position acquisition unit determines whether there is a space of a third distance or more from the candidate vehicle on the left and right sides. First follow-up position determining means for determining whether or not the followable position acquiring means is located on the left and right sides of the candidate vehicle located in one of the left and right lanes in front of the host vehicle via the first space determining means. And the distance from the front end portion of the host vehicle to the front end portion of the candidate vehicle is the inter-vehicle distance in a lane in which it is determined that there is a space of the third distance or more on the other side of the vehicle. When there is a space of the fourth distance as described above, the other left and right sides of the candidate vehicle and the other side diagonally rearward of the candidate vehicle are set as followable positions.
According to the following support device having the above configuration, since there is a space of the third distance or more on the left and right other side from the candidate vehicle, when the driver sets the left and right other side of the candidate vehicle as the followable position, the own vehicle A sufficient space can be ensured between the vehicle and the tracking target vehicle. In addition, since the distance from the front end of the host vehicle to the front end of the candidate vehicle is a fourth distance that is equal to or greater than the inter-vehicle distance, the driver sets the left and right other side diagonally behind the candidate vehicle as a followable position. A safe inter-vehicle distance can be reliably formed in front of the host vehicle.

The fourth configuration is as follows.
When the candidate vehicle is located in the same lane as the own vehicle, the followable position acquisition means determines whether there is a space of a third distance or more in the left-right direction on each of the left and right sides from the candidate vehicle. 2nd space determination means to determine, and the followable position acquisition means is at least one of both sides of the candidate vehicle located in the same lane as the host vehicle via the second space determination means. Is determined to have a space greater than or equal to the third distance in the left-right direction, and a distance from the front end of the host vehicle to the front end of the candidate vehicle is greater than or equal to the inter-vehicle distance in a lane having a space greater than the third distance in the left-right direction. If there is a space of the fourth distance, the side of the candidate vehicle that has a space greater than or equal to the third distance in the left-and-right direction, and the rear side of the candidate vehicle that has a space that is greater than or equal to the third distance in the left-right direction And sets as follows possible position.
According to the following support device having the above configuration, since there is a space of a third distance or more in the left-right direction from the candidate vehicle, when the driver sets the lateral side of the candidate vehicle as a followable position, the own vehicle and the following target vehicle A sufficient space can be secured between the two. In addition, since there is a fourth distance space in which the distance from the front end of the host vehicle to the front end of the candidate vehicle is greater than the inter-vehicle distance, when the driver sets the left and right diagonal back of the candidate vehicle as the followable position, A safe inter-vehicle distance can be reliably formed in front of the vehicle.

The fifth configuration is as follows.
The followable position display means presents the position of the candidate vehicle to the driver via the presenting means, and then displays the followable position of the candidate vehicle in a selectable manner.
According to the tracking support device having the above-described configuration, the driver can select the position where the candidate vehicle can be tracked after confirming the position of the candidate vehicle. The traveling position of the host vehicle can be determined.

The sixth configuration is as follows.
Vehicle-to-vehicle communication means for communicating between the candidate vehicle and the host vehicle; driving function acquisition means for acquiring a driving function mounted on the candidate vehicle from the candidate vehicle via the vehicle-to-vehicle communication means; Function acquisition determination means for determining whether or not the driving function mounted on the candidate vehicle has been acquired via the driving function acquisition means, and driving function mounted on the candidate vehicle via the function acquisition determination means A first function display means for displaying the driving function mounted on the candidate vehicle acquired via the driving function acquisition means in an identifiable manner. Features.
According to the tracking support device having the above configuration, when the driving function installed in the candidate vehicle is acquired by inter-vehicle communication, the driving function installed in the candidate vehicle is displayed in an identifiable manner. Can quickly select the tracking target vehicle and the travel position of the host vehicle with respect to the tracking target vehicle in consideration of the driving function installed in the candidate vehicle.

The seventh configuration is as follows.
Driving function estimation means for estimating a driving function mounted on the candidate vehicle based on the vehicle behavior of the candidate vehicle, and a driving function mounted on the candidate vehicle with the driving function estimated by the driving function estimation means And a second function display means for identifiable display.
According to the tracking support device having the above configuration, even when the driving function mounted on the candidate vehicle cannot be acquired by inter-vehicle communication, the driving function mounted on the candidate vehicle can be estimated and displayed in an identifiable manner. The driver can quickly select the tracking target vehicle and the traveling position of the host vehicle with respect to the tracking target vehicle in consideration of the driving function mounted on the candidate vehicle.

The eighth configuration is as follows.
The driving function estimation means includes an inter-vehicle distance change acquisition means for acquiring an inter-vehicle distance change amount within a predetermined inter-vehicle distance between the candidate vehicle and a preceding vehicle located in front of the candidate vehicle, and traveling of the candidate vehicle. A lateral position change amount acquisition means for acquiring a lateral position change amount within the fixed travel distance in a lane, and the driving function estimation means is based on the inter-vehicle distance change amount and the lateral position change amount. The driving function installed in the candidate vehicle is estimated.
According to the tracking support device having the above-described configuration, the inter-vehicle distance change amount within the constant travel distance of the inter-vehicle distance between the candidate vehicle and the preceding vehicle located in front of the candidate vehicle, and the constant travel in the travel lane of the candidate vehicle The driving function mounted on the candidate vehicle can be estimated based on the lateral position change amount within the distance.

Furthermore, the ninth configuration is as follows.
The driving function mounted on the candidate vehicle includes an automatic driver function and an adaptive cruise control function for driving and controlling the vehicle so as to travel in a state in which the distance between the following vehicle and the following vehicle is kept constant. .
According to the tracking support device having the above configuration, the driving function mounted on the auxiliary vehicle includes an automatic driver function and an adaptive cruise control function, so that the driver can more easily select the tracking target vehicle. it can.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Navigation apparatus 3 Vehicle control ECU
5 In-vehicle display 15 Liquid crystal display 17 Communication device 18 Touch panel 25 Map information DB
26 Navigation map information 31 GPS
41, 71 CPU
42, 72 RAM
43, 73 ROM
61 Vehicle detection button for tracking 76A Front shooting camera 76B Rear shooting camera 77 Millimeter wave radar 82-84, 88, 89, 91, 95-97, 103, 106 Candidate vehicles 107, 111, 112 Candidate vehicles

Claims (12)

Candidate vehicle detection means for detecting a candidate vehicle that can be followed by automatic driving located in front of the vehicle;
Presenting means for presenting the position of the candidate vehicle to the driver;
Followable position acquisition means for acquiring a followable position of the candidate vehicle based on a positional relationship on the road between the candidate vehicle and the host vehicle;
Followable position display means for selectively displaying the followable position of the candidate vehicle acquired via the followable position acquisition means;
Selection accepting means for accepting a selection instruction of a followable position of the candidate vehicle;
A tracking support device characterized by comprising:   The follow-up support apparatus according to claim 1, wherein the followable position can be set at a rear side in a traveling direction from a front end portion in an outer peripheral portion of the candidate vehicle.   The followable position acquisition means is configured such that a distance from a front end portion of the own vehicle to a rear end portion of the candidate vehicle is equal to or more than a first distance that is a safe inter-vehicle distance, and the own vehicle has an inter-vehicle distance of the first distance. When the candidate vehicle follows, if there is a space of a second distance or more behind the candidate vehicle so that a safe inter-vehicle distance can be formed behind the own vehicle, the candidate vehicle follows the candidate vehicle. The tracking support apparatus according to claim 1, wherein the tracking support apparatus is set as a possible position. When the candidate vehicle is located in one of the left and right lanes in front of the host vehicle, the followable position acquisition unit determines whether there is a space of a third distance or more from the candidate vehicle on the left and right sides. First space determining means for determining whether or not
The followable position acquisition means has a space of a third distance or more from the candidate vehicle located on one of the left and right lanes in front of the host vehicle via the first space determination means on the other side of the left and right. In a lane that is determined and has a space that is greater than or equal to the third distance in the left-right direction, and there is a fourth distance that is greater than or equal to the inter-vehicle distance from the front end of the host vehicle to the front end of the candidate vehicle, The follow-up support apparatus according to claim 3, wherein the left and right other sides of the candidate vehicle and the diagonally rear side of the left and right sides of the candidate vehicle are set as followable positions. When the candidate vehicle is located in the same lane as the own vehicle, the followable position acquisition means determines whether there is a space of a third distance or more in the left-right direction on each of the left and right sides from the candidate vehicle. A second space determining means for determining;
The followable position acquisition means has a space of a third distance or more in the left-right direction on at least one of the left and right sides of the candidate vehicle located in the same lane as the own vehicle via the second space determination means. And in a lane having a space equal to or greater than the third distance in the left-right direction, when there is a fourth distance space where the distance from the front end of the host vehicle to the front end of the candidate vehicle is equal to or greater than the inter-vehicle distance, The side where the candidate vehicle has a space of a third distance or more in the left-right direction and the oblique rear side of the candidate vehicle where there is a space of a third distance or more in the left-right direction are set as followable positions. The tracking support device according to claim 3 or claim 4.   The followable position display means displays the position of the candidate vehicle to the driver via the presenting means, and then displays the followable position of the candidate vehicle in a selectable manner. 5. The tracking support device according to any one of 5. Vehicle-to-vehicle communication means for communicating between the candidate vehicle and the host vehicle;
Driving function acquisition means for acquiring a driving function mounted on the candidate vehicle from the candidate vehicle via the inter-vehicle communication means;
Function acquisition determination means for determining whether or not the driving function mounted on the candidate vehicle has been acquired via the driving function acquisition means;
When it is determined that the driving function mounted on the candidate vehicle can be acquired via the function acquisition determination unit, the driving function mounted on the candidate vehicle acquired via the driving function acquisition unit First function display means for identifiable display;
The tracking support apparatus according to any one of claims 1 to 6, further comprising: Driving function estimation means for estimating a driving function mounted on the candidate vehicle based on the vehicle behavior of the candidate vehicle;
Second function display means for displaying the driving function estimated by the driving function estimation means in an identifiable manner as the driving function mounted on the candidate vehicle;
The tracking support apparatus according to any one of claims 1 to 7, further comprising: The driving function estimation means includes
An inter-vehicle distance change acquisition means for acquiring an inter-vehicle distance change amount within a fixed traveling distance of an inter-vehicle distance between the candidate vehicle and a forward vehicle located in front of the candidate vehicle;
Lateral position change amount acquisition means for acquiring a lateral position change amount within the fixed travel distance in the travel lane of the candidate vehicle;
Have
The follow-up support apparatus according to claim 8, wherein the driving function estimation means estimates a driving function mounted on the candidate vehicle based on the inter-vehicle distance change amount and the lateral position change amount.   The driving function mounted on the candidate vehicle includes an automatic driver function and an adaptive cruise control function for driving and controlling the vehicle so as to travel in a state in which the distance between the following vehicle and the following vehicle is kept constant. The follow-up support apparatus according to any one of claims 7 to 9. A candidate vehicle detection step of detecting a candidate vehicle that can be followed by automatic driving located in front of the vehicle;
A presenting step of presenting a position of the candidate vehicle detected in the candidate vehicle detection step to a driver;
A followable position acquisition step of acquiring a followable position of the candidate vehicle based on a positional relationship on the road between the candidate vehicle and the own vehicle detected in the candidate vehicle detection step;
A followable position display step of displaying the followable position of the candidate vehicle acquired in the followable position acquisition step so as to be selectable via a selection receiving unit that receives a selection instruction;
A follow-up support method characterized by comprising: A computer comprising candidate vehicle detection means for detecting candidate vehicles that can be followed by automatic driving located in front of the host vehicle, display means, and reception means for receiving selection instructions,
A candidate vehicle detection step of detecting the candidate vehicle via the candidate vehicle detection means;
A presenting step of presenting the position of the candidate vehicle detected in the candidate vehicle detection step to the driver via the display means;
A followable position acquisition step of acquiring a followable position of the candidate vehicle based on a positional relationship on the road between the candidate vehicle and the own vehicle detected in the candidate vehicle detection step;
A followable position display step for displaying the followable position of the candidate vehicle acquired in the followable position acquisition step so as to be selectable via the receiving means;
A program for running

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