JP2020050222A - Vehicle control system - Google Patents

Abstract

To increase an opportunity in which cooperative adaptive cruise control (CACC) by a cooperative inter-vehicle distance keeping support system can be executed.SOLUTION: A vehicle control system includes a control unit 6, a determination unit 4 and a selection unit 5. The control unit 6 controls an own vehicle 1 such that the own vehicle 1 follows a following object vehicle to travel by using at least forward information of the own vehicle 1 and other vehicle information acquired by inter-vehicle communication. The determination unit 4 determines whether position information P1 of the own vehicle 1 acquired by using a GPS is valid. When the determination unit 4 determines that the position information P1 is valid, the selection unit 5 selects other vehicles 2 satisfying a prescribed selection condition as the following object vehicle on the basis of the position information P1, the forward information and the other vehicle information. Also, even when the determination unit 4 does not determine that the position information P1 is valid, the selection unit 5 continuously selects another vehicle 2 as the following object vehicle as long as the other vehicle 2 selected previous time as the following object vehicle satisfies a prescribed continuation condition.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control system for selecting a preceding vehicle (hereinafter, referred to as a “follow-up target vehicle”) to be followed by a succeeding vehicle in platooning or the like.

  In recent years, control (CACC: Cooperative Adaptive Cruise Control) for maintaining a vehicle-to-vehicle distance at a predetermined distance by transmitting and receiving information by vehicle-to-vehicle communication in a plurality of vehicles has been developed. In CACC, not only information acquired by on-vehicle radar but also information acquired by inter-vehicle communication is used, so more precise control than conventional control (ACC; Adaptive Cruise Control) without inter-vehicle communication is used. It is said that inter-vehicle distance control can be realized.

  When CACC is to be carried out, a vehicle to be followed is selected based on information of each vehicle transmitted and received by inter-vehicle communication. Specifically, the position information of each vehicle obtained by using a GPS (Global Positioning System) is shared by inter-vehicle communication, and based on the positional relationship of each vehicle obtained by comparing these position information, a plurality of An optimal following vehicle is selected from the candidate vehicles (for example, see Patent Document 1).

Patent No. 6347243

  However, in an area where GPS radio waves are difficult to reach, such as in a tunnel or in a forest, there is a problem in that it is not possible to appropriately obtain position information even by using GPS, so that it is not possible to select a vehicle to be followed as described above. If the target vehicle cannot be selected, CACC cannot be implemented.

  The vehicle control system of the present invention has been created in view of the above-described problems, and has as one of its objects to increase opportunities to perform CACC.

  The vehicle control system disclosed herein includes a position obtaining unit that obtains position information of the own vehicle using GPS, a pre-information obtaining unit that obtains forward information of the own vehicle, and obtains other vehicle information through inter-vehicle communication. A vehicle-to-vehicle communication unit, a control unit that controls the own vehicle so that the own vehicle follows the target vehicle using at least the forward information and the other vehicle information, and the position information is valid. And a determination unit that determines whether or not the predetermined information is determined based on the position information, the forward information, and the other vehicle information when the determination unit determines that the position information is valid. The other vehicle that satisfies is selected as the vehicle to be followed, and even when the determination unit determines that the position information is not valid, the other vehicle previously selected as the vehicle to be followed has a predetermined continuation condition. As long as the above is satisfied, Both the and and a selection unit which continuously selected as the follow-up target vehicle.

  As described above, even when the position information of the own vehicle cannot be appropriately acquired using the GPS, the other vehicle selected as the target vehicle to be followed is selected as the target vehicle as long as the other vehicle satisfies the continuation condition. By continuing to do so, CACC can be continued.

  According to the disclosed vehicle control system, it is possible to increase opportunities to perform CACC.

It is a block diagram for explaining the whole composition of the vehicle control system as an embodiment. 2A and 2B are schematic diagrams illustrating platooning by the vehicle control system of FIG. 1, wherein FIG. 2A shows a case where GPS is valid, and FIG. 2B shows a case where GPS is not valid. 3 is a flowchart illustrating control contents performed by the vehicle control system of FIG. 1.

  A vehicle control system as an embodiment will be described with reference to the drawings. The embodiment described below is merely an example, and there is no intention to exclude various modifications and application of technology not explicitly described in the following embodiment. Each configuration of the present embodiment can be variously modified and implemented without departing from the spirit thereof. Further, they can be selected as needed, or can be appropriately combined.

[1. overall structure]
The vehicle control system according to the present embodiment performs control (CACC; Cooperative Adaptive Cruise Control) for maintaining the inter-vehicle distance at a predetermined distance using inter-vehicle communication. Hereinafter, a vehicle control system applied to the host vehicle 1 shown in FIG. 1 will be described. The same vehicle control system as that of the own vehicle 1 may be applied to the other vehicle 2 traveling around the own vehicle 1. Further, in the present embodiment, a truck is exemplified as the own vehicle 1 and the other vehicle 2, but the types of the own vehicle 1 and the other vehicle 2 are not particularly limited.

  The host vehicle 1 includes sensors 11 to 13 for obtaining information about the host vehicle 1, a radar (previous information obtaining unit) 14 and a communication device (inter-vehicle communication unit) 15 for obtaining information about the other vehicle 2, An operating unit 16 for operating (acceleration, braking, steering) the vehicle 1 and a control device 10 for controlling the operating unit 16 are provided.

  The CACC switch 11 is operating means for the occupant of the host vehicle 1 to select whether or not to perform CACC. The CACC switch 11 is constituted by a toggle switch that selects one of ON and OFF. , Detect the off state. When the CACC switch 11 is on, the host vehicle 1 is in the CACC mode for performing CACC. On the other hand, when the CACC switch 11 is off, the host vehicle 1 is in the normal mode in which CACC is not performed.

  The GPS receiver (position acquisition unit) 12 receives radio waves transmitted from the GPS satellites 7 (hereinafter, referred to as “GPS radio waves”), and thereby obtains information (position information) P1 (hereinafter, referred to as “position information”) of the vehicle 1. “Vehicle position information P1” is acquired. The speed sensor 13 detects a speed V1 of the own vehicle 1 (hereinafter, referred to as “own vehicle speed V1”). Information detected and acquired by these sensors 11 to 13 is transmitted to the control device 10.

  The radar 14 is, for example, a millimeter-wave radar, and transmits an electromagnetic wave toward the front of the own vehicle 1 and receives a reflected wave of the electromagnetic wave to receive information of the other vehicle 2 existing in front of the own vehicle 1 (forward information). ) At a predetermined cycle. The information acquired by the radar 14 includes a distance Dr between the other vehicles 2 existing in front of the own vehicle 1 (inter-vehicle distance), a relative speed (speed difference) Vr between the other vehicles 2 and the own vehicle 1, and the like. included.

  The communication device 15 is an electronic control device that transmits and receives various information by performing communication (inter-vehicle communication) with another vehicle 2 via the wireless network 3. The communication device 15 transmits the information transmitted from the control device 10 to the other vehicle 2 and transmits the information received from the other vehicle 2 to the control device 10. The information (other vehicle information) received by the communication device 15 from the other vehicle 2 includes information P2 relating to the current position of the other vehicle 2 (hereinafter, referred to as “other vehicle position information P2”) and a speed V2 of the other vehicle 2 (hereinafter, referred to as “other vehicle position information P2”). "Other vehicle speed V2"), ID information of another vehicle 2, acceleration, and the like.

  The operating unit 16 is specifically composed of a driving device 17, a braking device 18, and a steering device 19. The drive device 17 is a drive source (engine or electric motor) of the own vehicle 1 or a transmission mechanism, and the brake device 18 is a brake device that applies a braking force to the own vehicle 1 or a regenerative brake system. The steering device 19 is a power steering device or the like that assists the driver of the vehicle 1 to perform a steering operation. The operating state of each of the devices 17 to 19 can be changed by a manual driving operation and can be controlled by the control device 10.

  The control device 10 is an electronic control device that performs integrated control of various devices mounted on the host vehicle 1. For example, the control device 10 is configured as an LSI device or an embedded electronic device in which a microprocessor, a ROM, a RAM, and the like are integrated, and is connected to a vehicle-mounted network. Connected to communication line. The control device 10 of the present embodiment controls the operation unit 16 based on information detected and obtained by the sensors 11 to 13, the radar 14, and the communication device 15.

  The other vehicle 2 has the same configuration as the own vehicle 1, for example, and has a communication device (not shown). As described above, the other vehicle 2 transmits various information (other vehicle position information P2, other vehicle speed V2, vehicle ID, acceleration, etc.) of the own vehicle 1 from the communication device via the wireless network 3 as described above. It transmits to the communication device 15.

[2. System configuration]
The vehicle control system according to the present embodiment, when the own vehicle 1 is in the CACC mode, selects the following vehicle 2A to be followed by the own vehicle 1 from other vehicles 2, and the own vehicle 1 Carry out CACC to follow 2A. Hereinafter, control for selecting the target vehicle 2A from other vehicles 2 to perform CACC is referred to as “selection control”. In the selection control, the target vehicle 2A is selected based on the positional relationship between the own vehicle 1 and the other vehicle 2, the speed difference, and the like. That is, in selecting the target vehicle 2A, the own vehicle position information P1 and the other vehicle position information P2 obtained by using the GPS are used.

  As shown in FIG. 2A, the selection of the following vehicle 2A is performed by the GPS radio waves reaching both the own vehicle 1 and the other vehicle 2 without any trouble, and the own vehicle position information P1 and the other vehicle position information P2 are selected. Can be implemented if is properly obtained. On the other hand, as shown in FIG. 2B, for example, when the GPS radio wave does not reach both the own vehicle 1 and the other vehicle 2 in the tunnel 8, and the own vehicle position information P1 and the other vehicle position information P2 cannot be appropriately acquired. Cannot select the vehicle 2A to be followed as described above. That is, in an area where GPS radio waves are difficult to reach, such as in a tunnel 8 or a mountain forest, the following vehicle 2A may not be selected because the own vehicle position information P1 and the other vehicle position information P2 are not properly acquired. In this case, CACC cannot be implemented.

  Therefore, in the selection control of the present embodiment, even if the position information P1 of the own vehicle 1 cannot be appropriately acquired from the GPS, there is a large distance between the other vehicle 2 previously selected as the target vehicle 2A and the own vehicle 1. Unless there is a change, the other vehicle 2 is continuously selected as the following vehicle 2A. In other words, in the selection control, even if the GPS is not valid at the present time, the condition that the other vehicle 2 selected as the target vehicle 2A before the GPS becomes invalid is still the condition (the continuation condition described later) as the target vehicle 2A. If so, the other vehicle 2 is selected again as the following vehicle 2A. This increases the chances of performing CACC even when GPS is not enabled.

  The selection control is performed by the control device 10 described above. The control device 10 of the present embodiment includes a determination unit 4, a selection unit 5, and a control unit 6 as elements for performing selection control. In the present embodiment, it is assumed that the determination unit 4, the selection unit 5, and the control unit 6 are all realized by software. The determination unit 4, the selection unit 5, and the control unit 6 may be realized by hardware (electronic circuit), or may be realized by using software and hardware together.

When the CACC switch 11 is on, the determination unit 4 determines whether the vehicle position information P1 acquired by the GPS receiver 12 is valid (that is, the GPS is valid). The determination unit 4 of the present embodiment determines that “GPS is valid” when the following condition A1 is satisfied, and determines that “GPS is not valid” when the following condition A1 is not satisfied.
<GPS judgment condition>
Condition A1: The intensity of the GPS radio wave received by the GPS receiver 12 is equal to or higher than a predetermined intensity.

Note that the determination unit 4 may apply the following condition A2 instead of the condition A1, or may use each of the conditions A1 and A2 as necessary conditions for determining that “GPS is valid”.
Condition A2: The number of GPS satellites 7 with which the GPS receiver 12 can communicate is equal to or greater than a predetermined number.

  The selection unit 5 selects another vehicle 2 to be the target vehicle 2A for performing the CACC. The selection unit 5 changes the method of selecting the target vehicle 2A according to the determination result of the determination unit 4. Specifically, when the determination unit 4 determines that “GPS is valid”, the selection unit 5 selects the vehicle 2A to be followed using the own vehicle position information P1 and the like, and If it is determined that "GPS is not valid", the vehicle 2A to be followed is selected without using the vehicle position information P1.

When it is determined that “GPS is valid”, the selection unit 5 determines whether or not the other vehicle 2 satisfies a predetermined selection condition, and selects the other vehicle 2 that satisfies the selection condition as the vehicle 2A to be followed. I do. The selection condition of the present embodiment is to satisfy all of the following conditions B1 to B3.
<Selection conditions>
Condition B1: The vehicle is within a predetermined range in front of the host vehicle 1.
Condition B2: The distance error Ed relating to the inter-vehicle distance to the host vehicle 1 is within a threshold value E1 (Ed ≦ E1).
Condition B3: The speed error Ev relating to the other vehicle speed V2 is within the threshold value E2 (Ev ≦ E2).

  Here, the "predetermined range" of the condition B1 is set in advance to a range smaller than a range in which information can be detected and acquired by the radar 14 and the communication device 15, for example. The “distance error Ed” of the condition B2 is a difference (| Dp−) between the following distance Dp calculated using the own vehicle position information P1 and the other vehicle position information P2 and the following distance Dr acquired by the radar 14. Dr |). Similarly, the “speed error Ev” of the condition 3 is obtained by the radar 14 with the difference Vs (| V1−V2 |) between the own vehicle speed V1 and the other vehicle speed V2 obtained by the speed sensor 13 and the communication device 15, respectively. Is calculated as the difference (| Vs−Vr |) from the relative speed Vr. The threshold values E1 and E2 used in the conditions B2 and B3 are set in advance as independent values according to the performance of the speed sensor 13, the radar 14, and the communication device 15, for example.

  As described above, various information detected and acquired by the GPS receiver 12, the speed sensor 13, the radar 14, and the communication device 15 is used in the determination of the success or failure of the selection condition. When a plurality of other vehicles 2 satisfy the selection condition, the selection unit 5 selects, for example, the other vehicle 2 having the smallest distance error Ed as the target vehicle 2A. Alternatively, in this case, the selection unit 5 may select the other vehicle 2 having the minimum speed error Ev as the target vehicle 2A, or may select the other vehicle 2 having the minimum inter-vehicle distances Dp and Dr as the target vehicle 2A. May be selected.

  In the present embodiment, as described above, when the target vehicle 2A is selected using the own vehicle position information P1 and the like, the vehicle ID of the other vehicle 2 selected as the target vehicle 2A is stored in the control device 10. Is done. The vehicle ID stored here is acquired by the communication device 15. Note that, when there is no other vehicle 2 that satisfies the selection condition, the selection unit 5 does not select the following vehicle 2A. In this case, the vehicle ID of the target vehicle 2A stored in the control device 10 is deleted.

  When the determining unit 4 determines that “GPS is not valid”, the selecting unit 5 determines that the other vehicle 2 previously selected as the vehicle to be followed 2A satisfies a predetermined continuation condition. It is again selected as the following vehicle 2A (in other words, the previous selection is maintained and the following vehicle 2A is not changed). In other words, even if the GPS is not valid at this time, the determination unit 4 determines that the other vehicle 2 is selected as the following vehicle 2A before the GPS is no longer valid, as long as the other vehicle 2 satisfies the continuation condition. Continue to select as. Thus, when the GPS is not valid, only the other vehicle 2 previously selected as the target vehicle 2A is a candidate for the target vehicle 2A.

The selecting unit 5 of the present embodiment first compares the vehicle ID of the other vehicle 2 acquired by the communication device 15 with the vehicle ID stored in the control device 10 to thereby select the other vehicle previously selected as the target vehicle 2A to follow. 2 is determined, and whether or not the other vehicle 2 satisfies the continuation condition is determined. The continuation condition is such that success or failure can be determined without using the own vehicle position information P1 or other vehicle position information P2 obtained from the GPS. The continuation condition of the present embodiment is to satisfy the following condition C1.
<Continuation conditions>
Condition C1: The change amount ΔD of the inter-vehicle distance Dr is within a predetermined amount X (ΔD ≦ X).

The selection unit 5 of the present embodiment determines whether the continuation condition is satisfied using the inter-vehicle distance Dr acquired by the radar 14. Specifically, the selection unit 5 calculates the difference between the inter-vehicle distance Dr ₁ acquired by the radar 14 in the current cycle and the inter-vehicle distance Dr ₀ acquired in the previous cycle by the radar 14 by a change amount ΔD = | Dr ₁₋ Dr ₀ |, and the change amount ΔD is compared with a predetermined amount X to determine whether the condition C1 is satisfied. The predetermined amount X is set in advance in consideration of the responsiveness of the radar 14, the acceleration / deceleration performance of the host vehicle 1, and the like. Note that the selection unit 5 does not select the following vehicle 2A when the other vehicle 2 previously selected as the following vehicle 2A does not satisfy the continuation condition. In this case, the vehicle ID of the target vehicle 2A stored in the control device 10 is deleted.

  The control unit 6 performs the CACC so that the own vehicle 1 follows the target vehicle 2A selected by the selection unit 5 when the target vehicle 2A is selected by the selection unit 5. Specifically, the control unit 6 uses both the information acquired by the radar 14 and the information acquired by the communication device 15 to set the inter-vehicle distance between the own vehicle 1 and the target vehicle 2A to a predetermined distance. The operation unit 16 is controlled so as to be as follows.

  When the target vehicle 2A is selected under the condition that GPS is valid, the control unit 6 of the present embodiment performs the CACC using the own vehicle position information P1 and the other vehicle position information P2. That is, GPS is used in CACC performed in this case. On the other hand, when the target vehicle 2A is selected in a situation where the GPS is not valid, the control unit 6 performs the CACC without using the own vehicle position information P1 and the other vehicle position information P2. That is, GPS is not used in the CACC performed in this case. Note that the control unit 6 does not perform the CACC when the selection target unit 5 does not select the following vehicle 2A.

[3. flowchart]
FIG. 3 is a flowchart illustrating the contents of the selection control described above. This flow is repeatedly performed in the control device 10 at a predetermined calculation cycle when the host vehicle 1 is in the CACC mode. Whether or not the host vehicle 1 is in the CACC mode is determined by, for example, the determination unit 4 based on information transmitted from the CACC switch 11 to the control device 10. When the CACC switch 11 is switched from the on state to the off state (that is, the host vehicle 1 is switched from the CACC mode to the normal mode), the selection of the following vehicle 2A is canceled (reset) and stored. The deleted vehicle ID is deleted.

  In the selection control, first, various kinds of information are acquired from the GPS receiver 12, the speed sensor 13, the radar 14, and the communication device 15 (step S1), and then the determination unit 4 determines whether the GPS is valid. (Step S2). If the GPS radio wave can be received by the host vehicle 1 without any trouble, the determination unit 4 determines that “GPS is valid” and proceeds to step S3.

  In step S3, the selection unit 5 determines whether the other vehicle 2 satisfies the selection conditions. When the other vehicle 2 satisfies the selection condition, the other vehicle 2 is selected as the target vehicle 2A, and the vehicle ID of the other vehicle 2 is stored in the control device 10 (step S4), and the flow returns. . In this case, CACC is performed by the control unit 6. On the other hand, if the other vehicle 2 does not satisfy the selection condition in the determination of step S3, the flow returns without selecting the following vehicle 2A (step S5). In this case, CACC is not performed.

  If the GPS is valid also in the next calculation cycle, the determination in step S3 is performed again, and the processes in steps S4 and S5 are repeated according to the determination result. After the selection of the target vehicle 2A in step S4, if the process proceeds from step S3 to step S5 in the next calculation cycle, the selection of the target vehicle 2A is canceled. In this case, the stored vehicle ID is deleted, and the CACC by the control unit 6 ends.

  When it is difficult for the own vehicle 1 to receive the GPS radio wave in step S2, the determination unit 4 determines that "GPS is not valid" and proceeds to step S6. In step S6, the selecting unit 5 determines whether the following vehicle 2A has already been selected at that time. This determination is based on whether or not the process of step S4 was performed (the selection of the vehicle 2A to be followed was performed) at the time when the process proceeded from step S2 to step S3 last time (last opportunity when GPS was valid). Equivalent to judgment.

  When the process of step S5 is performed when the process proceeds from step S2 to step S3 last time, the flow returns from step S6 because the selection of the target vehicle 2A has not been performed or has been canceled. That is, if the target vehicle 2A cannot be selected at the last opportunity when the GPS is valid, the flow returns without selecting the target vehicle 2A. In addition, even when the process proceeds to step S6 in the first calculation cycle in the selection control, the flow returns from step S6 because the target vehicle 2A has not been selected.

  On the other hand, when the process of step S4 is performed when the process proceeds from step S2 to step S3 last time, the process proceeds from step S6 to step S7 because the following vehicle 2A is selected. In step S7, based on the vehicle ID acquired by the inter-vehicle communication and the stored vehicle ID, the selection unit 5 identifies the other vehicle 2 previously selected as the vehicle 2A to be followed, and then selects the other vehicle 2. It is determined whether 2 satisfies the continuation condition.

  For example, when the other vehicle 2 previously selected as the following vehicle 2A changes lanes, or when another vehicle interrupts between the own vehicle 1 and the other vehicle 2 previously selected as the following vehicle 2A. Is determined that the continuation condition is not satisfied in step S7. In this case, the process proceeds from step S7 to step S5, where the selection of the target vehicle 2A is released, and the flow returns. That is, in this case, the stored vehicle ID is deleted, and the CACC by the control unit 6 ends.

  On the other hand, if it is determined in step S7 that the continuation condition is satisfied, the previous selection is maintained by the selection unit 5 (step S8), and the flow returns. That is, in step S8, the other vehicle 2 already selected as the target vehicle 2A is selected again as the target vehicle 2A. In this case, CACC is continued by the control unit 6.

[4. Action, effect]
In the vehicle control system described above, even if the own vehicle position information P1 cannot be appropriately acquired using GPS, as long as the other vehicle 2 previously selected as the target vehicle 2A satisfies the continuation condition, the other vehicle 2 Is continuously selected as the target vehicle 2A. As described above, even when the GPS is not valid, the CACC can be continued by not changing the tracking target vehicle 2A selected last time (maintaining the previous selection).

  Therefore, for example, as shown in FIGS. 2A and 2B, when the own vehicle 1 enters the tunnel 8 while performing CACC with the other vehicle 2, the GPS radio wave can be appropriately received in the tunnel 8. Even if it disappears, CACC can be continued as long as the following vehicle 2A selected before entering the tunnel 8 satisfies the continuation condition. Therefore, it is possible to increase opportunities for implementing CACC. Since the inter-vehicle communication is used in the CACC as described above, the inter-vehicle distance can be more precisely controlled as compared with the case where the control without the inter-vehicle communication (ACC; Adaptive Cruise Control) is performed. .

  In the selection control described above, when the GPS is not valid, the other vehicle 2 that is a candidate for the target vehicle 2A is the other vehicle 2 previously selected as the target vehicle 2A. In other words, the target vehicle 2A selected when the GPS cannot be used properly is the other vehicle 2 selected as the target vehicle 2A when the GPS can be used properly. For this reason, even when GPS cannot be used, only the other vehicle 2 selected based on the information including the valid own vehicle position information P1 can be set as a candidate for the target vehicle 2A. Therefore, even when the GPS radio wave cannot be properly received, the following vehicle 2A can be appropriately selected. Thereby, CACC can be more appropriately performed.

  The GPS receiver 12 may include a gyro sensor (not shown) for autonomously correcting the vehicle position information P1. When such a gyro sensor is provided, even if the GPS radio wave is not properly received, the current own vehicle position information P1 (correction value) is acquired by autonomously correcting the past own vehicle position information P1. sell. However, when the situation where the GPS radio wave is difficult to reach for a long time, such as when the vehicle stays in the tunnel 8 for a long time, and the autonomous correction of the own vehicle position information P1 is repeated, the error of the obtained own vehicle position information P1 gradually increases ( (Accuracy may gradually decrease.) On the other hand, in the above-described vehicle control system, when GPS is not valid, the CACC is performed without using the own vehicle position information P1 and the other vehicle position information P2. Can be followed.

[5. Modification]
Regardless of the embodiment described above, various modifications can be made without departing from the spirit of the invention. Each configuration of the present embodiment can be selected as needed, or may be appropriately combined.

  The above selection conditions and continuation conditions are all examples. Also, the conditions for determining whether GPS is valid (GPS determination conditions) are not limited to those described above. In the above-described embodiment, the case where the other vehicle 2 previously selected as the vehicle to be followed 2A is specified from the vehicle ID obtained by the inter-vehicle communication before determining whether the continuation condition is satisfied is exemplified. The method of specifying the target vehicle 2A is not limited to this. For example, when the radar 14 has a function of assigning an individual ID to another vehicle 2 traveling in front of the host vehicle 1, the ID assigned by the radar 14 is used instead of the vehicle ID acquired by the inter-vehicle communication described above. May be used to perform ID collation.

  FIGS. 2A and 2B show a case where the own vehicle 1 performs CACC with two other vehicles 2 traveling in front of it (that is, three vehicles perform platooning). Although illustrated, the number of vehicles that perform CACC in the vehicle control system described above is not particularly limited.

Reference Signs List 1 own vehicle 2 other vehicle 2A vehicle to be followed 4 judgment unit 5 selection unit 6 control unit 12 GPS receiver (position acquisition unit)
14 radar (previous information acquisition unit)
15 Communication equipment (vehicle-to-vehicle communication unit)

Claims (1)

A position acquisition unit that acquires position information of the own vehicle using GPS,
A pre-information acquisition unit for acquiring the forward information of the vehicle,
An inter-vehicle communication unit for acquiring other vehicle information by inter-vehicle communication,
Using at least the forward information and the other vehicle information, a control unit that controls the own vehicle so that the own vehicle runs following the target vehicle,
A determining unit that determines whether the position information is valid,
When the determination unit determines that the position information is valid, based on the position information, the forward information, and the other vehicle information, selects another vehicle that satisfies a predetermined selection condition as the vehicle to be followed. Even when the determination unit determines that the position information is not valid, as long as the other vehicle previously selected as the following vehicle satisfies a predetermined continuation condition, the other vehicle is regarded as the following vehicle. The selection department that keeps selecting,
A vehicle control system comprising:

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