JP2020144782A - Tow vehicle operation support system - Google Patents

Abstract

To provide a tow vehicle operation support system improved in collision avoidance performance with an obstacle.SOLUTION: The operation support system for a tow vehicle towing a vehicle 2 to be towed includes: a camera 41 of a drone 40 photographing an own vehicle 3 and the periphery of the vehicle 2 to be towed from the sky; an obstacle position recognition section 22 recognizing a position of a peripheral obstacle on the basis of video information photographed by the camera 41; an own vehicle both-path prediction section 23 predicting a movement path of the own vehicle 3 on the basis of a travel state of the own vehicle 3; a towed vehicle path prediction section 24 predicting a movement path of the vehicle 2 to be towed on the basis of a travel state of the vehicle 2 to be towed; an own vehicle both-travel route calculation section 27 calculating a travel route of the own vehicle 3 to avoid a collision of the own vehicle 3 and the vehicle 2 to be towed with an obstacle on the basis of the movement path of the own vehicle 3, the movement path of the vehicle 2 to be towed and a position of the obstacle; and an acceleration and deceleration calculation section 28 and a steering control calculation section 29 for traveling the own vehicle 3 on the calculated travel route.SELECTED DRAWING: Figure 1

Description

The present invention relates to a towing vehicle driving support system that assists the driving of a towing vehicle.

A towing vehicle that tow a towed vehicle such as a dolly or a trailer is known. When the towed vehicle is steered during towing, the towed vehicle generally moves to follow the towed vehicle.

However, there is a possibility that the towed vehicle may move to an unexpected position for the driver of the towed vehicle due to an inner ring difference or the like, and an accident such as the towed vehicle colliding with a surrounding obstacle may occur.

By the way, Patent Document 1 discloses a vehicle to which a towed vehicle (towed carriage) is attached. In Patent Document 1, an image pickup device that images the road surface is attached to the towed vehicle, and an image captured by the image pickup device is attached to the vehicle so that the towed vehicle can be monitored to move to a desired position. It is equipped with a projection device that can be seen by the driver.

JP-A-2017-90189

However, in the image captured by the image pickup device provided on the towed vehicle as in Patent Document 1, it is difficult to visually recognize all the obstacles depending on the mounting position of the image pickup device. Further, even if the driver can visually recognize the obstacle, it may be difficult to accurately operate the vehicle such as steering so that the towed vehicle does not collide with the obstacle.

Therefore, an object of the present invention is to provide a tow vehicle traveling support system that improves collision avoidance performance with obstacles.

In order to achieve the above object, the towed vehicle driving support system of the present invention is a driving support system for a towed vehicle that pulls the towed vehicle, and the towed vehicle and the surrounding of the towed vehicle are surrounded by the towed vehicle. A sensing unit that senses from the outside, an obstacle position recognizing unit that recognizes the positions of obstacles around the towed vehicle and the towed vehicle based on the information sensed by the sensing unit, and a running state of the towed vehicle. A towed vehicle running state detection unit to detect, a towed vehicle route predicting unit that predicts the moving route of the towed vehicle based on the running state of the towed vehicle, and a towed vehicle route prediction that predicts the moving route of the towed vehicle Traveling of the towed vehicle to avoid collision between the towed vehicle and the towed vehicle and the obstacle based on the movement path of the towed vehicle, the movement path of the towed vehicle, and the position of the obstacle. It is characterized by including a traction route calculation unit that calculates a traction route, which is a route, and a travel control unit that controls the vehicle speed and steering of the traction vehicle to travel the traction vehicle on the traction route.

As a result, the position of the obstacle is recognized by the sensing unit based on the information sensed from the outside of the towed vehicle, the movement routes of the towed vehicle and the towed vehicle are predicted from the traveling state of each vehicle, and the obstacle. Based on the position, the movement route of the towed vehicle, and the movement route of the towed vehicle, the towed vehicle and the towed vehicle, which is the traveling route of the towed vehicle that avoids the collision between the towed vehicle and the obstacle, are calculated. Collision between the towed vehicle and an obstacle can be avoided with high accuracy and easily. In particular, since obstacles are detected based on information sensed from the outside of the towed vehicle, the accuracy of obstacle detection can be improved.

Preferably, the towed vehicle traveling state detecting unit for detecting the traveling state of the towed vehicle is provided, and the towed vehicle route prediction unit determines the moving path of the towed vehicle based on the traveling state of the towed vehicle. You should predict.

Thereby, the movement route of the towed vehicle can be accurately predicted based on the running state of the towed vehicle detected by the towed vehicle traveling state detection unit.

Preferably, the sensing unit is a camera or sensor mounted on an unmanned aerial vehicle.

As a result, the position of the obstacle can be recognized in a wide range and with high accuracy by being sensed from the sky of the towed vehicle and the towed vehicle by the unmanned aerial vehicle.

Preferably, the tow route calculation unit may calculate the travel route of the tow vehicle so that the towed vehicle avoids side obstacles when the tow vehicle turns left or right.

As a result, when the towed vehicle and the towed vehicle turn left or right, it is possible to prevent the towed vehicle from colliding with an obstacle on the side due to an inner ring difference.

Preferably, the towed vehicle is connected so as to push the towed vehicle so that the towed vehicle can travel, and the towed path calculation unit moves backward while the towed vehicle pushes and steers the towed vehicle to drive the towed vehicle. It is advisable to calculate the travel route of the towed vehicle so that the towed vehicle avoids obstacles around the towed vehicle when it is positioned in a predetermined section.

As a result, for example, when the towed vehicle and the towed vehicle are turned around, or when the towed vehicle and the towed vehicle are positioned in a predetermined section such as a parking lot by reversing, obstacles around the predetermined section. It is possible to prevent the towing vehicle and the towed vehicle from colliding with each other.

The towing vehicle driving support system of the present invention recognizes the position of an obstacle based on information sensed from the outside of the towed vehicle, and avoids the collision between the towing vehicle and the towed vehicle and the obstacle. Since the towing route is calculated, it is possible to avoid the collision between the towed vehicle and the towed vehicle and the obstacle with high accuracy. In particular, the obstacle is detected based on the information sensed from the outside of the towed vehicle. As a result, the accuracy of detecting obstacles can be improved, and the collision avoidance performance during towing travel can be significantly improved.

It is a block diagram of the towing vehicle driving support system of one Embodiment of this invention. It is a flowchart which shows the traction support control procedure to execute in the control unit of this embodiment. It is a flowchart which shows the driving support control procedure to execute in the control unit of this embodiment. It is explanatory drawing of the moving state at the time of the left turn of the own vehicle and the towed vehicle of this embodiment. It is explanatory drawing of the moving state at the time of the direction change of the own vehicle and the towed vehicle of this embodiment.

Hereinafter, an embodiment of a towing vehicle driving support system that embodies the present invention will be described.

FIG. 1 is a configuration diagram of a towing vehicle driving support system according to an embodiment of the present invention. FIG. 2 is a flowchart showing a traction support control procedure executed by the control unit 20. FIG. 3 is a flowchart showing a driving support control procedure executed by the control unit 20.

The towing vehicle driving support system 1 of the present embodiment is applied to a towing vehicle (hereinafter referred to as own vehicle 3) that pulls a towed vehicle 2 such as an automobile (another vehicle). The own vehicle 3 is a vehicle equipped with a traveling drive device 5 such as an engine and a motor, on which the driver is boarded. The towing vehicle driving support system 1 executes towing support control, which is driving support control for the own vehicle 3.

As shown in FIG. 1, the towing vehicle driving support system 1 includes a traveling drive device 5, a braking device 7, a steering device 8, a user interface 9, a navigation system 15, and a vehicle traveling state sensor 16 (towing) provided in the own vehicle 3. Vehicle running state detection unit), towed vehicle communication device 17, control unit 20, transmission / reception antenna 21, towed vehicle running state sensor 18 (towed vehicle running state detection unit) provided in the towed vehicle 2, and drone. It is composed of 40 (unmanned vehicle).

The user interface 9 is, for example, a monitor arranged at a position visible from the driver's seat of the own vehicle 3, a speaker that can be heard by the driver, and the like.

The navigation system 15 has a function of detecting the position information of the own vehicle 3.

The vehicle running state sensor 16 is a sensor that detects the running state of the own vehicle 3, for example, a yaw rate sensor that detects the yaw rate in the own vehicle 3, a vehicle speed sensor that detects the vehicle speed, and a steering angle sensor that detects the steering angle.

The towed vehicle running state sensor 18 is a sensor that detects the running state of the towed vehicle 2, for example, a yaw rate sensor that detects the yaw rate in the towed vehicle 2, a vehicle speed sensor that detects the vehicle speed, and a steering angle that detects the steering angle. It is a sensor.

The towed vehicle communication device 17 is a communication device that receives the traveling state of the towed vehicle 2 from the towed vehicle traveling state sensor 18. The towed vehicle communication device 17 may be either a wireless or wired communication device.

The drone 40 is capable of flying and is provided with a camera 41 (sensing unit), and by being located above the vicinity of the own vehicle 3, it is possible to photograph the own vehicle 3, the towed vehicle 2 and its surroundings. The drone 40 can transmit and receive to and from the control unit 20 of the own vehicle 3 via the transmission / reception antenna 42 provided in the drone 40 and the transmission / reception antenna 21 provided in the own vehicle 3, and the movement instruction of the drone 40 from the control unit 20 Is received and moved, while the captured image (vehicle surrounding image) of the camera 41 is transmitted to the control unit 20. The vehicle surrounding image, which is the image captured by the camera 41, corresponds to the information detected by the sensing unit of the present invention.

The control unit 20 is composed of an input / output device (not shown), a storage device (ROM, RAM, etc.) used for storing control programs, control maps, etc., a central processing unit (CPU), a timer counter, and the like. The control unit 20 includes a captured image of the drone 40, vehicle traveling route information of the own vehicle 3 from the navigation system 15, various traveling states of the own vehicle 3 from the vehicle traveling state sensor 16, and a towed vehicle 2 from the towed vehicle communication device 17. Various traveling states are input, the traveling drive device 5, the braking device 7, and the steering device 8 of the own vehicle 3 are operated and controlled, and various information is output to the user interface 9 and a movement instruction is output to the drone 40.

The control unit 20 includes an obstacle position recognition unit 22, a vehicle route prediction unit 23 (tow vehicle route prediction unit), a towed vehicle route prediction unit 24, a danger determination unit 25, an optimum tow route calculation unit 26, and a vehicle travel route. It includes a calculation unit 27 (traction path calculation unit), an acceleration / deceleration calculation unit 28 (travel control unit), a steering control calculation unit 29 (travel control unit), an interface calculation unit 30, and a camera shooting position calculation unit 31.

The obstacle position recognition unit 22 inputs the image of the own vehicle 3 and the towed vehicle 2 and its surroundings (vehicle surrounding image) from the drone 40, and inputs the vehicle traveling route information from the navigation system 15 to position the obstacle. Is detected.

The own vehicle route prediction unit 23 inputs various information about the running state of the own vehicle 3 from the vehicle running state sensor 16 and predicts the running route (moving route) of the own vehicle 3.

The towed vehicle route prediction unit 24 inputs various information regarding the traveling state of the towed vehicle 2 from the towed vehicle communication device 17, and predicts the traveling route (moving route) of the towed vehicle 2.

The danger determination unit 25 inputs the position information of the obstacle from the obstacle position recognition unit 22, the travel route of the own vehicle 3 from the own vehicle route prediction unit 23, and the travel route of the towed vehicle 2 from the towed vehicle route prediction unit 24. Then, it is determined whether the towed vehicle 2 or the own vehicle 3 collides with an obstacle or is at risk.

The optimum towing route calculation unit 26 includes obstacle position information from the obstacle position recognition unit 22, a travel route of the own vehicle 3 from the own vehicle route prediction unit 23, and a travel route of the towed vehicle 2 from the towed vehicle route prediction unit 24. Is input to calculate the optimum traction route. The optimum towing route is a route on which the own vehicle 3 and the towed vehicle 2 travel safely (with a yaw rate within an allowable range, etc.) and on the shortest route when there are no obstacles in the vicinity.

The own vehicle traveling route calculation unit 27 calculates the traveling route of the own vehicle based on the determination result of the collision with the obstacle determined by the danger determination unit 25 and the optimum towing route calculated by the optimum towing route calculation unit 26. To do.

The acceleration / deceleration calculation unit 28 calculates the acceleration / deceleration of the own vehicle 3 so as to travel on the travel route of the own vehicle 3 calculated by the own vehicle travel route calculation unit 27, and calculates the acceleration / deceleration of the own vehicle 3 to drive the driving device 5 and the brake of the own vehicle 3. The operation of the device 7 is controlled.

The steering control calculation unit 29 calculates the steering angle of the own vehicle 3 so as to travel on the travel route of the own vehicle 3 calculated by the own vehicle travel route calculation unit 27, and calculates the steering device 8 of the own vehicle 3. ..

The interface calculation unit 30 performs calculations for outputting various control information of the own vehicle 3 by the acceleration / deceleration calculation unit 28 and the steering control calculation unit 29 on the user interface 9 (monitor, speaker, etc.).

The camera shooting position calculation unit 31 calculates the shooting position of the drone 40 by the camera 41, that is, the sky above the planned movement position of the own vehicle 3 and the towed vehicle 2, and the drone 40 moves to the position via the transmission / reception antenna 21. And output the move instruction.

Next, the control contents of the traction support control executed in the control unit 20 will be described with reference to FIGS.

The traction support control is started by, for example, operating a traction support control ON / OFF switch that can be operated by the driver of the own vehicle 3.

As shown in FIG. 2, first, in step S10, the vehicle surrounding image taken by the camera 41 of the drone 40 is acquired via the transmission / reception antenna 21. Then, the process proceeds to step S20.

In step S20, vehicle travel route information is input from the navigation system 15. Then, the process proceeds to step S30.

In step S30, the obstacle position recognition unit 22 determines the position of the own vehicle 3, the position of the towed vehicle 2, and the obstacle based on the vehicle surrounding image input in step S10 and the vehicle travel route information input in step S20. Recognize the position of. Then, the process proceeds to step S40.

In step S40, the traveling state of the own vehicle 3, for example, the yaw rate, the vehicle speed, and the steering angle of the own vehicle 3 are input from the vehicle traveling state sensor 16. Then, the process proceeds to step S50.

In step S50, the own vehicle route prediction unit 23 predicts the traveling route of the own vehicle 3 based on the traveling state of the own vehicle 3 input in step S40. Then, the process proceeds to step S60.

In step S60, various information regarding the traveling state of the towed vehicle 2 is input from the towed vehicle communication device 17. Then, the process proceeds to step S70.

In step S70, the towed vehicle route prediction unit 24 predicts the travel route of the towed vehicle 2 based on the traveling state of the towed vehicle 2 input in step S60. Then, the process proceeds to step S80.

In step S80, the danger determination unit 25 bases the position of the obstacle recognized in step S30, the travel route of the own vehicle 3 predicted in step S50, and the travel route of the towed vehicle 2 predicted in step S70. It is determined whether or not 3 and the towed vehicle 2 are at risk of colliding with an obstacle. Then, the process proceeds to step S90.

In step S90, if it is determined in step S80 that the own vehicle 3 and the towed vehicle 2 are at risk of colliding with an obstacle, the process proceeds to step S110. If it is determined that there is no danger of the own vehicle 3 and the towed vehicle 2 colliding with an obstacle, the process proceeds to step S100.

In step S100, the traveling route of the own vehicle 3 is set to the optimum towing route calculated by the optimum towing route calculation unit 26. Then, the process proceeds to step S120.

In step S110, the traveling route of the own vehicle 3 is set as the danger avoidance route. The danger avoidance route is a travel route of the own vehicle 3 corrected so that the own vehicle 3 and the towed vehicle 2 do not collide with an obstacle based on the optimum tow route calculated by the optimum tow route calculation unit 26. Then, the process proceeds to step S120.

In step S120, the travel support control subroutine shown in FIG. 3 is executed. Then, this routine is terminated.

As shown in FIG. 3, first, in step S200, the acceleration / deceleration calculation unit 28 adjusts the own vehicle 3 so as to travel on the travel route of the own vehicle 3 set in step S100 or step S110. Calculate speed. The traveling speed of the own vehicle 3 may be a constant speed set as appropriate, or a speed based on the amount of operation of the accelerator or the like. Then, the process proceeds to step S210.

In step S210, the traveling drive device 5 or the brake device 7 is operated and controlled based on the acceleration / deceleration of the own vehicle 3 calculated in step S200 to accelerate / decelerate the own vehicle 3. Then, the process proceeds to step S220.

In step S220, the steering control calculation unit 29 calculates the steering direction (steering angle) of the own vehicle 3 so as to travel on the travel route of the own vehicle 3 set in step S100 or step S110. Then, the process proceeds to step S230.

In step S230, the steering device 8 is controlled to steer the own vehicle 3 based on the steering direction of the own vehicle 3 calculated in step S220. Then, the process proceeds to step S240.

In step S240, the interface calculation unit 30 calculates various control information such as the acceleration / deceleration of the own vehicle and the steering angle calculated in steps S200 and S220 to be output by the user interface 9 (monitor, speaker, etc.). I do. Then, the process proceeds to step S250.

In step S250, various control information and the like calculated in step S240 are displayed on the user interface 9. Then, the process proceeds to step S260.

In step S260, the camera shooting position calculation unit 31 calculates the camera shooting position, which is the planned movement position of the own vehicle 3 and the towed vehicle 2, based on the travel route of the own vehicle 3 set in step S100 or step S110. .. Then, the process proceeds to step S270.

In step S270, a movement instruction is transmitted to the drone 40 so that the drone 40 moves to the camera shooting position calculated in step S260. Then, this subroutine is terminated, the process returns to the traction support control routine shown in FIG. 2, and the traction support control is returned.

As described above, the towed vehicle driving support system of the present embodiment is a driving support system for the towed vehicle (own vehicle 3) that pulls the towed vehicle 2, and the own vehicle 3 and the towed vehicle 2 are driven by the camera 41 of the drone 40. The surroundings of the vehicle are photographed from the outside of these vehicles, and the position of obstacles around the own vehicle 3 and the towed vehicle 2 based on the image information captured by the camera 41 in the obstacle position recognition unit 22 of the control unit 20. Is recognized.

Further, the own vehicle route prediction unit 23 of the control unit 20 predicts the travel route of the own vehicle 3 based on the traveling state of the own vehicle 3 detected by the vehicle traveling state sensor 16. Further, the towed vehicle route prediction unit 24 predicts the traveling route of the towed vehicle 2 based on the traveling state of the towed vehicle 2 detected by the towed vehicle traveling state sensor 18.

Then, the own vehicle traveling route calculation unit 27 avoids the collision between the own vehicle 3 and the towed vehicle 2 and the obstacle based on the position of the obstacle, the traveling route of the own vehicle 3, and the traveling route of the towed vehicle 2. The traveling drive device 5, the braking device 7, and the steering device 8 of the own vehicle 3 are controlled so that the own vehicle 3 travels on the traveling route by calculating the traveling route of the own vehicle 3.

As a result, it is possible to avoid a collision between the own vehicle 3 and the towed vehicle 2 and an obstacle with high accuracy. In particular, since the obstacle is detected based on the image information taken from the outside of the towed vehicle 2, the obstacle detection accuracy can be improved, and the collision between the own vehicle 3 and the towed vehicle 2 and the obstacle. Avoidance can be improved. Further, since the traveling drive and steering of the own vehicle 3 are controlled, it is possible to easily avoid a collision during towing traveling.

Further, since the camera 41 of the drone 40 photographs the surroundings from the sky above the own vehicle 3 and the towed vehicle 2 to recognize the obstacle, the position of the obstacle can be recognized in a wide range and with high accuracy. Since the drone 40 receives a movement instruction from the control unit 20 and moves so as to set the traveling destination of the own vehicle 3 or the like as the shooting position, the camera 41 can appropriately shoot an obstacle that requires collision avoidance. it can.

Further, the optimum towing route calculation unit 26 calculates the traveling route of the own vehicle 3 as the optimum towing route when it does not collide with an obstacle, and when the danger determination unit 25 determines that there is no collision with an obstacle, Since this optimum towing route is set as the traveling route of the own vehicle 3, the own vehicle 3 and the towed vehicle 2 can be appropriately traveled without unnecessarily avoiding control of the own vehicle 3 and the towed vehicle 2. ..

FIG. 4 is an explanatory diagram of a moving state of the own vehicle 3 and the towed vehicle 2 of the present embodiment when turning left. FIG. 5 is an explanatory diagram of a moving state of the own vehicle 3 and the towed vehicle 2 of the present embodiment when the direction is changed. It is shown that time has passed in the order of (a) and (b) in FIG. 4 and in the order of (a), (b), (c) and (d) in FIG. The own vehicle 3 and the towed vehicle 2 are connected by a strength member so that the towed vehicle 2 can be pushed by the own vehicle 3 to move backward.

As shown in FIG. 4A, when the own vehicle 3 towing the towed vehicle 2 makes a left turn from the straight running state, and when an obstacle 50 exists near the side of the straight running lane, the own vehicle 3 If the vehicle passes the obstacle 50 and immediately turns left, the towed vehicle 2 may collide with the obstacle 50 due to the difference in the inner wheels. In the present embodiment, by moving along the appropriately set travel route of the own vehicle 3, for example, as shown in FIG. 4B, the towed vehicle 2 turns left while passing through an obstacle. It is possible to avoid a collision between the towed vehicle 2 and the obstacle 50.

On the other hand, as shown in FIG. 5, when the own vehicle 3 that pulls the towed vehicle 2 changes direction, it moves backward to the turning space 51 (predetermined section) on the right side of the straight running lane and is towed. When the vehicle 2 and the own vehicle 3 are once positioned, in the present embodiment, by moving along the appropriately set travel route of the own vehicle 3, as shown in FIGS. 5 (b) to 5 (d). First, the steering of the own vehicle 3 is steered to the left to move backward to turn the towed vehicle 2 to the left, and then the towed vehicle 2 is moved to the turning space 51 on the right side, so that the turning space 51 Even if the width is relatively narrow, the towed vehicle 2 can be moved so as not to collide with an obstacle around the turning space 51. Then, the own vehicle 3 and the towed vehicle 2 can change the direction of the straight traveling lane so as to go in the opposite direction by moving forward and turning left from the turning space 51. Therefore, the own vehicle 3 and the towed vehicle 2 can be easily and safely turned around by using the turning space 51 on the right side. Further, even when the own vehicle 3 that pulls the towed vehicle 2 is parked in the space on the side of the traveling lane, the own vehicle 3 and the towed vehicle 2 can be easily and safely moved.

The present invention is not limited to the above embodiment.

For example, in the above embodiment, the towed vehicle running state sensor 18 provided in the towed vehicle 2 detects the running state of the towed vehicle 2, and the towed vehicle 2 is based on the running state of the towed vehicle 2. Although the vehicle route is predicted, the traveling state of the towed vehicle may be estimated based on, for example, a camera image or the traveling condition of the own vehicle, other than the towed vehicle traveling state sensor provided on the towed vehicle. ..

Further, in the above embodiment, the position of the obstacle is recognized from the vehicle surrounding image taken by the camera 41 of the drone 40, but various sensors such as sonar, radar, and rider (laser type radar) are used instead of the camera 41. It may be used to recognize obstacles.

Further, in the above embodiment, the towed vehicle is an automobile, but it may be a trailer, a trolley, or the like.

1 Towing vehicle driving support system 2 Towed vehicle 3 Own vehicle (towing vehicle)
16 Vehicle running condition sensor (towed vehicle running condition detection unit)
18 Towed vehicle running state sensor (towed vehicle running state detection unit)
22 Obstacle position recognition unit 23 Own vehicle route prediction unit (towing vehicle route prediction unit)
24 Towed vehicle route prediction unit 27 Own vehicle travel route calculation unit (tow route calculation unit)
28 Acceleration / deceleration calculation unit (travel control unit)
29 Steering control calculation unit (travel control unit)
40 drone (unmanned aerial vehicle)
41 Camera (sensing part)

Claims (5)

It is a driving support system for a towing vehicle that pulls a towed vehicle.
A sensing unit that senses the towed vehicle and the surroundings of the towed vehicle from the outside of the towed vehicle.
An obstacle position recognition unit that recognizes the positions of obstacles around the towing vehicle and the towed vehicle based on the information detected by the sensing unit.
A towing vehicle running state detection unit that detects the running state of the towing vehicle,
A towing vehicle route prediction unit that predicts the movement route of the towing vehicle based on the traveling state of the towing vehicle,
A towed vehicle route prediction unit that predicts the movement route of the towed vehicle,
Towing, which is a traveling route of the towing vehicle that avoids a collision between the towing vehicle and the towed vehicle and the obstacle based on the movement route of the towing vehicle, the movement route of the towed vehicle, and the position of the obstacle. Tow route calculation unit that calculates the route and
A traveling control unit that controls the vehicle speed and steering of the towing vehicle to drive the towing vehicle on the towing path.
A towing vehicle driving support system characterized by being equipped with. A towed vehicle traveling state detection unit for detecting the traveling state of the towed vehicle is provided.
The towed vehicle driving support system according to claim 1, wherein the towed vehicle route prediction unit predicts a moving route of the towed vehicle based on a traveling state of the towed vehicle. The towing vehicle driving support system according to claim 1 or 2, wherein the sensing unit is a camera or a sensor mounted on an unmanned aerial vehicle. Any one of claims 1 to 3, wherein the towing route calculation unit calculates a traveling route of the towing vehicle in which the towed vehicle avoids obstacles on the side when the towed vehicle turns left or right. The towing vehicle driving support system described in the section. The towed vehicle is connected so as to be able to travel by pushing the towed vehicle.
When the towed vehicle moves backward while pushing the towed vehicle and steers the towed vehicle to position the towed vehicle in a predetermined section, the towed vehicle is around the section. The towing vehicle driving support system according to any one of claims 1 to 3, wherein the traveling route of the towing vehicle for avoiding the obstacles of the above is calculated.

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