JP2021142906A - Vehicle follow-up travel system, vehicle control device, vehicle, and control method - Google Patents

Abstract

To provide a technology for improving convenience of a driver of a leading vehicle where a vehicle follow-up travel is performed by a vehicle follow-up travel system in electronic traction travel (follow-up travel) in which a vehicle capable of performing follow-up travel is non-mechanically connected to the leading vehicle and travels.SOLUTION: A vehicle follow-up travel system is a vehicle follow-up travel including a leading vehicle and a following vehicle, and the leading vehicle comprises: first acquisition means for acquiring a travel parameter for the following vehicle; and providing means for providing information for supporting vehicle follow-up travel to the inside of the leading vehicle on the basis of the travel parameter for the following vehicle acquired by the first acquisition means.SELECTED DRAWING: Figure 4

Description

The present invention relates to a vehicle following traveling system, a vehicle control device, a vehicle, and a control method.

A vehicle following traveling system has been proposed in which a vehicle capable of following traveling (following vehicle) performs electronic towing traveling (following traveling) in which a vehicle (following vehicle) travels in a non-mechanically connected manner with a preceding vehicle (followed vehicle) (Patent Document). 1).

JP-A-2019-1227

Here, due to driving parameters such as the width, turning radius, and inner ring difference between the following vehicle (leading vehicle) and the following vehicle, there is a traveling route that can be traveled by the leading vehicle but not by the following vehicle. exist. Further, depending on the position of the leading vehicle in the lane, it may not be possible to follow the following vehicle. In these cases, the following vehicle may come into contact with a structure such as a curb, a wall, a telephone pole, or a curved mirror, or may stop in anticipation of contact and may not be able to normally travel on the planned travel route. As described above, the driver of the leading vehicle needs to travel in consideration of the traveling parameters of the following vehicle, and the low convenience of the following traveling has been a problem.

An object of the present invention is to provide a technique for improving the convenience of a driver of a leading vehicle that follows a vehicle.

According to the present invention, it is a vehicle following traveling system including a leading vehicle and a following vehicle, and the leading vehicle is acquired by the first acquisition means for acquiring the traveling parameters of the following vehicle and the first acquisition means. Based on the traveling parameters of the following vehicle, the provision means for providing information for assisting the vehicle following traveling into the vehicle of the leading vehicle is provided.

According to the present invention, it is possible to provide a technique for improving the convenience of a driver of a leading vehicle that follows a vehicle.

The upper view of the vehicle follow-up running system which concerns on embodiment. The hardware block diagram of the leading vehicle according to the embodiment. The software block diagram of the leading vehicle according to the embodiment. The figure which shows the processing example which the vehicle control device which concerns on embodiment executes. The figure which shows the processing example which the vehicle control device which concerns on embodiment executes. The figure which shows the processing example which the vehicle control device which concerns on embodiment executes. The figure which shows the processing example which the vehicle control device which concerns on embodiment executes. The figure which shows the example of providing the driving assistance information which concerns on embodiment. The figure which shows the example of providing the driving assistance information which concerns on embodiment. The figure which shows the example of providing the driving assistance information which concerns on embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar configuration will be given the same reference number, and duplicated explanations will be omitted.

<First Embodiment>
(System configuration)
FIG. 1 is an upper view of the vehicle following vehicle traveling system 100 according to the present embodiment, and includes a leading vehicle (leading vehicle) 1 and a following vehicle (following vehicle) 2. In FIG. 1, the leading vehicle 1 and the following vehicle 2 are sedan-type four-wheeled passenger vehicles as an example.

(Hardware configuration)
FIG. 1 is a block diagram of a vehicle control device according to an embodiment of the present invention, and controls the vehicle 1. In FIG. 1, the outline of the vehicle 1 is shown in a plan view and a side view. Vehicle 1 is, for example, a four-wheeled passenger car such as a sedan type, a compact car type, a minivan type, and a one-box type.

The following vehicle 2 has an output from a front camera 21 provided in the following vehicle 2 and sensors (not shown) such as LIDAR, millimeter-wave radar, and centimeter-wave radar, and / or a wireless communication unit (inter-vehicle communication). Based on the information received from the preceding vehicle 1, the automatic traveling (following traveling) that follows the leading vehicle 1 is performed. In the present embodiment, the leading vehicle 1 will be described as being operated by an occupant to provide a service of leading the following vehicle 2 to a destination. In the present specification, the occupant of the leading vehicle 1 accepts that he / she leads the following vehicle 2, electronically connects the occupants, and permits the following vehicle to travel, which is referred to as vehicle following traveling. The electronically connected state is a state in which the leading vehicle 1 can provide the following vehicle 2 with information used for traveling of the following vehicle 2 at any time.

In the vehicle follow-up travel, the follow-up vehicle 2 follows the trajectory of the leading vehicle 1 and performs the follow-up travel at a predetermined inter-vehicle distance. In one example, the following vehicle 2 has the locus of the center line of the leading vehicle 1 and the center line of the following vehicle 2 coincide with each other, or the locus of the center of the rear wheel of the leading vehicle 1 and the front wheel or the rear of the following vehicle 2. Determine the travel route so that it matches the trajectory in the center of the wheel. However, if the leading vehicle 1 and the following vehicle 2 have different traveling performances such as vehicle width, inner ring difference, and turning radius, the following vehicle 2 may not be able to travel even if the leading vehicle 1 is on a route that can be traveled. .. Therefore, in the present vehicle following vehicle traveling system, traveling assistance information is provided to the occupants of the leading vehicle 1 so that the following vehicle 2 does not travel on a route that cannot be traveled.

(Hardware configuration)
Next, the hardware configuration of the vehicle control device 10 of the leading vehicle 1 according to the present embodiment will be described with reference to FIG.

The vehicle control device 10 includes a vehicle following traveling ECU 201, a communication ECU 202, a traveling state ECU 203, an environment recognition ECU 204, a navigation ECU 205, and a TCU 206. The ECUs can communicate with each other via the in-vehicle network NT. Each ECU includes a processor typified by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

The vehicle-following traveling ECU 201 controls the vehicle to perform vehicle-following traveling by performing a process described later with reference to FIGS. 4 to 7. The communication ECU 202 can communicate with the following vehicle 2 via the wireless communication unit 202a. Further, the TCU (Telematics Control Unit) 206 can be connected to a wide area wireless network. Further, the TCU 206 may perform communication by Wi-Fi (registered trademark), DSRC (Dedicated Short Range Communications), or the like.

The traveling state ECU 203 acquires the operation of the leading vehicle 1 by the occupant. For example, the traveling state ECU 203 can detect that at least one of a braking device (not shown), a right / left turn indicator (winker), a wiper, and a headlight is operating. Further, in one example, the traveling state ECU 203 can acquire the steering angle and the vehicle speed of the steering wheel.

The environment recognition ECU 204 can recognize the road width and lane of the traveling route based on the data acquired from the front camera 204a and the distance measuring sensor 204b. Further, the environment recognition ECU 204 has at least the shortest distance from the end of the lane to the leading vehicle 1, the shortest distance from the sidewalk to the leading vehicle 1, and the shortest distance to a structure existing around the lane such as an exterior or a telephone pole. You may get either. In one example, the environment recognition ECU 204 can acquire the inter-vehicle distance from the following vehicle 2 based on the data acquired from the rear camera (not shown). Further, the environment recognition ECU 204 may detect the weather (rainy weather, fog, snowfall) around the leading vehicle 1 based on the data acquired from the front camera 204a.

The navigation ECU 205 can identify the current location of the leading vehicle 1 based on the data acquired from the GPS sensor 205a and the map data acquired from the communication ECU 202 or the TCU 206. Alternatively, the navigation system 205 can acquire information indicating the destination from the user interface (not shown) or from the following vehicle 2 via the wireless communication unit 202a. Further, the navigation ECU 205 can acquire parameters of the traveling route including the road width, the curvature of the curve, and the slope based on the high-definition map data acquired via the TCU 206. Further, the navigation ECU 205 controls display units such as a navigation panel 205b for guiding from the current location to the destination and a head-up display (HUD) 205c, and provides the user with information related to traveling.

(Software configuration)
Next, the software configuration of the vehicle control device 10 will be described with reference to FIG. The function shown in FIG. 3 is realized by the processor of any ECU of the vehicle control device 10 executing a program stored in the storage. It should be noted that one ECU may realize a plurality of functions, or a plurality of ECUs may realize one function. The vehicle control device 10 includes a following vehicle parameter acquisition unit 301, an auxiliary information providing unit 302, an environment information acquisition unit 303, a route information acquisition unit 304, and a traveling state acquisition unit 305.

The following vehicle parameter acquisition unit 301 can acquire the parameters of the following vehicle 2 from the following vehicle 2 via the wireless communication unit 202a, including at least one of the vehicle width, the turning radius, and the inner ring difference of the following vehicle 2. In one example, the following vehicle parameter acquisition unit 301 may acquire information capable of identifying the vehicle type of the following vehicle 2 from the following vehicle 2 via the wireless communication unit 202a. Further, the following vehicle parameter acquisition unit 301 is a parameter including at least one of a vehicle width, a turning radius, and an inner ring difference corresponding to the vehicle type of the following vehicle 2 from an external device (not shown) on the Internet via a wide area wireless network. May be obtained.

The auxiliary information providing unit 302 provides information for assisting traveling in the leading vehicle 1 based on the information acquired by the following vehicle parameter acquisition unit 301. The environment information acquisition unit 303 acquires information on the surrounding environment of the leading vehicle 1 from the sensor connected to the environment recognition ECU 204, the map data of the navigation ECU, and the traveling state ECU 203. The route information acquisition unit 304 acquires route information including the road width and curvature of the alley in which the leading vehicle 1 is traveling from the navigation ECU 205. The traveling state acquisition unit 305 acquires information indicating a traveling state such as turning left and right, braking, and changing lanes of the leading vehicle 1 from the traveling state ECU 203.

<Processing example>
Next, with reference to FIGS. 4 to 7, a process for the vehicle control device 10 according to the present embodiment to provide travel assistance information will be described. The processing shown in FIGS. 4 to 7 will be described as being executed by the vehicle control device 10, but is realized by the processor of any ECU of the vehicle control device 10 executing the program stored in the storage. .. It should be noted that one process may be executed by the cooperation of a plurality of ECUs.

(Processing example 1)
FIG. 4 is a diagram showing an example of processing for the vehicle control device 10 to provide traveling assistance information to the occupants of the leading vehicle 1 based on the parameters of the following vehicle 2. This process is executed when the vehicle following the vehicle is started.

First, in S401, the vehicle control device 10 acquires the parameters of the following vehicle 2, including at least one of the vehicle width, turning radius, inner wheel difference, and distance between the front wheels and the rear wheels of the following vehicle 2.

Subsequently, in S402, the vehicle control device 10 provides traveling assistance information in the vehicle of the leading vehicle 1 based on the parameters of the following vehicle 2. For example, the vehicle control device 10 may display the parameter of the following vehicle 2 as travel assistance information as "the width of the following vehicle is OO meters" on at least one of the navigation panel 205b and the HUD 205c. Alternatively, the vehicle control device 10 may provide the parameters of the following vehicle 2 by voice from a speaker (not shown). As an example, in S402, the vehicle control device 10 may provide travel assistance information based on the parameters of the following vehicle 2 and the parameters of the leading vehicle 1. For example, when the vehicle width of the following vehicle 2 is larger than the vehicle width of the leading vehicle 1, traveling assistance information may be provided.

Here, an aspect of providing driving assistance information will be described with reference to FIG. FIG. 8 is a diagram showing the inside of the leading vehicle ahead in the traveling direction. The front window 5 operates at least in part as the HUD205c. Further, the navigation panel 11 is arranged near the driver's seat. In the example of FIG. 8, the message 800 "Please drive carefully because the following vehicle is wider than this vehicle" is displayed on the HUD205c as travel assistance information superimposed on the scenery in front.

As a result, the driver of the leading vehicle 1 can confirm the traveling assistance information while driving.

Further, in the example of FIG. 8, the description was made assuming that a message indicating that the vehicle width is large is displayed, but in one example, the HUD205c is assisted by a nose corresponding to the vehicle width of the following vehicle 2 and a corner pole. The image may be superimposed on the landscape in front and displayed. As a result, the driver of the leading vehicle 1 can more intuitively grasp the width of the following vehicle 2.

(Processing example 2)
FIG. 5 is a diagram showing an example of processing for the vehicle control device 10 to provide driving assistance information to the occupants of the leading vehicle 1 based on information on the surrounding environment of the leading vehicle 1 in addition to the parameters of the following vehicle 2. .. The same reference numerals will be used for the same processing as that of the processing example 1, and the description thereof will be omitted.

Since S401 is the same as that of Process Example 1, the description thereof will be omitted. Following S401, the vehicle control device 10 advances the processing to S501, and acquires the surrounding environment information based on the output signals of the front camera 204a, the distance measuring sensor 204b, and the like. In the present embodiment, in S501, the vehicle control device 10 acquires the road width of the alley in which the vehicle is traveling as information on the surrounding environment. In another example, the surrounding environment information may be, for example, the road width, the distance to a road structure such as a guardrail or a curved mirror, and the distance to a building including an exterior.

Subsequently, the vehicle control device 10 advances the process to S502, and determines whether or not the surrounding environment information satisfies a predetermined condition. For example, when the distance to the structure such as the exterior acquired in S501 is 1 m or less, the vehicle control device 10 determines that the predetermined condition is satisfied. Further, for example, when the road width acquired in S501 is smaller than the predetermined width, the vehicle control device 10 determines that the predetermined condition is satisfied. Further, in one example, in S502, the vehicle control device 10 determines whether or not a predetermined condition is satisfied based on the information on the surrounding environment and the parameters of the following vehicle 2. The predetermined condition may be a case where the difference between the vehicle width of the following vehicle 2 and the road width is 1.5 m or less, the vehicle width of the following vehicle 2 is larger than the vehicle width of the leading vehicle 1, and the vehicle width is larger than that of the leading vehicle 1. The road width may be 4 m or less.

When it is determined in S502 that the surrounding environment information satisfies a predetermined condition (Yes in S502), the vehicle control device 10 advances the process to S402 and provides the traveling assistance information in the leading vehicle 1. When it is determined that the surrounding environment information does not satisfy the predetermined condition (Yes in S502), the vehicle control device 10 returns the process to S501 and acquires the surrounding environment information again.

Here, one aspect of providing the traveling assistance information of S402 will be described with reference to FIG. FIG. 9 shows a navigation panel 205b that displays an auxiliary image as travel assistance information. The navigation panel 205b synthesizes the shooting data taken by the front camera 205a, the side camera (not shown), and the rear camera (not shown), and creates a bird's-eye view image (around view) as if the leading vehicle 1 is looking down from the sky. indicate. Further, a rectangular guide 901 that is superimposed on the leading vehicle 1 based on the dimensions of the vehicle body of the following vehicle 2 and can grasp the size of the vehicle body of the following vehicle 2 at the position of the leading vehicle 1 and a route through which the following vehicle 2 passes. A marker such as a guide 902 indicating the width of the guide 902 is displayed. Further, when the following vehicle 2 is located within the shooting range of the side camera, the rear camera, or the like of the leading vehicle 1, the following vehicle 2 is also displayed in the around view. As a result, the driver of the leading vehicle 1 can grasp the distance between the leading vehicle 1 and a structure such as an exterior that may come into contact with the leading vehicle 1. Further, by displaying a bird's-eye view image including markers such as guides 901 and 902 corresponding to the driving parameters of the following vehicle 2, the distance between the following vehicle 2 and the structure can be intuitively grasped, so that the lead can be obtained. The driver of the car 1 can drive smoothly.

In this way, there is a possibility of contact while displaying the travel assistance information only when it is determined that the following vehicle 2 travels on a route that is likely to come into contact with the structure, such as an alley or a corner that is less than a predetermined road width. If it is determined to be low, navigation information can be displayed.

Although the vehicle control device 10 indicates that the process shown in FIG. 5 is completed when the process of S402 is completed, the process shown in FIG. 5 may be executed at predetermined time intervals. Further, in this case, if the traveling parameters of the following vehicle 2 have already been acquired, the processing of S401 may be omitted. That is, once the traveling parameters of the following vehicle 2 are acquired after the vehicle following traveling is started, the vehicle control device 10 may be configured not to acquire the traveling parameters of the following vehicle 2. As a result, the power consumption can be suppressed by preventing the traveling parameters such as the vehicle width of the following vehicle 2, which is unlikely to change during the vehicle following traveling, from being acquired many times.

Further, in the example of FIG. 9, the guide 901 is displayed as if it is rectangular, but a bird's-eye view image as if the following vehicle 2 is looking down from the sky according to the vehicle type of the following vehicle 2 may be superimposed. Alternatively, the guide may be displayed in a different manner, such as displaying only the points at the four corners of the guide 901.

(Processing example 3)
FIG. 6 is a diagram showing an example of processing for the vehicle control device 10 to provide travel assistance information to the occupants of the leading vehicle 1 based on the information on the planned travel route in addition to the parameters of the following vehicle 2. The same reference numerals will be used for the same processing as that of the processing example 1, and the description thereof will be omitted.

After the process of S401, the vehicle control device 10 advances the process to S601 and acquires information on the planned travel route from the navigation ECU 205. The planned travel route includes, for example, a destination, a right / left turn point, and a distance between those points. In one example, the information about the planned travel route may include information such as the road width, curvature, and slope of the route. Further, in one example, at least a part of the information regarding the planned travel route may be acquired from the following vehicle 2 via the wireless communication unit 202a, or may be acquired from a map information server (not shown) on the Internet via TCU206. You may. For example, the information about the destination may be acquired from the following vehicle 2 via the wireless communication unit 202a, and the route from the map information server on the Internet to the destination and the width of the route may be acquired via the TCU 206.

Subsequently, the vehicle control device 10 advances the process to S602, and determines whether or not the planned travel route satisfies a predetermined condition. For example, the predetermined condition includes that the planned travel route includes a route having a road width of 4 m or less and a predetermined width or less. Further, the predetermined condition includes that the planned traveling route includes a curve having a predetermined curvature or less such as 50 m or less.

In one example, the predetermined conditions relating to the planned travel route further include the conditions relating to the traveling parameters of the following vehicle 2. For example, the predetermined condition includes that the difference between the road width of the planned traveling route and the vehicle width of the following vehicle 2 is 2 m or less or less than a predetermined length.

Further, in one example, the predetermined condition regarding the planned traveling route further includes the condition regarding the current position of the leading vehicle 1 or the following vehicle 2. For example, a predetermined condition includes a distance of 50 m or less to a point where a right or left turn is planned.

When it is determined that the information regarding the planned travel route satisfies a predetermined condition (Yes in S602), the vehicle control device 10 advances the process to S402 to provide the travel assistance information, and determines that the predetermined condition is not satisfied (Yes). No) in S602 returns the process to S601.

Here, one aspect of providing the traveling assistance information of S402 will be described with reference to FIG. FIG. 10 shows an example of providing driving assistance information to the HUD205c of the front window 5. In FIG. 10, it is assumed that the leading vehicle 1 is located near the left turn point. Further, it is assumed that the vehicle width of the following vehicle 2 is larger than the vehicle width of the leading vehicle 1. In this case, even if the leading vehicle 1 has a traveling path that allows the vehicle to travel without colliding with the corner, the following vehicle 2 may collide with the corner when the following vehicle 2 follows the vehicle. Therefore, the vehicle control device 10 superimposes the message 1001 on the landscape in front of the leading vehicle 1 and displays it on the HUD 205c so as to make a slightly large left turn. Further, the vehicle control device 10 is a structure in which the corner around the leading vehicle 1 and the leading vehicle 1 or the following vehicle 2 can collide with each other based on the output data of the GPS sensor 205a and the shooting data acquired from the front camera 204a. Recognize. Then, based on the traveling parameters of the following vehicle 2 and the peripheral map information of the leading vehicle 1 acquired from the navigation ECU 205, the traveling route to be traveled by the following vehicle 2 is calculated at the right / left turn point or the narrow road. Then, the auxiliary image 1002 showing the recommended traveling route is displayed on the HUD 205c so as to be superimposed on the landscape in front. As a result, the driver of the leading vehicle 1 can intuitively grasp the traveling route through which the following vehicle 2 can pass. The recommended traveling route shown in FIG. 10 may also be displayed in a bird's-eye view image as shown in FIG.

(Processing example 4)
FIG. 7 is a diagram showing an example of processing for the vehicle control device 10 to provide traveling assistance information to the occupants of the leading vehicle 1 based on the information regarding the traveling state of the leading vehicle 1 in addition to the parameters of the following vehicle 2. .. The same reference numerals will be used for the same processing as that of the processing example 1, and the description thereof will be omitted.

After the processing of S401, the vehicle control device 10 advances the processing to S701, and acquires information on the traveling state of the leading vehicle 1 from the traveling state ECU 203. Information about the running condition includes, for example, information indicating whether or not the winker, the braking device, the wiper, and the headlight are operating.

Subsequently, the vehicle control device 10 advances the process to S702 and determines whether or not the traveling state satisfies a predetermined condition. For example, certain conditions include that the winker is operating. When it is determined that the information regarding the traveling state satisfies the predetermined condition (Yes in S702), the vehicle control device 10 advances the process to S402 to provide the traveling assistance information, and determines that the predetermined condition is not satisfied (S702). In No), the process returns to S701. As a result, for example, when the driver of the leading vehicle 1 plans to turn left or right and operates the winker, the driving assistance information is provided in the leading vehicle 1 so as to make a turn in consideration of the following vehicle 2. Can be done.

In one example, in S702, the vehicle control device 10 may determine whether or not a predetermined condition is satisfied based on at least one of the route information and the traveling parameter of the following vehicle 2 in addition to the information regarding the traveling state. .. For example, if the winker is operating and the road width at the corner is less than or equal to the predetermined value, the predetermined condition is satisfied and "Note that the road width at the corner is decreasing. You may provide driving assistance information such as "Please drive."

<Other Embodiments>
The processing examples 1 to 4 described in the present embodiment can be arbitrarily combined. For example, the predetermined conditions may be based on the traveling parameters of the following vehicle 2, the traveling parameters of the leading vehicle 1, the surrounding environment information, and the route information. In this case, for example, when the width of the following vehicle 2 is larger than the width of the leading vehicle 1, the alley is equal to or less than the predetermined road width, and the leading vehicle 1 is located within a predetermined distance from the structure, the traveling assistance is provided. Information may be provided.

Further, the HUD 205c and the navigation panel 205b may provide different driving assistance information under different conditions. For example, when the vehicle width of the following vehicle 2 is larger than the vehicle width of the leading vehicle 1, the vehicle control device 10 displays the traveling assistance information on the HUD 205c, and when the winker of the leading vehicle 1 is operating, FIG. The driving assistance information of the around view shown in the above may be displayed. Further, when the leading vehicle 1 approaches a structure such as an exterior structure within a predetermined distance, a warning sound may be sounded from the speaker.

Further, although the environmental information acquisition unit 303 has been described as acquiring information on the surrounding environment of the leading vehicle 1, in one example, the information on the surrounding environment of the following vehicle 2 may be acquired. For example, when the following vehicle 2 is equipped with a range-finding radar (not shown), surrounding environment information including the distance between the following vehicle 2 and a structure such as an exterior is acquired via the wireless communication unit 202a or TCU206. You may. In this case, for example, in S502 of FIG. 5, the vehicle control device 10 determines whether or not the surrounding environment information of the following vehicle 2 satisfies a predetermined condition in the same manner as the predetermined condition described in the processing example 2. May be good. As a result, the driver of the leading vehicle 1 can grasp that the following vehicle 2 is likely to come into contact with a structure such as an exterior structure.

Further, the navigation ECU 205 may determine a traveling route to the destination based on the traveling parameters of the following vehicle 2. In this case, the traveling route may be determined based on the road width of the alley so as to travel only in the alley that is 2 m or more larger than the vehicle width of the following vehicle 2.

<Summary of Embodiment>
1. 1. A vehicle following traveling system (for example, 100) including a leading vehicle (for example, 1) and a following vehicle (for example, 2).
The leading vehicle is
A first acquisition means (for example, 301) for acquiring the traveling parameters of the following vehicle, and
Based on the traveling parameters of the following vehicle acquired by the first acquisition means, a providing means (for example, 302) that provides information for assisting the vehicle following traveling in the vehicle of the leading vehicle, and
To be equipped.

This makes it possible to improve the convenience when the driver of the leading vehicle follows the driving.

2. In the above embodiment, the traveling parameter includes at least one of a vehicle width, a turning radius, and an inner ring difference.

This makes it possible to provide information that assists the vehicle following the vehicle when the width, turning radius, and inner ring difference of the following vehicle are different from those of the leading vehicle.

3. 3. In the above embodiment, the providing means displays an auxiliary image on the display unit to assist the vehicle following the vehicle.

As a result, the occupant of the leading vehicle can visually recognize the information that assists the following running.

4. In the above embodiment, the display unit is a head-up display.
The providing means displays the recommended traveling route so as to superimpose on the landscape in front of the leading vehicle.

As a result, the driver can easily visually recognize the information that assists the following running.

5. In the above embodiment, the display unit is a navigation panel.
The providing means displays a bird's-eye view image of the leading vehicle as viewed from above.

As a result, the driver can easily visually recognize the information that assists the following driving while easily checking the surroundings of the leading vehicle.

6. In the above embodiment, the providing means displays the bird's-eye view image including a marker corresponding to the traveling parameter of the following vehicle.

This allows the driver of the leading vehicle to visually confirm the driving parameters of the following vehicle.

7. In the above embodiment, the leading vehicle further includes a second acquisition means (for example, 303) for acquiring information on the surrounding environment of the leading vehicle.
The providing means further provides information for assisting the vehicle following traveling based on the surrounding environment information acquired by the second acquisition means in the vehicle of the leading vehicle.

As a result, it is possible to provide information that assists the following traveling based on the information of the surrounding environment of the traveling route of the leading vehicle.

8. In the above embodiment, the leading vehicle further includes a third acquisition means (for example, 304) for acquiring a planned travel route.
The providing means further provides information for assisting the vehicle following traveling based on the planned traveling route acquired by the third acquisition means in the vehicle of the leading vehicle.

As a result, it is possible to provide information that assists the following traveling based on the information on the traveling route of the leading vehicle.

9. In the above embodiment, when the providing means acquires the information that the leading vehicle travels or turns left or right in an alley equal to or less than a predetermined road width by the third acquisition means, the providing means provides the information. conduct.

This makes it possible to provide information that assists the following traveling in a situation where the following vehicle is likely to come into contact with the structure.

10. A vehicle control device (for example, 10) of a vehicle (for example, 1) capable of leading a following vehicle (for example, 2) in a vehicle following traveling system (for example, 100).
An acquisition means (for example, 301) for acquiring the traveling parameters of the following vehicle, and
A providing means (for example, 302) that provides information for assisting vehicle following traveling in the vehicle based on the traveling parameters of the following vehicle acquired by the acquisition means.
To be equipped.

This makes it possible to improve the convenience when the driver of the leading vehicle follows the driving.

11. A vehicle (for example, 1) capable of leading a following vehicle (for example, 2) in a vehicle following traveling system (for example, 100) is
An acquisition means (for example, 301) for acquiring the traveling parameters of the following vehicle, and
A providing means (for example, 302) that provides information for assisting vehicle following traveling in the vehicle based on the traveling parameters of the following vehicle acquired by the acquisition means.
To be equipped.

This makes it possible to improve the convenience when the driver of the leading vehicle follows the driving.

12. A control method (for example, FIGS. 4 to 7) of a control device (for example, 10) of a vehicle (for example, 1) capable of leading a following vehicle (for example, 2) in a vehicle following traveling system (for example, 100) is described.
An acquisition step (for example, S401) for acquiring the traveling parameters of the following vehicle,
A providing step (for example, S402) of providing information for assisting vehicle following traveling in the vehicle based on the traveling parameters of the following vehicle acquired in the acquisition step.
To be equipped.

This makes it possible to improve the convenience when the driver of the leading vehicle follows the driving.

The invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

1: Leading vehicle 2: Following vehicle, 10: Vehicle control device, 201: Vehicle following traveling ECU, 202: Communication ECU, 203: Driving state ECU, 204: Environment recognition ECU, 205: Navigation ECU, 206: TCU

Claims (12)

It is a vehicle-following running system that includes a leading vehicle and a following vehicle.
The leading vehicle is
The first acquisition means for acquiring the traveling parameters of the following vehicle, and
Based on the traveling parameters of the following vehicle acquired by the first acquisition means, the providing means for providing the information assisting the vehicle following traveling into the vehicle of the leading vehicle and the providing means.
A vehicle-following driving system characterized by being equipped with. The vehicle following traveling system according to claim 1, wherein the traveling parameter includes at least one of a vehicle width, a turning radius, and an inner ring difference. The vehicle-following traveling system according to claim 1 or 2, wherein the providing means displays an auxiliary image assisting the vehicle-following traveling on a display unit. The display unit is a head-up display.
The vehicle-following traveling system according to claim 3, wherein the providing means displays a recommended traveling route so as to superimpose on a landscape in front of the leading vehicle. The display unit is a navigation panel.
The vehicle-following traveling system according to claim 3 or 4, wherein the providing means displays a bird's-eye view image of the leading vehicle from above. The vehicle following traveling system according to claim 5, wherein the providing means displays the bird's-eye view image including a marker corresponding to the traveling parameter of the following vehicle. The leading vehicle further has a second acquisition means for acquiring information on the surrounding environment of the leading vehicle.
Any of claims 1 to 6, wherein the providing means further provides information for assisting the vehicle following traveling based on the surrounding environment information acquired by the second acquisition means in the vehicle of the leading vehicle. The vehicle-following traveling system according to item 1. The leading vehicle further has a third acquisition means for acquiring the planned travel route.
Any of claims 1 to 6, wherein the providing means further provides information for assisting the vehicle following traveling based on the planned traveling route acquired by the third acquisition means in the vehicle of the leading vehicle. The vehicle-following traveling system according to item 1. The providing means is characterized in that when the leading vehicle acquires information for traveling or turning left or right in an alley equal to or less than a predetermined road width by the third acquiring means, the providing means provides the information. The vehicle following traveling system according to claim 8. It is a vehicle control device of a vehicle that can lead a following vehicle in a vehicle following traveling system.
An acquisition means for acquiring the traveling parameters of the following vehicle, and
Based on the traveling parameters of the following vehicle acquired by the acquisition means, the providing means for providing the information assisting the vehicle following traveling into the vehicle of the vehicle and the providing means.
A vehicle control device comprising. A vehicle that can lead a following vehicle in a vehicle following driving system.
An acquisition means for acquiring the traveling parameters of the following vehicle, and
Based on the traveling parameters of the following vehicle acquired by the acquisition means, the providing means for providing the information assisting the vehicle following traveling into the vehicle of the vehicle and the providing means.
A vehicle characterized by being equipped with. It is a control method of a vehicle control device capable of leading a following vehicle in a vehicle following traveling system.
The acquisition process for acquiring the driving parameters of the following vehicle, and
Based on the traveling parameters of the following vehicle acquired in the acquisition process, a providing step of providing information for assisting the vehicle following traveling in the vehicle is provided.
A control method characterized by comprising.

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