JP7044292B1 - Vehicle group - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for promptly returning a platoon of a divided vehicle group including an autonomous driving vehicle to the original platoon. SOLUTION: The following vehicle is a group of vehicles traveling in a platoon composed of a leading vehicle and a following vehicle, and the following vehicle is a group of vehicles traveling following the leading vehicle, and the traffic signal is stopped after the leading vehicle has passed the traffic signal. When paused by the signal represented, the first transmitting unit of the leading vehicle transmits the current position information of the own vehicle to the second receiving unit of the following vehicle, and the second receiving unit of the following vehicle transmits the position information. Upon receipt, the car navigation function unit of the following vehicle generates a traveling route based on the current position information, and the following vehicle travels along the traveling route. [Selection diagram] Fig. 1

Description

The present invention relates to an autonomous vehicle, and more particularly to a group of vehicles traveling in a formation including a plurality of autonomous vehicles.

In recent years, the development of autonomous driving technology for automobiles has accelerated, and the technology has reached a level where human operation is almost unnecessary by combining it with car navigation technology, advanced wireless communication technology, AI technology, and the like. According to Patent Document 1, when the length of a group of vehicles traveling in a platoon is longer than the length of the merging section of the currently traveling expressway, the platoon is divided so that the vehicle to be merged can be used. It allows you to enter between the divided vehicles. Further, when the divided platoon is returned to one platoon again, it is performed based on the aptitude of the destination and the traveling schedule of the following vehicle.

Japanese Unexamined Patent Publication No. 2016-146129

However, Patent Document 1 does not disclose how the divided procession returns to one procession when the divided procession is returned to one procession.

An object of the present invention is to provide a technique for promptly returning a platoon of a divided vehicle group including an autonomous driving vehicle to the original platoon.

In the present invention according to claim 1, the following vehicle is a group of vehicles that travels in a platoon composed of a leading vehicle and a following vehicle, the following vehicle is a vehicle group that follows the leading vehicle, and the following vehicle is a vehicle group.
When the leading vehicle has passed the traffic signal and then temporarily stopped by a signal indicating the stop of the traffic signal, a second transmitting unit for transmitting a signal stop signal and a second receiving unit for acquiring the position information of the leading vehicle. The first vehicle has a unit and a car navigation function unit that searches for a route based on the acquired position information of the leading vehicle, and the leading vehicle receives the signal stop signal from the second transmitting unit. In the vehicle group having the receiving unit of the above and the first transmitting unit for transmitting the current position information of the own vehicle, the second transmitting unit of the following vehicle transmits the signal stop signal and the leading vehicle. After the first receiving unit of the above receives the signal stop signal, the first transmitting unit of the leading vehicle transmits the current position information of the own vehicle to the second receiving unit of the following vehicle, and the following vehicle When the second receiving unit of the above receives the position information, the car navigation function unit of the following vehicle generates a traveling route based on the current position information, and the following vehicle follows the traveling route. Run.

With this configuration, even if the formation is divided by the following vehicle being temporarily stopped by the traffic signal, the following vehicle that has been temporarily stopped will immediately lead based on the position information of the leading vehicle received by transmitting the signal stop signal. Since it can catch up with the vehicle, it is possible to quickly re-form a once-divided formation.
Further, this makes it possible to avoid a state in which another vehicle enters between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle (when there are a plurality of following vehicles).

Further, in the present invention according to claim 2, the following vehicle is a group of vehicles that travels in a platoon composed of a leading vehicle and a following vehicle, and the following vehicle follows the leading vehicle. When the leading vehicle has passed the traffic signal and then temporarily stopped by a signal indicating the stop of the traffic signal, a second transmitting unit that transmits a signal stop signal and a second that acquires the current position information of the leading vehicle. The first vehicle is the second vehicle, which has a receiving unit of the above and a car navigation function unit that performs a position search based on the acquired current position information of the leading vehicle and uses the searched position as a waypoint. In the vehicle group having a first receiving unit for receiving the signal stop signal from the transmitting unit of the vehicle and a first transmitting unit for transmitting the current position information of the own vehicle, the second of the following vehicles. After the transmitting unit transmits the signal stop signal and the first receiving unit of the leading vehicle receives the signal stop signal, the first transmitting unit of the leading vehicle transmits the current position information of the own vehicle to the following. When the vehicle is transmitted to the second receiving unit of the vehicle and the second receiving unit of the following vehicle receives the position information, the car navigation function unit of the following vehicle searches based on the current position information. The current position of the leading vehicle is used as the stopover.

With this configuration, even if the formation is divided by the following vehicle being temporarily stopped by the traffic signal, the following vehicle that has been temporarily stopped will still be the current leading vehicle based on the transmission of the signal stop signal and the position information of the leading vehicle. By traveling toward the stopover with the position as the stopover, it becomes possible to re-form the once divided formation.
Further, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle (when there are a plurality of following vehicles).

Further, in the present invention according to claim 3, the following vehicle is a group of vehicles that travels in a platoon composed of a leading vehicle and a following vehicle, the following vehicle is a vehicle group that follows the leading vehicle, and the following vehicle is a vehicle group. It has a second receiving unit that acquires the current position information of the leading vehicle, and a car navigation function unit that searches for a route based on the acquired position information of the leading vehicle. The leading vehicle is its own vehicle. A first transmission unit that transmits the current position information and various instruction signals of the vehicle, and a division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more for a predetermined time or more. In the vehicle group, when the division detection unit detects that the following vehicle, which is following the vehicle, is separated from the leading vehicle by the predetermined distance or more for the predetermined time or more, the car navigation of the following vehicle Have the functional unit search for a route based on the current position information of the leading vehicle acquired by the second receiving unit, and transmit the instruction signal for traveling along the searched route to the following vehicle. Has a control unit that controls the first transmission unit.

With this configuration, even if the following vehicle is separated from the leading vehicle and the formation is divided, the division detection unit detects the division based on the separation distance, and the following vehicle is the position information of the leading vehicle transmitted from the leading vehicle. By generating a travel route to the leading vehicle, it is possible to re-form a once-divided formation.
Further, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle (when there are a plurality of following vehicles).

Further, in the present invention according to claim 4, the following vehicle is a group of vehicles that travels in a platoon composed of a leading vehicle and a following vehicle, the following vehicle is a vehicle group that follows the leading vehicle, and the following vehicle is a vehicle group. It has a second receiving unit that acquires the current position information of the leading vehicle, and a car navigation function unit that searches for a route based on the acquired position information of the leading vehicle. The leading vehicle is its own vehicle. It detects that the above-mentioned formation is divided based on the first transmission unit that transmits the current position information and various instruction signals of the vehicle, the camera unit that captures the rear of the vehicle, and the image captured by the camera unit. In the vehicle group having the division detection unit, when the division detection unit detects that the formation is divided, the leading vehicle has the second unit in the car navigation function unit of the following vehicle during follow-up traveling. The first transmitting unit so as to perform a route search based on the current position information of the leading vehicle acquired by the receiving unit and transmit the instruction signal to travel along the searched route to the following vehicle. It has a control unit that controls.

With this configuration, even if the following vehicle is separated from the leading vehicle and the formation is divided, the division detection unit of the leading vehicle detects the division by the image, so that the following vehicle is the leading vehicle transmitted from the leading vehicle. By generating a traveling route to the leading vehicle based on the position information of the above and traveling along the traveling route, it is possible to quickly form a once-divided formation again.
Further, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle (when there are a plurality of following vehicles).

In the present invention, when the formation of the divided vehicle group including the self-driving car is returned to the original formation, it can be returned extremely quickly and surely.

It is a circuit block diagram in Example 1 of the vehicle group of this invention. It is a circuit block diagram in Example 1 of the vehicle group of this invention. It is a circuit block diagram in Example 2 of the vehicle group of this invention. It is a circuit block diagram in Example 2 of the vehicle group of this invention. It is an operation flowchart in 1st Embodiment of the vehicle group of this invention. It is an operation flowchart in 2nd Embodiment of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention.

(Example 1)
Hereinafter, examples of the vehicle group of the present invention will be described with reference to the drawings. The present invention is not limited to the following examples.

The circuit configuration in the vehicle embodiment of the vehicle group of the present invention will be described in detail with reference to FIG. The vehicle group has one leading vehicle and a plurality of following vehicles traveling following the leading vehicle. Further, in this embodiment, both the leading vehicle and each following vehicle are vehicles capable of automatic driving. Further, each following vehicle also has a follow-up running function of following the immediately preceding vehicle. This also applies to the other examples.

FIG. 1 describes the configuration of the circuit block of the leading vehicle A of this embodiment. The leading vehicle has an accelerator unit 11A for driving in basic driving, an accelerator control unit 11B controlled by the accelerator unit, a steering unit 13A for steering, a steering drive control unit 13B for controlling the accelerator unit, and braking of the own vehicle. It has a brake unit 14A for performing the operation, a brake control unit 14B for controlling the brake unit 14A, and an engine unit 12 controlled by the accelerator control unit.

Further, the vehicle A is provided with a manual driving function, an automatic driving function, a car navigation function, a follow-up driving function, and the like. Therefore, regarding the automatic driving function of this self-driving car, the control unit 10 including the ECU (Electronic Control Unit) is the accelerator unit 11A, the brake unit 14A, the steering wheel (steering unit) 13A, and the direction indicator unit (not shown). ) Automatically control the driving operation. That is, the vehicle has a travel route set by the car navigation function unit 16, and can automatically travel or follow the vehicle by the camera unit 20 and / or the radar unit 21 while receiving travel guidance along the travel route.

Further, although the camera unit 20 captures the surroundings of the vehicle, it can clearly capture images of the vehicle immediately before the vehicle and the vehicle immediately after the vehicle. Further, the captured image is stored and stored in the first storage unit 28. Further, the radar unit 21 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and after. When the car navigation function unit 15 sets the destination and the waypoint, the car navigation function unit 15 uses GPS (Global Positioning System) to provide driving guidance to the destination via the waypoint, and also the position of the own vehicle and the position of another vehicle. Is detected.

The first transmission unit 26 transmits an instruction signal and position information of the own vehicle to a second reception unit (described later) of the following vehicle. On the other hand, the first receiving unit 27 receives various signals including the position information of the own vehicle from the second transmitting unit (described later) of the following vehicle. Therefore, in this embodiment, the leading vehicle and each following vehicle exchange their own vehicle position information with each other. Further, the speed detection unit 22 detects the speed of the own vehicle and also detects whether the current traveling speed is equal to or less than a predetermined speed. The image recognition unit 23 recognizes the red, yellow, and blue of the traffic signal installed on the road and their blinking, and also recognizes the image of the rear part of the following vehicle traveling ahead. This recognition recognizes that the image of the rear part of the vehicle immediately before is present in the image captured by the camera unit 20. The front vehicle determination unit 24 determines whether or not the rear image of the following vehicle stored in the first storage unit in advance before traveling and the image of the rear portion of the vehicle immediately before the own vehicle captured by the camera unit 20 are different. do. The position information acquisition unit 25 wirelessly acquires the position information of the leading vehicle and each following vehicle, and the above-mentioned position information transmitted from the leading vehicle, each following vehicle, or the base station. Further, the front vehicle determination unit 24 also detects whether or not the following vehicle is located immediately before the own vehicle based on the position information of the other following vehicle acquired by the first receiving unit 27 or the position information acquisition unit 25. You can also.

Further, the display unit 16 has functions such as map display, travel guidance, and warning notification by the car navigation function unit 15, and also detects the position of the own vehicle. The operation mode switching unit 17 switches between manual operation and automatic operation. The in-vehicle speaker unit 18 makes an announcement regarding traveling guidance by the car navigation function unit 15. The in-vehicle microphone unit 19 can instruct driving by the voice of the driver. Further, the first storage unit 28 of the leading vehicle A stores the ID (Identification) of each following vehicle and the traveling order corresponding to the ID (Identification). As a result, the instruction signal from the leading vehicle A can be transmitted by designating the following vehicle based on the above ID. This function is the same in other embodiments.

Next, with reference to FIG. 2, the configuration of the circuit block of the following vehicle of this embodiment will be described. Here, in the leading vehicle of FIG. 1, each part having the same name shall have the same or equivalent function.

The second transmission unit 46 transmits various signals to the first reception unit 27 of the leading vehicle. Further, the second receiving unit 47 receives an instruction signal from the first transmitting unit 26 of the leading vehicle. In addition, from the above-mentioned configuration of the leading vehicle and the configuration of the following vehicle, if one following vehicle overtakes the leading vehicle and is located in the front row of the main platoon while driving, the leading vehicle is used. It is also possible to change the following vehicle to the leading vehicle by the instruction signal. The number of following vehicles is also stored in the first and second storage units.

Next, the operation of the vehicle group in this embodiment will be described in detail with reference to FIG. In step 1, the driver first sets a destination and a waypoint by the car navigation function unit 15 in the leading vehicle. Next, the car navigation function unit 35 sets the destination and waypoints set by the leading vehicle from the first transmitting unit 26 of the leading vehicle to the second receiving unit 47 of each following vehicle (B3 to B6). An instruction signal for this is transmitted, and both grounds are set for each following vehicle.

Since each of the following vehicles has a car navigation function, it can automatically travel to the target location or waypoint, but the tracking function is prioritized and follows the vehicle immediately before the vehicle set in advance before traveling. It is set to run. Next, the driver activates the automatic driving function and the following function of each following vehicle from the leading vehicle to start the automatic driving of the present vehicle group.

In step 2, referring to FIG. 7, while the vehicle group was traveling, the traffic signal at the intersection was approached, and the leading vehicle A and the following vehicles B1 and B2 following the leading vehicle were able to pass through the intersection. Of the remaining following vehicles B3 to B6, it is assumed that the image recognition unit 23 of the following vehicle B3 detects the red light of the traffic signal at the intersection and stops (see FIG. 8). In step 3, with respect to the following vehicle B3 in the front row of the divided platoon, the front vehicle determination unit 24 detects that the own vehicle is located in the front row of the platoon after the division. Next, in step 4, the following vehicle B3 located in the front row of the platoon that has been divided and temporarily stopped transmits a signal stop signal from the second transmission unit 46 to the first reception unit 27 of the leading vehicle.

In step 2, the following vehicle may transmit the signal stop signal by detecting the red signal and stopping. Further, in step 3, after the operation of step 2, it is detected that the following vehicle is located in the front row of the formation and a signal stop signal is transmitted, but the following vehicle in step 3 is transmitted. The signal stop signal may be transmitted only by detecting that is located in the front row.

When the first receiving unit 27 of the leading vehicle A receives the signal stop signal transmitted from the second transmitting unit 46 of the following vehicle B3, the car navigation function unit 15 receives the car navigation function unit 15 or the position information acquisition unit. The distance (straight line distance or mileage) is calculated from the current position information of the own vehicle acquired by 25 and the current position information of the following vehicle B3, and if the distance is equal to or more than a predetermined distance, the leading vehicle Search for a suitable place to stop the formation including A on the shoulder of the road (see Fig. 9).

In step 5, the second receiving unit 47 of the following vehicle B3 receives the current position information of the leading vehicle A from the first transmitting unit 26 of the leading vehicle A. The current position information of the leading vehicle can also be obtained from the position information acquisition unit 45 via the base station. In step 6, the car navigation function unit 35 of the following vehicle B3 sets the current position of the leading vehicle A as a waypoint based on the current position information of the leading vehicle. In the present embodiment, the waypoint is the position where the leading vehicle A is stopped, but even if the preceding vehicle A is running, the current position where the vehicle is running is set as the waypoint.

Next, in step 7, the car navigation function unit 35 of the following vehicle B3 searches for a travel route (route) in a state where a new waypoint is set in addition to the already set destination and waypoint. Is executed, and automatic driving is started toward a new waypoint while following the newly set driving route. Further, the following vehicles B4 to B7 following the following vehicle B3 start traveling so as to follow the following vehicle B3. Next, the following vehicles B3 to B7, which have started traveling in step 8, catch up with the platoon of the leading vehicle at a predetermined speed, that is, at a speed higher than the cruising speed, and travel so as to approach early.

Further, in step 9, the leading vehicle A has the car navigation function unit 15 the following vehicle B3 based on the position information of the following vehicle B3 received by the position information acquisition unit 25 or the first receiving unit while the vehicle is stopped. When it detects that the vehicle has resumed traveling, the own vehicle also resumes traveling and travels at a speed equal to or lower than the predetermined speed (see FIG. 10). As a result, with reference to FIG. 11, the formations A, B1 and B2 including the leading vehicle and the formations B3, B4, B5 and B6 including the following vehicle B3 accelerate the approach (step 10) and then merge with each other (step 10). Step 11). The rapid merging described above prevents other vehicles from entering between each fragmented formation. It should be noted that either the formation including the leading vehicle may be slower than the predetermined speed, or the formation of the other following vehicles may be higher than the predetermined speed.

Regarding the above-mentioned merging, the leading vehicle A has the car navigation function unit 15 so that the following vehicle B3 is located at a position following the following vehicle B2 located at the end of the formation of the leading vehicle from the position information of the following vehicle B3. By detecting that it has become, it is possible to detect that the merging has been normally executed. Further, the following vehicle B3 was normally merged by recognizing by the image recognition unit 43 that the vehicle immediately before the own vehicle captured by the camera unit 40 is the image of the rear part of the set following vehicle. Can be detected. After that, the vehicle group will travel to the next stopover and destination at a predetermined speed.

(Example 2) Next, Example 2 of the vehicle group of the present invention will be described in detail. Regarding the circuit configuration of the vehicle group of the second embodiment, the part having the same name as that of the first embodiment has the same function or the same function as that of the first embodiment. Therefore, those explanations will be omitted, and only the different parts will be described below.

As already described in the configuration of the present vehicle group of the first embodiment, since the leading vehicle A and all the following vehicles transmit and receive the current position information of the own vehicle to each other, each vehicle is the position of the other vehicle. Is always detected. Further, the division detection unit 63 of the leading vehicle A detects that the distance between the own vehicle and each following vehicle is equal to or more than a predetermined distance, and is the most of the formation that has been divided and is located behind. It also detects that the following vehicle in the front row has stopped for a predetermined time or longer. Further, the division detection unit 63 can also detect a following vehicle in a state of being separated from the leading vehicle by a predetermined distance or more and a predetermined time or more by the position information of each following vehicle acquired by the position information acquisition unit 63. Further, the division detection unit 63 is immediately before the own vehicle based on the image captured by the camera unit 60 or based on the position information of the following vehicle received by the position information acquisition unit 65 or the first receiving unit. Detects and determines whether the following vehicle is located. This function is the same for the division detection unit of each following vehicle.

The operation of the second embodiment of the vehicle group of the present invention will be described in detail below with reference to FIG. Since step 21 is the same as step 1 of the first embodiment, the description thereof will be omitted. In step 22, referring to FIG. 7, while the platoon of the present vehicle group is traveling, the division detection unit 63 of the leading vehicle A detects the following vehicle in the main platoon that is separated from the own vehicle by a predetermined distance or more. At 23, it is detected that the following vehicle separated by the predetermined distance or more is stopped for a predetermined time or more (see FIG. 8). Next, in step 24, due to these detections, the leading vehicle A stops the own vehicle and the following vehicle traveling following the own vehicle (see FIG. 9). In step 22, as described above, the division detection unit 63 of the leading vehicle A can shift to step 24 only by detecting the following vehicle separated from the own vehicle by a predetermined distance or more in the main formation.

Further, the separation detection unit 63 is separated by the predetermined distance or more based on the image captured by the camera unit 60 or the position information of the following vehicle received by the position information acquisition unit 65 or the first receiving unit 67. By detecting that the vehicle is running, the process proceeds to step 24, and the platoon of the leading vehicle and the following vehicles including the leading vehicle can be stopped.

The stop position of the leading vehicle A is searched by the car navigation function unit 55, if a stop location that can secure sufficient space for stopping is not found on the road to be traveled, the vehicle is deviated from the road to be traveled. And stop. In this case, the number and length of the platoon including the leading car and the following car following the leading car will be detected.

In step 25, after the formation is stopped, the leading vehicle transmits the current position of the own vehicle to the following vehicle B3 located in the front row of the divided formation. By this transmission, the second receiving unit 87 of the following vehicle B3 receives the position information of the leading vehicle A. Next, in step 26, the car navigation function unit 75 of the following vehicle B3 sets the current position of the leading vehicle A as a new waypoint based on the above position information. Next, in step 27, the car navigation function unit 75 executes a route search to the waypoint after setting the waypoint.

When the car navigation function unit of the following vehicle B3 sets a new traveling route by the above route search, the following vehicle B3 starts traveling along the traveling route. At that time, the traveling speed of the formation including the following vehicle B3 becomes a predetermined speed or less. After that, the car navigation function unit 55 of the leading vehicle A detects the start of traveling of the following vehicle B3 from the position information or the change of the position information, and the own vehicle also starts traveling (step 28). At that time, the traveling speed of the formation including the following vehicle B3 becomes equal to or higher than the predetermined speed (step 29). The traveling speed of each of the above-mentioned divided platoons may be changed by at least one of steps 28 and 29.

At step 30, the two divided formations described above will then approach each other and join at step 31. This merging has the effect of preventing other vehicles from entering between the formations of following vehicles. In addition, it can be confirmed in the same manner as in Example 1 whether or not the two divided merging is normally performed.

The present invention relates to a vehicle group including a plurality of self-driving vehicles capable of following traveling, and in particular, has high industrial applicability because it is a technique for reorganizing a platoon of the vehicle group.

15 Car navigation function unit 23 Image recognition unit 24 Front vehicle determination unit 26 First transmission unit 27 First reception unit 28 First storage unit 46 Second transmission unit 47 Second reception unit 48 Second storage unit 63 Break detector

Claims (4)

The following vehicle is a group of vehicles that travels in a platoon consisting of a leading vehicle and a following vehicle, and the following vehicle follows the leading vehicle.
The following vehicle
When the leading vehicle has passed the traffic signal and then temporarily stopped by a signal indicating the stop of the traffic signal, a second transmission unit for transmitting a signal stop signal and a second transmission unit.
A second receiving unit that acquires the position information of the leading vehicle, and
A car navigation function unit that searches for a route based on the acquired position information of the leading vehicle,
Have,
The leading vehicle is
A first receiving unit that receives the signal stop signal from the second transmitting unit, and
The first transmitter that transmits the current position information of the own vehicle,
In the vehicle group having
After the second transmitting unit of the following vehicle transmits the signal stop signal and the first receiving unit of the leading vehicle receives the signal stop signal, the first transmitting unit of the leading vehicle is the own vehicle. When the current position information is transmitted to the second receiving unit of the following vehicle and the second receiving unit of the following vehicle receives the position information, the car navigation function unit of the following vehicle is the current position. A traveling route is generated based on the information, and the following vehicle is a group of vehicles traveling along the traveling route. The following vehicle is a group of vehicles that travels in a platoon consisting of a leading vehicle and a following vehicle, and the following vehicle follows the leading vehicle.
The following vehicle
When the leading vehicle has passed the traffic signal and then temporarily stopped by a signal indicating the stop of the traffic signal, a second transmission unit for transmitting a signal stop signal and a second transmission unit.
A second receiving unit that acquires the current position information of the leading vehicle, and
A car navigation function unit that searches for a position based on the acquired current position information of the leading vehicle and uses the searched position as a stopover.
Have,
The leading vehicle is
A first receiving unit that receives the signal stop signal from the second transmitting unit, and
The first transmitter that transmits the current position information of the own vehicle,
In the vehicle group having
After the second transmitting unit of the following vehicle transmits the signal stop signal and the first receiving unit of the leading vehicle receives the signal stop signal, the first transmitting unit of the leading vehicle is the own vehicle. When the current position information is transmitted to the second receiving unit of the following vehicle and the second receiving unit of the following vehicle receives the position information, the car navigation function unit of the following vehicle is the current position. A group of vehicles whose waypoint is the current position of the leading vehicle searched based on the information. The following vehicle is a group of vehicles that travels in a platoon consisting of a leading vehicle and a following vehicle, and the following vehicle follows the leading vehicle.
The following vehicle
A second receiving unit that acquires the current position information of the leading vehicle, and
A car navigation function unit that searches for a route based on the acquired position information of the leading vehicle,
Have,
The leading vehicle is
A first transmitter that transmits the current position information of the vehicle and various instruction signals, and
A division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more for a predetermined time or longer.
In the vehicle group having
When the division detection unit detects that the following vehicle, which is following the leading vehicle, is separated from the leading vehicle by the predetermined distance or more for the predetermined time or more, the car navigation function unit of the following vehicle is notified of the leading vehicle. The first receiving unit searches for a route based on the current position information of the leading vehicle acquired by the second receiving unit, and transmits the instruction signal for traveling along the searched route to the following vehicle. A group of vehicles having a control unit that controls the transmission unit of the vehicle. The following vehicle is a group of vehicles that travels in a platoon consisting of a leading vehicle and a following vehicle, and the following vehicle follows the leading vehicle.
The following vehicle
A second receiving unit that acquires the current position information of the leading vehicle, and
A car navigation function unit that searches for a route based on the acquired position information of the leading vehicle,
Have,
The leading vehicle is
A first transmitter that transmits the current position information of the vehicle and various instruction signals, and
A camera unit that captures the rear of the vehicle and
A division detection unit that detects that the formation is divided based on the image captured by the camera unit, and a division detection unit.
In the vehicle group having
When the division detection unit detects that the formation is divided, the leading vehicle has the current position of the leading vehicle acquired by the second receiving unit in the car navigation function unit of the following vehicle during follow-up traveling. A group of vehicles having a control unit that controls a first transmission unit so as to perform a route search based on information and transmit the instruction signal to be traveled along the searched route to the following vehicle.

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