WO2023228740A1

WO2023228740A1 - Vehicle control method, server, vehicle travel system, and vehicle

Info

Publication number: WO2023228740A1
Application number: PCT/JP2023/017552
Authority: WO
Inventors: 亮小山; 文宏松▲崎▼; 千里加瀬林
Original assignee: 京セラ株式会社
Priority date: 2022-05-25
Filing date: 2023-05-10
Publication date: 2023-11-30
Also published as: JP2023173384A

Abstract

This vehicle control method, according to one embodiment, includes a step for acquiring first position information indicating a first position of a first vehicle, and second position information indicating a second position of a second vehicle. The vehicle control method further includes a step for creating a first route from the second position to the first position, on the basis of the first position information and the second position information.

Description

Vehicle control method, server, vehicle running system, and vehicle

The present disclosure relates to a vehicle control method, a server, a vehicle running system, and a vehicle.

Autonomous driving technologies such as autonomous robots and automobiles have conventionally existed. Autonomous driving is defined as a system in which a vehicle and/or a moving body is operated autonomously by a machine without human intervention. Autonomous driving technology makes it possible to not only smooth traffic flow, but also automatically provide a variety of services, such as security services using security robots and delivery services using delivery robots.

One type of autonomous driving technology is follow-up driving. Following driving means, for example, that a following vehicle follows a preceding vehicle while maintaining a distance between the vehicles. Due to following driving, for example, the following vehicle does not perform the image recognition processing performed by the preceding vehicle, so that processing can be reduced compared to the preceding vehicle. Therefore, it is also possible to reduce the processing of the entire vehicle traveling system including the preceding vehicle and the following vehicle.

There are the following technologies regarding follow-up driving. In other words, in a group of vehicles formed on an automated driving road where magnetic information sources (magnetic nails) are arranged on the driving route, a target vehicle is set to guide the group of vehicles, and the target vehicle determines the driving position of the own vehicle. There is a vehicle group driving control system in which the following vehicle performs vehicle group driving control by transmitting information to the following vehicle (for example, Patent Document 1 below).

Japanese Patent Application Publication No. 10-162282

The vehicle control method according to the first aspect includes the step of acquiring first position information indicating the first position of the first vehicle and second position information indicating the second position of the second vehicle. The vehicle control method also includes the step of creating a first route from the second position to the first position based on the first position information and the second position information.

The server device according to the second aspect is a server device that communicates with the first vehicle and the second vehicle. The server device includes a communication unit that receives first position information indicating a first position of a first vehicle and second position information indicating a second position of a second vehicle. The server device also includes a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information. In the server device, the communication unit transmits information indicating the first route to the second vehicle.

The vehicle running system according to the third aspect is a vehicle running system that includes a first vehicle, a second vehicle, and a server device. The vehicle traveling system includes a communication unit that acquires first position information indicating a first position of the first vehicle and second position information indicating a second position of the second vehicle. The vehicle travel system also includes a route creation unit that creates information indicating a first route from the second position to the first position based on the first position information and the second position information.

A vehicle according to a fourth aspect includes a communication unit that acquires first position information indicating a first position of another vehicle and second position information indicating a second position of the vehicle. The vehicle also includes a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information.

FIG. 1 is a diagram illustrating a configuration example of a vehicle traveling system according to a first embodiment. FIG. 2 is a diagram illustrating a configuration example of a vehicle according to the first embodiment. FIG. 3 is a diagram illustrating a configuration example of the server device according to the first embodiment. FIG. 4 is a diagram illustrating an operation example according to the first embodiment. FIG. 5 is a diagram illustrating an operation example according to the second embodiment. FIG. 6 is a diagram illustrating an operation example of inter-vehicle distance control processing according to the second embodiment. FIG. 7 is a diagram illustrating an operation example of inter-vehicle distance control processing according to the first modification of the second embodiment. FIG. 8 is a diagram illustrating a configuration example of a vehicle traveling system according to the third embodiment. FIG. 9 is a diagram illustrating a configuration example of a following vehicle according to the third embodiment. FIG. 10 is a diagram illustrating an operation example according to the third embodiment. FIG. 11 is a diagram illustrating an operation example of inter-vehicle distance control processing according to the third embodiment.

In the vehicle group driving control system of Patent Document 1 mentioned above, when the target vehicle travels in a position away from the magnetic information source, driving information such as the position of the target vehicle cannot be accurately acquired, and the following vehicle cannot move toward the target. It may not be possible to follow the vehicle.

Therefore, one aspect of the present disclosure aims to enable a following vehicle to appropriately follow the preceding vehicle.

Below, a vehicle traveling system according to an embodiment will be described with reference to the drawings. In addition, in the description of the following drawings, the same or similar parts are given the same or similar symbols.

[First embodiment]
First, a first embodiment will be described.

FIG. 1 is a diagram illustrating a configuration example of a vehicle traveling system 10 according to the first embodiment.

As shown in FIG. 1, the vehicle travel system 10 includes vehicles 100-1 and 100-2 and a server device 200.

In the example shown in FIG. 1, vehicles 100-1 and 100-2 are running following the preceding vehicle 100-1, with vehicle 100-1 being the leading vehicle and vehicle 100-2 being the following vehicle. This shows an example of doing this.

The preceding vehicle 100-1 (first vehicle) transmits position information (first position information) indicating the position (first position) of the preceding vehicle 100-1 to the server device 200. Further, the following vehicle 100-2 (second vehicle) also transmits position information (second position information) indicating the position (second position) of the following vehicle 100-2 to the server device 200. The server device 200 creates a route (first route) from the position of the following vehicle 100-2 to the position of the preceding vehicle 100-1 based on the position information of the preceding vehicle 100-1 and the position information of the following vehicle 100-2. ). Server device 200 transmits information indicating the route to following vehicle 100-2. The following vehicle 100-2 follows the preceding vehicle 100-1 based on the information indicating the route.

In this way, in the vehicle traveling system 10 according to the first embodiment, both the preceding vehicle 100-1 and the following vehicle 100-2 transmit position information to the server device 200, and the following vehicle 100-2 receives the position information from the server device 200. It acquires information about the route and performs follow-up driving. Therefore, even if the following vehicle 100-2 cannot detect the preceding vehicle 100-1 by a sensor mounted on the following vehicle 100-2, the following vehicle 100-2 can determine the route to the preceding vehicle 100-1 from the server device 200. Since the information can be received, follow-up driving can be performed appropriately. For example, even if there is a curve and/or an obstacle between the following vehicle 100-2 and the preceding vehicle 100-1, the following vehicle 100-2 receives information indicating the route from the server device 200. can be received. In addition, since the following vehicle 100-2 does not perform processing such as route search when performing follow-up, processing is reduced compared to the case where route search is performed, and there is no delay in follow-up due to processing delays. It is also possible to suppress it. Also from this point of view, the following vehicle 100-2 can appropriately follow the vehicle.

Note that hereinafter, the preceding vehicle 100-1 and the following vehicle 100-2 may be referred to as vehicle 100 unless they are particularly distinguished.

The vehicle 100 may be an autonomous robot. The autonomous robot may be a transportation robot that transports parts, products, etc. within a factory or warehouse. Further, the autonomous robot may be a delivery robot that delivers packages to a user's home, or delivers food or the like to a restaurant or the like. Furthermore, the autonomous robot may be a security robot that performs security within a building. Further, the vehicle 100 may be a car such as a regular car or a light car, or a motorcycle (motorcycle). Furthermore, vehicle 100 may be an autonomous vehicle. Furthermore, vehicle 100 may be a flying object such as a drone.

The vehicle 100 communicates with the server device 200. Vehicle 100 may perform wireless communication directly with server device 200. Vehicle 100 may communicate with server device 200 via a base station (or roadside device). In this case, wireless communication occurs between the vehicle 100 and the base station (or roadside device), and wired communication occurs between the base station (or roadside device) and the server device 200. Note that the following description will be made assuming that vehicle 100 and server device 200 directly communicate wirelessly.

The server device 200 creates a route (first route) for the following vehicle 100-2 to the preceding vehicle 100-1 by communicating with the vehicle 100 and performing route search. Furthermore, the server device 200 creates a route (second route) to the target position of the preceding vehicle 100-1 by communicating with the vehicle 100 and performing route search. Server device 200 may be a route creation device. The server device 200 transmits the route (first route) from the position of the following vehicle 100-2 to the position of the preceding vehicle 100-1 to the following vehicle 100-2, and transmits the route (first route) from the position of the preceding vehicle 100-1 to the target position of the preceding vehicle 100-1. 2nd route) to the preceding vehicle 100-1.

(Example of vehicle configuration)
Next, a configuration example of the vehicle 100 according to the first embodiment will be described.

FIG. 2 is a diagram showing a configuration example of the vehicle 100 according to the first embodiment.

As shown in FIG. 2, the vehicle 100 includes a position information acquisition section 110, a control section 120, a communication section 130, an antenna 140, a travel control section 150, a travel drive section 160, a steering section 170, and a brake. 180.

The location information acquisition unit 110 acquires location information indicating the local location of the vehicle 100. The location information acquisition unit 110 may be a GNSS (Global Navigation Satellite System) receiving unit. The GNSS reception unit acquires the position of vehicle 100 based on the GNSS reception signal received from the satellite. The location information acquisition unit 110 may include at least one camera and a first location information processing unit. At least one camera images the surroundings of the vehicle 100 and outputs a video signal of the imaged image to the first position information processing section. The first position information processing section acquires position information indicating the position of the vehicle 100 from an image captured by at least one camera based on the video signal. For example, the first location information processing section stores training data regarding surrounding images in a memory in the location information processing section in advance, and compares the video captured by at least one camera with the training data to determine the location. Information may also be obtained. The position information acquisition unit 110 outputs the acquired position information to the control unit 120. The position information acquisition unit 110 may include at least one ranging device and a second position information processing unit. At least one ranging device is configured to sense the surroundings of vehicle 100. The at least one ranging device includes, for example, a LiDAR (Laser Imaging Detection and Ranging), a ToF (Time of Flight) sensor, a sonic sensor, a millimeter wave radar, or a sensing device that combines at least two of these. Furthermore, at least one distance measuring device outputs the detection value of the sensing device to the second position information processing section. The second position information processing section acquires position information indicating the position of vehicle 100 based on the detection value of the sensing device. The second location information processing section stores three-dimensional map data in advance in a memory within the second location information processing section, and calculates the topography around the vehicle 100 estimated from the detection value of the sensing device and the three-dimensional map. Location information may be obtained by comparing the data. Note that the second location information processing section may use a sensing device to create three-dimensional map data to be stored in a memory using a SLAM (Simultaneous Localization and Mapping) method.

The control unit 120 controls each part of the vehicle 100. The control unit 120 outputs the position information received from the position information acquisition unit 110 to the communication unit 130.

Furthermore, the control unit 120 in the preceding vehicle 100-1 creates an autonomous driving start request, a route information request, etc., and outputs the autonomous driving start request, the route information request, etc. to the communication unit 130. Control unit 120 in preceding vehicle 100-1 receives information indicating the route to the target position from server device 200 via communication unit 130 or the like. The control unit 120 in the preceding vehicle 100-1 outputs information indicating the route to the target position to the traveling control unit 150, and also outputs information to the traveling control unit 150 to cause the preceding vehicle 100-1 to travel along the route to the target position. Instruct.

Furthermore, the control unit 120 in the following vehicle 100-2 creates a request to start following driving and a request for route information to the preceding vehicle 100-1, and outputs the request to start following driving and the request for route information, etc. to the communication unit 130. do. The control unit 120 in the following vehicle 100-2 receives information indicating the route to the position of the preceding vehicle 100-1 from the server device 200 via the communication unit 130 or the like. The control unit 120 in the following vehicle 100-2 outputs the information to the travel control unit 150 and instructs the travel control unit 150 to make the following vehicle 100-2 travel along the route to the position of the preceding vehicle 100-1. .

The communication unit 130 communicates with the server device 200. The communication unit 130 may perform wireless communication with the server device 200. In this case, the communication unit 130 may perform wireless communication using a communication method compliant with ARIB (Association of Radio Industries and Businesses) STD-T109. Further, the communication unit 130 may perform wireless communication using a 3GPP (registered trademark) communication method (eg, V2X, etc.).

The communication unit 130 converts the position information, autonomous driving start request, follow-up driving start request, route information, etc. output from the control unit 120 into a wireless signal, and outputs the wireless signal to the antenna 140. Further, the communication unit 130 receives a radio signal from the antenna 140, converts the radio signal into a baseband signal, and extracts various information from the baseband signal. For example, the communication unit 130 of the preceding vehicle 100-1 extracts information indicating the route to the target position from the baseband signal, and outputs the information to the control unit 120. Further, for example, the communication unit 130 of the following vehicle 100-2 extracts information indicating the route to the preceding vehicle 100-1 from the baseband signal, and outputs the information to the control unit 120.

The antenna 140 transmits the wireless signal output from the communication unit 130. Furthermore, the antenna 140 receives a wireless signal transmitted from the server device 200.

The travel control unit 150 controls the travel portion of the vehicle 100 according to instructions from the control unit 120. That is, travel control section 150 of preceding vehicle 100-1 appropriately controls travel drive section 160, steering section 170, and brake section 180 according to information indicating the route to the target position. This allows the preceding vehicle 100-1 to move along the route to the target position in accordance with the information. Further, the running control unit 150 of the following vehicle 100-2 appropriately controls the running drive unit 160, the steering unit 170, and the brake unit 180 according to information indicating the route to the position of the preceding vehicle 100-1. This allows the following vehicle 100-2 to move along the route to the position of the preceding vehicle 100-1 in accordance with the information.

The travel drive unit 160 is a block that drives the vehicle 100 to travel, such as an engine and wheels. The travel drive unit 160 can accelerate or decelerate the vehicle 100 to a predetermined speed by controlling the engine, wheels, etc. according to instructions from the travel control unit 150.

The steering section 170 is, for example, a steering section that maintains or changes the direction of the vehicle 100. The steering unit 170 controls the rotation of the steering portion to a predetermined angle in accordance with instructions from the travel control unit 150, thereby making it possible for the vehicle 100 to go straight, turn right, or turn left.

The brake unit 180 is, for example, a block that suppresses rotation of the wheels. The brake unit 180 can decelerate the vehicle 100 to a predetermined speed or stop the vehicle 100 by suppressing the rotation of the wheels according to instructions from the travel control unit 150.

(Example of configuration of server device)
Next, a configuration example of the server device 200 according to the first embodiment will be described.

FIG. 3 is a diagram showing a configuration example of the server device 200 according to the first embodiment.

As shown in FIG. 3, the server device 200 includes an antenna 210, a communication section 220, and a route creation section 230.

The antenna 210 receives a wireless signal transmitted from the vehicle 100 and outputs the received wireless signal to the communication unit 220. Further, the antenna 210 transmits a wireless signal output from the communication unit 220.

The communication unit 220 transmits position information (first position information) indicating the position (first position) of the preceding vehicle 100-1 and position information (second position information) indicating the position (second position) of the following vehicle 100-2. ) and get. Here, "obtaining" includes "receiving". That is, the communication unit 220 receives position information indicating the position of the preceding vehicle 100-1 and position information indicating the position of the following vehicle 100-2. Communication unit 220 receives position information indicating the position of preceding vehicle 100-1 from preceding vehicle 100-1, and receives position information indicating the position of following vehicle 100-2 from following vehicle 100-2.

Furthermore, the communication unit 220 transmits information indicating a route (first route) from the position of the following vehicle 100-2 to the position of the preceding vehicle 100-1 to the following vehicle 100-2. Further, the communication unit 220 transmits information indicating a route (second route) from the position of the preceding vehicle 100-1 to the target position to the preceding vehicle 100-1.

Specifically, the communication unit 220 may perform the following processing. That is, the communication unit 220 converts the wireless signal received from the antenna 210 into a baseband signal, and extracts position information, an autonomous driving start request, a following driving start request, route information, etc. from the baseband signal. The communication unit 220 outputs the extracted position information, autonomous driving start request, follow-up driving start request, route information, etc. to the route creation unit 230. Further, the communication unit 220 converts the information indicating the route to the target position and the information indicating the route to the preceding vehicle 100-1 received from the route creation unit 230 into a wireless signal, and transmits the wireless signal to the antenna 210. Output to.

The route creation unit 230 searches for a route based on the position information of the preceding vehicle 100-1 and the position information of the following vehicle 100-2, and searches the route from the position of the following vehicle 100-2 (second position) to the preceding vehicle 100-1. A route (first route) to the position (first position) is created. The route creation unit 230 outputs information indicating the route to the communication unit 220. Note that the information indicating the route may be expressed in latitude and longitude. Further, the information indicating the route may include the steering angle and/or the vehicle speed.

The route creation unit 230 also performs route search based on the position information and target position of the preceding vehicle 100-1, and searches for a route (second route) from the position of the preceding vehicle 100-1 (first position) to the target position. ). The route creation unit 230 outputs information indicating the route to the communication unit 220. Note that the information indicating the route may also be expressed in latitude and longitude. Alternatively, the information may include steering angle and/or vehicle speed.

(Operation example of the first embodiment)
Next, an example of operation according to the first embodiment will be described.

FIG. 4 is a diagram illustrating an operation example according to the first embodiment. Operations in the server device 200 are mainly performed by the route creation section 230.

As shown in FIG. 4, in step S10, the preceding vehicle 100-1 transmits a request to start autonomous driving to the target position. The autonomous driving start request includes, for example, the target position and the identification information of the preceding vehicle 100-1. Server device 200 may store the target position of preceding vehicle 100-1 in a memory within server device 200. In step S11, in response to receiving the request, server device 200 may transmit a response indicating that the request has been received to preceding vehicle 100-1.

In step S12, the following vehicle 100-2 transmits a request to start following the preceding vehicle 100-1. The following drive start request includes, for example, identification information of the preceding vehicle 100-1 to be followed, and identification information of the following vehicle 100-2. In step S13, in response to receiving the request, the server device 200 may transmit a response indicating that the request has been received to the following vehicle 100-2.

Note that the server device 200 obtains the identification information of the preceding vehicle 100-1 and the identification information of the following vehicle 100-2 based on the autonomous driving start request received in step S10 and the following driving start request received in step S12. You can also pair. Thereby, the server device 200 may recognize that the vehicles are following each other, with the vehicle 100-1 being the leading vehicle and the vehicle 100-2 being the following vehicle.

In step S14, the preceding vehicle 100-1 transmits position information indicating the position of its own vehicle. Server device 200 receives the location information. In step S15, in response to receiving the position information, the server device 200 may transmit a response indicating that the position information has been received to the preceding vehicle 100-1.

In step S16, the following vehicle 100-2 transmits position information indicating the position of its own vehicle. Server device 200 receives the location information. In step S17, in response to receiving the position information, the server device 200 may transmit a response indicating that the position information has been received to the following vehicle 100-2.

In this way, after receiving the autonomous driving start request and the following driving start request (step S10 and step S12), the server device 200 receives the position information of the preceding vehicle 100-1 and the position information of the following vehicle 100-2. (Step S14 and Step S16).

In step S18, the server device 200 performs a route search. Through route searching, the server device 200 searches for a route to the target position for the preceding vehicle 100-1, and searches for a route to the position of the preceding vehicle 100-1 for the following vehicle 100-2. do.

In step S19, the preceding vehicle 100-1 transmits a route information request.

In step S20, the server device 200 transmits information indicating the route to the target position in response to receiving the route information request. The preceding vehicle 100-1 receives the information and automatically travels along the route to the target position based on the information.

In step S21, the following vehicle 100-2 transmits a route information request.

In step S22, the server device 200 transmits information indicating the route to the position of the preceding vehicle 100-1 in response to receiving the route information request. The following vehicle 100-2 receives the information and automatically travels along the route to the position of the preceding vehicle 100-1 based on the information.

In step S23, at least one of a first condition that the preceding vehicle 100-1 reaches the target position and a second condition that the position of the preceding vehicle 100-1 and the position of the following vehicle 100-2 match within a predetermined range. Steps S14 to S22 are repeated until the following conditions are met.

That is, until at least one of the first condition and the second condition is satisfied, the preceding vehicle 100-1 periodically transmits the position information (step S14), and the following vehicle 100-2 also periodically transmits the position information. (step S16), and the server device 200 periodically acquires (or receives) two pieces of position information. Further, until at least one of the first condition and the second condition is satisfied, the server device 200 indicates the route to the target position in response to the route information request (step S19) from the preceding vehicle 100-1. Information is periodically transmitted (step S20), and in response to a route information request from the following vehicle 100-2 (step S21), information indicating the route to the position of the preceding vehicle 100-1 is periodically transmitted ( Step S22).

Here, the server device 200 may determine whether at least one of the first condition and the second condition is satisfied. Specifically, the route creation unit 230 of the server device 200 may make the determination. The server device 200 may determine the condition based on the position information from the preceding vehicle 100-1 (step S14) and the position information from the following vehicle 100-2 (step S16).

Regarding the second condition, the fact that the position of the preceding vehicle 100-1 and the position of the following vehicle 100-2 match within a predetermined range includes that the following vehicle 100-2 catches up with the preceding vehicle 100-1. Based on the two pieces of position information, the server device 200 determines that the second condition is satisfied if the positions of the preceding vehicle 100-1 and the following vehicle 100-2 are within a predetermined range, and the respective positions are within the predetermined range. If it is not within the range, it may be determined that the second condition is not satisfied.

On the other hand, when at least one of the first condition and the second condition is satisfied, the follow-up travel ends.

Next, an example of the first embodiment will be described. This example will be explained mainly focusing on the differences from the first embodiment.

In the first embodiment, an example of follow-up driving by two vehicles 100-1 and 100-2 has been described, but the present invention is not limited to this. For example, three or more vehicles 100 may follow the vehicle.

For example, when following driving is performed by a leading vehicle 100-1 at the head, a first following vehicle 100-2 following the leading vehicle 100-1, and a second following vehicle 100 following the first following vehicle 100-2. is as follows. That is, the first following vehicle 100-2 only needs to follow the preceding vehicle 100-1 as described in the first embodiment, and the second following vehicle 100 may follow the first following vehicle 100-2. As the preceding vehicle in the second following vehicle 100, the following vehicle may perform the following driving described in the first embodiment.

By performing the following driving described in the first embodiment with the preceding vehicle as the preceding vehicle, it is possible to carry out the following driving in the same manner as in the first embodiment even if there are three or more vehicles. .

[Second embodiment]
Next, a second embodiment will be described. The second embodiment will also be described mainly focusing on the differences from the first embodiment.

The second embodiment is an embodiment in which the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is controlled.

Specifically, depending on the distance between the position of the preceding vehicle 100-1 (first position) and the position of the following vehicle 100-2 (second position), Server device 200 transmits information for controlling the inter-vehicle distance to following vehicle 100-2 (second vehicle) to at least one of preceding vehicle 100-1 and following vehicle 100-2. The transmission is performed in the server device 200 in the second embodiment.

As a result, for example, when the distance between the preceding vehicle 100-1 and the following vehicle 100-2 becomes greater than a predetermined distance or approaches less than a predetermined distance, the inter-vehicle distance is adjusted to an appropriate distance. Therefore, it is possible to suppress situations such as server device 200 losing sight of one of the two vehicles 100-1 and 100-2 or collision between the two vehicles 100-1 and 100-2. Therefore, it becomes possible to perform follow-up travel appropriately.

(Operation example according to second embodiment)
Next, an example of operation according to the second embodiment will be described.

FIG. 5 is a diagram illustrating an operation example according to the second embodiment. In FIG. 5, the same processes as in the first embodiment are indicated by the same reference numerals.

As shown in FIG. 5, in step S30, the server device 200 performs a process of recording the movement trajectory of the preceding vehicle 100-1 based on the position information received from the preceding vehicle 100-1 (step S14). For example, the route creation unit 230 records the movement trajectory of the preceding vehicle 100-1 in a memory or the like based on the periodically received position information (step S14).

In step S31, the server device 200 calculates the moving speed of each vehicle 100-1 and 100-2 to travel on the route after the route search (step S18). For example, the route creation unit 230 calculates the travel speed for traveling the route to the target position based on the travel trajectory of the preceding vehicle 100-1 (step S30), taking into consideration the time that has passed so far. You can. Further, for example, the route creation unit 230 determines the position of the preceding vehicle 100-1 based on the moving speed of the preceding vehicle 100-1 so that the following vehicle 100-2 can follow the preceding vehicle 100-1. The moving speed of the following vehicle 100-2 up to the point may be calculated.

In step S32, the server device 200 performs inter-vehicle distance control processing.

FIG. 6 is a diagram illustrating an operation example of inter-vehicle distance control processing according to the second embodiment. The inter-vehicle distance control process is performed, for example, in the route creation unit 230.

As shown in FIG. 6, in step S320, the server device 200 starts the inter-vehicle distance control process, and in step S321, the position information of the preceding vehicle 100-1 (step S14) and the position information of the following vehicle 100-2 ( From step S16), the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is calculated.

In step S322, the server device 200 determines whether the inter-vehicle distance is greater than or equal to a specified value. When the inter-vehicle distance is equal to or greater than the specified value (Yes in step S322), the process moves to step S323. When the inter-vehicle distance is not equal to or greater than the specified value (No in step S322), the process moves to step S324.

In step S323, the server device 200 decides to send a stop request to the preceding vehicle 100-1. In step S323, the server device 200 may decide to transmit a deceleration request requesting that the moving speed of the preceding vehicle 100-1 calculated in step S21 be reduced to a speed lower than the moving speed. . That is, since the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is greater than the specified value, the server device 200 stops or decelerates the preceding vehicle 100-1 to bring the inter-vehicle distance within the specified value. control so that The information for controlling the inter-vehicle distance in this case may be a request to decelerate or stop the preceding vehicle 100-1.

Then, in step S331, the server device 200 ends the inter-vehicle distance control process.

On the other hand, in step S324, the server device 200 determines whether the inter-vehicle distance is less than a specified value. When the inter-vehicle distance is less than the specified value (Yes in step S324), the process moves to step S325. When the inter-vehicle distance is not less than the specified value (No in step S324), the process moves to step S326.

In step S325, the server device 200 decides to send a stop request to the following vehicle 100-2. That is, when the following vehicle 100-2 approaches the preceding vehicle 100-1 so that the inter-vehicle distance becomes less than a specified value, the server device 200 controls the following vehicle 100-2 to stop. The information for controlling the inter-vehicle distance in this case may be a stop request to the following vehicle 100-2.

On the other hand, in step S326, the server device 200 determines whether the following vehicle 100-2 is turning. When the following vehicle 100-2 is turning (Yes in step S326), the process moves to step S327. When the following vehicle 100-2 is not turning (No in step S326), the process moves to step S328. The server device 200 may determine whether the following vehicle 100-2 is turning based on the traveling information of the following vehicle 100-2. The traveling information includes information indicating whether the following vehicle 100-2 is turning. The driving information may be received from the following vehicle 100-2. The server device 200 may acquire travel information based on the position information received from the following vehicle 100-2 (step S16). In this case, the server device 200 determines that it is turning when the direction of movement changes by more than a predetermined angle based on the plurality of position information, and determines that it is not turning when the direction of movement does not change by more than a predetermined angle. You can.

In step S327, the server device 200 determines to limit the maximum speed of the preceding vehicle 100-1. That is, since the following vehicle 100-2 is turning, the server device 200 limits the maximum speed of the preceding vehicle 100-1 so that the preceding vehicle 100-1 does not move more than a predetermined distance from the following vehicle 100-2. to control. The information for controlling the inter-vehicle distance in this case may be a maximum speed limit request for the preceding vehicle 100-1. The request includes a maximum speed limit.

On the other hand, in step S328, the server device 200 determines whether the following vehicle is stopped. When the following vehicle 100-2 is stopped (Yes in step S328), the process moves to step S329. When the following vehicle 100-2 is not stopped (No in step S328), the process moves to step S330. The server device 200 may determine whether the following vehicle 100-2 is stopped based on the traveling information of the following vehicle 100-2. The traveling information includes information indicating whether the following vehicle 100-2 is stopped. The driving information may be received from the following vehicle 100-2. The server device 200 may acquire travel information based on the position information received from the following vehicle 100-2 (step S16). In this case, based on the plurality of pieces of position information, the server device 200 determines that the following vehicle 100-2 is stopped when the position information does not change continuously, and determines that the following vehicle 100-2 is stopped when the position information changes continuously. It may be determined that it is not stopped.

In step S329, the server device 200 determines to limit the maximum speed of the preceding vehicle 100-1. That is, since the following vehicle 100-2 is stopped, the server device 200 limits the maximum speed of the preceding vehicle 100-1 so that the preceding vehicle 100-1 does not move more than a predetermined distance from the following vehicle 100-2. to control. The information for controlling the inter-vehicle distance in this case may be a maximum speed limit request for the preceding vehicle 100-1. The request includes a maximum speed limit.

On the other hand, in step S330, the server device 200 determines to limit the maximum speed of the preceding vehicle 100-1 according to the inter-vehicle distance. At this time, the server device 200 may hold the limit values of the inter-vehicle distance and the maximum speed in a memory within the server device 200 (or a table stored in the memory). The server device 200 determines that the distance between the preceding vehicle 100-1 and the following vehicle 100-2 is an appropriate distance (No in both steps S322 and S324), and that the following vehicle 100-2 is neither turning nor stopping. If not (No in both steps S326 and S328), the maximum speed of the preceding vehicle 100-1 is limited to a speed corresponding to the inter-vehicle distance.

Returning to FIG. 5, after the inter-vehicle distance control process (step S22) is completed, in step S24, the server device 200 transmits a moving speed instruction to the preceding vehicle 100-1. The moving speed instruction may include a stop request (or deceleration request) (step S323) for the preceding vehicle 100-1 determined in the inter-vehicle distance control process (step S22). Further, the moving speed instruction may include a maximum speed limit request for the preceding vehicle 100-1 (steps S327, S329, and S330) determined in the inter-vehicle distance control process. In step S24, server device 200 transmits information for controlling the inter-vehicle distance (for example, a maximum speed limit request) to preceding vehicle 100-1 according to the traveling information of following vehicle 100-2. When the preceding vehicle 100-1 receives the moving speed instruction, it stops, decelerates, or travels at the moving speed with the maximum speed limited, in accordance with the instruction.

In step S25, the server device 200 transmits a moving speed instruction to the following vehicle 100-2. The moving speed instruction may include a request for the following vehicle 100-2 to stop (step S325) determined by the inter-vehicle distance control process. When the following vehicle 100-2 receives the movement speed instruction, it will stop or move at the movement speed in accordance with the instruction.

Note that in the operation example shown in FIG. 5, as in the first embodiment, the first condition is that the preceding vehicle 100-1 reaches the target position, and the position of the preceding vehicle 100-1 and the following vehicle 100-2 are The processes from step S14 to step S25 may be repeated until at least one of the second conditions that the position matches within a predetermined range is satisfied.

Next, an example of the second embodiment will be described. This example will be explained mainly focusing on the differences from the second embodiment.

In the inter-vehicle distance control process (FIG. 6) in the second embodiment, an example has been described in which the inter-vehicle distance is maintained mainly by limiting the speed relative to the preceding vehicle 100-1 (steps S327 and S329). The inter-vehicle distance control process is not limited to this. For example, the inter-vehicle distance control process may be performed in consideration of the speeds of both the preceding vehicle 100-1 and the following vehicle 100-2.

FIG. 7 is a diagram illustrating an operation example of inter-vehicle distance control processing according to an example of the second embodiment. In FIG. 7, the same processes as those in FIG. 6 are given the same reference numerals.

In step S322, the server device 200 performs step S340 when the inter-vehicle distance is not equal to or greater than the specified value (No in step S322).

In step S340, the server device 200 determines whether the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is greater than or equal to a reference threshold value. When the inter-vehicle distance is greater than or equal to the reference threshold (Yes in step S340), the process moves to step S341, and when the inter-vehicle distance is not greater than or equal to the reference threshold (No in step S340), the process proceeds to step S342. .

In step S341, the server device 200 corrects the moving speed of the preceding vehicle 100-1 to a value smaller than the moving speed of the following vehicle 200-2. Here, the relationship between the specified value (step S322) and the reference threshold value (step S340) is specified value>reference threshold value. The specified value may represent a limit value, and the reference threshold value may represent an adjustment value. That is, the server device 200 determines that although the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is not as far as the limit value (specified value) (No in step S322), the reference threshold value (or adjustment value) ) (Yes in step S340), the moving speed of the preceding vehicle 100-1 is corrected to a value smaller than the moving speed of the following vehicle 100-2. As a result, for example, the moving speed of the preceding vehicle 100-1 becomes smaller than the moving speed of the following vehicle 100-2, so that the inter-vehicle distance becomes within the reference threshold, and the inter-vehicle distance with the following vehicle 100-2 remains constant. It is possible to keep it at a distance.

Then, in step S344, the server device 200 ends the inter-vehicle distance control process.

On the other hand, in step S342, the server device 200 determines whether the inter-vehicle distance between the preceding vehicle 100-1 and the following vehicle 100-2 is smaller than a reference threshold value. When the inter-vehicle distance is smaller than the reference threshold (Yes in step S342), the process moves to step S343. On the other hand, when the inter-vehicle distance is not smaller than the reference threshold value (No in step S342), the server device 200 ends the inter-vehicle distance control process.

In step S343, the server device 200 corrects the moving speed of the following vehicle 100-2 to a value smaller than the moving speed of the preceding vehicle 100-1. That is, when the preceding vehicle 100-1 and the following vehicle 100-2 are approaching each other until the inter-vehicle distance becomes less than the reference threshold value (or adjustment value), the server device 200 determines the moving speed of the following vehicle 100-2. is corrected to a value smaller than the moving speed of the preceding vehicle 100-1. As a result, for example, the moving speed of the following vehicle 100-2 becomes slower than that of the preceding vehicle 100-1, so the inter-vehicle distance becomes within the reference threshold, and the distance between the preceding vehicle 100-1 and the following vehicle 100-2 becomes constant. It is possible to maintain distance.

Thereafter, in the moving speed instruction of the preceding vehicle 100-1 (step S24 in FIG. 5), the server device 200 corrects the moving speed (step S341) to a value smaller than the moving speed of the following vehicle 100-2 (step S21). may be instructed. In addition, in the moving speed instruction of the following vehicle 100-2 (step S25 in FIG. 5), the server device 200 corrects the moving speed (step S343) to a value smaller than the moving speed of the preceding vehicle 100-1 (step S21). may be instructed.

In the second embodiment, an example of follow-up driving by two vehicles 100-1 and 100-2 has been described, but the present invention is not limited thereto. For example, as in the example shown in the first embodiment, three or more vehicles may follow the vehicle. Also in this case, when the preceding vehicle 100-1, the first following vehicle 100-2, and the second following vehicle 100 are traveling in this order, as in the example shown in the first embodiment, the second following vehicle 100 may execute the inter-vehicle distance control process (FIGS. 6 and 7) using the first following vehicle 100-2 as the preceding vehicle.

Next, a third embodiment will be described. The third embodiment will also be described mainly focusing on the differences from the first embodiment.

Although the first embodiment describes an example in which route creation is performed by the server device 200, the present invention is not limited to this. For example, route creation may be performed by the following vehicle 100-2.

FIG. 8 is a diagram illustrating a configuration example of the vehicle traveling system 10 according to the third embodiment. As shown in FIG. 8, vehicle travel system 10 includes a preceding vehicle 100-1 and a following vehicle 100-2.

FIG. 9 is a diagram illustrating a configuration example of a following vehicle 100-2 according to the third embodiment. An example of the configuration of the preceding vehicle 100-1 may be the same configuration as the first embodiment, as shown in FIG.

As shown in FIG. 9, the following vehicle 100-2 further includes a route creation section 190. The following vehicle 100-2 performs a route search similarly to the server device 200 of the first embodiment.

Specifically, first, position information (first position information) indicating the position (first position) of the preceding vehicle 100-1 (first vehicle), and the position of the following vehicle 100-2 (second vehicle). (second position). Second, a route (first route) from the position of the following vehicle 100-2 to the position of the preceding vehicle 100-1 is created based on the position information of the preceding vehicle 100-1 and the position information of the following vehicle 100-2. do. Here, "obtaining" includes "receiving". That is, the communication unit 130 of the following vehicle 100-2 receives the position information of the preceding vehicle 100-1 from the preceding vehicle 100-1. The following vehicle 100-2 uses the position information acquisition unit 110 to acquire the position information of the following vehicle 100-2. The route creation unit 190 of the following vehicle 100-2 receives the position information of the preceding vehicle 100-1 received from the communication unit 130 via the control unit 120 and the position information received from the position information acquisition unit 110 via the control unit 120. In addition, the route is created based on the position information of the following vehicle 100-2.

The route creation unit 190 also receives a request to start autonomous driving to the target position from the preceding vehicle 100-1 via the communication unit 130. The request includes the target position of the preceding vehicle 100-1. Route creation section 190 stores the target position of preceding vehicle 100-1 in the memory within following vehicle 100-2. Then, the route creation unit 190 creates a route (second route) to the target position based on the target position and the position information received from the preceding vehicle 100-1. Route creation unit 190 transmits information indicating the route to preceding vehicle 100-1 via communication unit 130.

In this way, the route creation unit 190 can create a route similar to that in the first embodiment.

(Operation example of third embodiment)
Next, an example of operation according to the third embodiment will be described.

FIG. 10 is a diagram illustrating an operation example according to the third embodiment.

The following vehicle 100-2 receives the request to start autonomous driving to the target position transmitted from the preceding vehicle 100-1 (step S50). In response to receiving the request, the following vehicle 100-2 may start following the preceding vehicle 100-1. The route creation unit 190 of the following vehicle 100-2 pairs the identification information of the preceding vehicle 100-1 included in the request with the identification information of the own vehicle so as to recognize that the vehicle will follow the vehicle. Good too.

After receiving the request, the following vehicle 100-2 receives position information from the preceding vehicle 100-1 (step S52).

The following vehicle 100-2 then performs a route search (step S54), and similarly to the first embodiment, based on the position information of the preceding vehicle 100-1 and the target position, the following vehicle 100-2 searches for a route (second route). In response to receiving the route information request (step S55), the following vehicle 100-2 transmits information regarding the route (second route) to the target position to the preceding vehicle 100-1 (step S56). At this time, since the following vehicle 100-2 has acquired the position information of the following vehicle 100-2, the position information of the preceding vehicle 100-1 (step S55) and the position information of the following vehicle 100-2 are combined. Based on this, a route (first route) from the position of the following vehicle 100-2 to the position of the preceding vehicle 100-1 is created. The preceding vehicle 100-1 travels along the route to the position of the preceding vehicle 100-1 by traveling according to the information regarding the route to the target position.

As in the first embodiment, the first condition is that the preceding vehicle 100-1 reaches the target position, and the position of the preceding vehicle 100-1 and the position of the following vehicle 100-2 match within a predetermined range. Steps S52 to S56 are repeated until at least one of the second conditions is satisfied (step S23).

The following vehicle 100-2 periodically receives the position information of the preceding vehicle 100-1 until at least one of the first condition and the second condition is satisfied (step S52).

FIG. 11 is a diagram illustrating an operation example of inter-vehicle distance control processing according to the third embodiment.

Similar to the second embodiment, the following vehicle 100-2 receives position information from the preceding vehicle 100-1 (step S52), and then performs a process of recording the movement trajectory of the preceding vehicle 100-1 (step S60). . Further, after the route search (step S54), the following vehicle 100-2 calculates the moving speed of each vehicle 100-1 and 100-2 for traveling the route (step S61), similarly to the second embodiment. . The following vehicle 100-2 then performs inter-vehicle distance control processing (step S62). As in the second embodiment, the inter-vehicle distance control process is performed as shown in FIG. 6 or 7. The inter-vehicle distance control process is performed, for example, by the route creation unit 190 of the following vehicle 100-2.

In this way, in the third embodiment, the following vehicle 100-2 can create a route similarly to the server device 200 by receiving position information and the like from the preceding vehicle 100-1. Therefore, also in the third embodiment, the following vehicle 100-2 can appropriately follow the preceding vehicle 100-1. Further, in the third embodiment, follow-up travel is possible even if the server device 200 shown in the first embodiment is not present. Therefore, compared to the first embodiment, it is possible to reduce the cost of the entire vehicle traveling system 10.

Note that in the third embodiment as well, as in the example shown in the first embodiment, even if there are three or more vehicles 100, the vehicle may follow the vehicle.

[Other embodiments]
A program that causes a computer to execute each process according to the embodiments described above may be provided. The program may be recorded on a computer readable medium. Computer-readable media allow programs to be installed on a computer. Here, the computer-readable medium on which the program is recorded may be a non-transitory recording medium. The non-transitory recording medium is not particularly limited, but may be a recording medium such as a CD-ROM or a DVD-ROM. Such a recording medium may be included in the control unit 120 of the vehicle 100, the route creation unit 190 of the following vehicle 100-2, and the route creation unit 230 of the server device 200. The control unit 120 of the vehicle 100, the route creation unit 190 of the following vehicle 100-2, and the route creation unit 230 of the server device 200 read the program from the recording medium and execute the program, thereby achieving the results according to the embodiment described above. The functions described may be implemented. Therefore, the control unit 120, the route creation unit 190, and the route creation unit 230 may be a processor or a controller such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor).

As used in this disclosure, the terms "based on" and "depending on" refer to "based solely on" and "depending solely on," unless expressly stated otherwise. ” does not mean. Reference to "based on" means both "based solely on" and "based at least in part on." Similarly, the phrase "in accordance with" means both "in accordance with" and "in accordance with, at least in part." Furthermore, "obtain/acquire" may mean obtaining information from among stored information, or may mean obtaining information from among information received from other nodes. Alternatively, it may mean obtaining the information by generating the information. The terms "include" and "comprise" do not mean to include only the listed items, but may include only the listed items, or may include additional items in addition to the listed items. This means that it may be included. Also, as used in this disclosure, the term "or" is not intended to be exclusive OR. Furthermore, any reference to elements using the designations "first," "second," etc. used in this disclosure does not generally limit the amount or order of those elements. These designations may be used herein as a convenient way of distinguishing between two or more elements. Thus, reference to a first and second element does not imply that only two elements may be employed therein or that the first element must precede the second element in any way. In this disclosure, when articles are added by translation, such as a, an, and the in English, these articles are used in the plural unless the context clearly indicates otherwise. shall include things.

Although the embodiments have been described above in detail with reference to the drawings, the specific configuration is not limited to that described above, and various design changes can be made without departing from the gist. Furthermore, it is also possible to combine each embodiment, each operation example, or each process within a range that does not contradict each other.

This application claims priority to Japanese Patent Application No. 2022-085608 (filed on May 25, 2022), the entire content of which is incorporated into the specification of the present application.

(Additional note)
In one embodiment, (1) a vehicle control method, the step of acquiring first position information indicating a first position of a first vehicle and second position information indicating a second position of a second vehicle; creating a first route from the second position to the first position based on the first position information and the second position information.

(2) In the vehicle control method of (1) above, the step of acquiring includes the step of receiving the first position information from the first vehicle and receiving the second position information from the second vehicle, The method may further include the step of transmitting information indicating the first route to the second vehicle.

(3) In the vehicle control method of (1) or (2) above, the acquiring step may include a step of receiving the first position information from the first vehicle.

(4) The vehicle control method according to any one of (1) to (3) above, further comprising the step of receiving an autonomous driving start request from the first vehicle and a follow-up driving start request from the second vehicle, The acquiring step may include receiving the first position information and the second position information after receiving the autonomous driving start request and the follow-up driving start request.

(5) The vehicle control method according to any one of (1) to (4) above, further comprising the step of receiving an autonomous driving start request from the first vehicle, and the obtaining step includes the autonomous driving start request. The method may include the step of receiving the first location information from the first vehicle after receiving the first location information.

(6) In the vehicle control method according to any one of (1) to (5) above, storing the target position of the first vehicle, and creating a second route from the first position to the target position. and transmitting information indicating the second route to the first vehicle.

(7) In the vehicle control method according to any one of (1) to (6) above, the first condition is that the first vehicle reaches the target position, and that the first position and the second position are in a predetermined condition. a step of periodically acquiring the first position information and the second position information until at least one of the second conditions that match in the range is satisfied; and a step of periodically creating the first route; can have.

(8) In the vehicle control method according to any one of (1) to (7) above, the step of periodically acquiring the first position information from the first vehicle and the second position information from the second vehicle. The method may further include the step of periodically receiving the first route from the vehicle, and periodically transmitting the first route to the second vehicle.

(9) In any of the vehicle control methods (1) to (8) above, the step of periodically acquiring may include the step of periodically receiving the first position information from the first vehicle. .

(10) In the vehicle control method according to any one of (1) to (9) above, the distance between the first vehicle and the second vehicle is determined according to the distance between the first position and the second position. The method may further include the step of transmitting information for controlling an inter-vehicle distance to at least one of the first vehicle and the second vehicle.

(11) In any of the vehicle control methods described in (1) to (10) above, the information for controlling the inter-vehicle distance may be any one of a deceleration request, a stop request, and a maximum speed limit request. can.

(12) In the vehicle control method according to any one of (1) to (11) above, the step of acquiring travel information of the second vehicle, and controlling the first vehicle and the second vehicle according to the travel information. The method may further include the step of transmitting information for controlling an inter-vehicle distance between the two vehicles to the first vehicle.

(13) In the vehicle control method according to any one of (1) to (12) above, the step of acquiring the travel information may include the step of receiving the travel information from the second vehicle.

(14) In the vehicle control method according to any one of (1) to (13) above, the travel information may be information indicating a stop or a turn of the second vehicle.

In one embodiment, (15) a server device that communicates with a first vehicle and a second vehicle, wherein first position information indicating a first position of the first vehicle and second position information of the second vehicle are provided. a communication unit that receives second location information indicating a location, and creates information indicating a first route from the second location to the first location based on the first location information and the second location information; a route creation section, and the communication section transmits information indicating the first route to the second vehicle.

Furthermore, in one embodiment, (16) a vehicle traveling system including a first vehicle, a second vehicle, and a server device, wherein first position information indicating a first position of the first vehicle; a communication unit that acquires second position information indicating a second position of two vehicles; and a communication unit that acquires second position information indicating a second position of two vehicles, and a first route from the second position to the first position based on the first position information and the second position information. and a route creation unit that creates information shown.

(17) In the vehicle travel system of (16) above, the server device may include the communication unit and the route creation unit.

(18) In the vehicle travel system of (16) or (17) above, the second vehicle may include the communication section and the route creation section.

Furthermore, in one embodiment, (19) a communication unit that is a vehicle and acquires first position information indicating a first position of another vehicle and second position information indicating a second position of the vehicle; and a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information.

10: Vehicle running system
100: Vehicle 100-1: Leading vehicle
100-2: Following vehicle 110: Position information acquisition unit
120: Control unit 130: Communication unit
150: Travel control unit 200: Server device
220: Communication section 190, 230: Route creation section

Claims

acquiring first position information indicating a first position of the first vehicle and second position information indicating a second position of the second vehicle;
creating a first route from the second location to the first location based on the first location information and the second location information;
Vehicle control method.
The obtaining includes receiving the first location information from the first vehicle and receiving the second location information from the second vehicle,
further comprising transmitting information indicating the first route to the second vehicle;
The vehicle control method according to claim 1.
The obtaining includes receiving the first location information from the first vehicle.
The vehicle control method according to claim 1 or 2.
further comprising receiving an autonomous driving start request from the first vehicle and a follow-up driving start request from the second vehicle,
The acquiring includes receiving the first position information and the second position information after receiving the autonomous driving start request and the follow-up driving start request,
A vehicle control method according to any one of claims 1 to 3.
further comprising receiving an autonomous driving start request from the first vehicle,
The acquiring includes receiving the first position information from the first vehicle after receiving the autonomous driving start request,
A vehicle control method according to any one of claims 1 to 4.
storing a target position of the first vehicle;
creating a second route from the first position to the target position;
further comprising: transmitting information indicating the second route to the first vehicle;
A vehicle control method according to any one of claims 1 to 5.
Until at least one of a first condition that the first vehicle reaches the target position and a second condition that the first position and the second position match within a predetermined range is satisfied,
Periodically acquiring the first location information and the second location information;
periodically creating the first route;
A vehicle control method according to any one of claims 1 to 6.
The periodic acquisition includes periodically receiving the first location information from the first vehicle and the second location information from the second vehicle,
further comprising periodically transmitting the first route to the second vehicle;
A vehicle control method according to any one of claims 1 to 7.
The periodic acquisition includes periodically receiving the first location information from the first vehicle.
A vehicle control method according to any one of claims 1 to 8.
Depending on the distance between the first position and the second position, information for controlling the inter-vehicle distance between the first vehicle and the second vehicle is transmitted to at least one of the first vehicle and the second vehicle. further comprising: transmitting to either one;
A vehicle control method according to any one of claims 1 to 9.
The information for controlling the inter-vehicle distance is any one of a deceleration request, a stop request, and a maximum speed limit request,
A vehicle control method according to any one of claims 1 to 10.
acquiring travel information of the second vehicle;
further comprising transmitting information for controlling an inter-vehicle distance between the first vehicle and the second vehicle to the first vehicle according to the traveling information;
A vehicle control method according to any one of claims 1 to 11.
Obtaining the driving information includes receiving the driving information from the second vehicle,
A vehicle control method according to any one of claims 1 to 12.
The traveling information is information indicating whether the second vehicle stops or turns.
A vehicle control method according to any one of claims 1 to 13.
A server device that communicates with a first vehicle and a second vehicle,
a communication unit that receives first position information indicating a first position of the first vehicle and second position information indicating a second position of the second vehicle;
a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information;
the communication unit transmits information indicating the first route to the second vehicle;
server equipment.
A first vehicle and a second vehicle,
A vehicle running system comprising a server device,
a communication unit that acquires first position information indicating a first position of the first vehicle and second position information indicating a second position of the second vehicle;
a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information;
Vehicle driving system.
The server device includes the communication section and the route creation section.
The vehicle running system according to claim 16.
The second vehicle includes the communication section and the route creation section.
The vehicle running system according to claim 16 or 17.
A vehicle,
a communication unit that acquires first position information indicating a first position of another vehicle and second position information indicating a second position of the vehicle;
a route creation unit that creates information indicating a first route from the second location to the first location based on the first location information and the second location information;
vehicle.