WO2024024141A1

WO2024024141A1 - Assistance device, assistance method, and program

Info

Publication number: WO2024024141A1
Application number: PCT/JP2023/005866
Authority: WO
Inventors: 秀和大野; 高三郎小西
Original assignee: 三菱重工業株式会社
Priority date: 2022-07-25
Filing date: 2023-02-17
Publication date: 2024-02-01
Also published as: JP2024015725A

Abstract

This assistance device comprises: a bubble generation unit that, when a bubble registration request is accepted from a vehicle, generates bubbles using the vehicle as a leader and registers bubble information; a matching processing unit that selects a bubble satisfying a prescribed matching condition as a matching candidate for a bubble that is the request source of a following travel request; an integration instruction unit that instructs the leaders of each of the request source bubble and the matching candidate to carry out bubble integration; and an update processing unit that, when an integration completion notification indicating that one of the request source bubble and the matching candidate has formed an integrated bubble is accepted, integrates the bubble information pertaining to the integration bubble with the bubble information pertaining to the integrated bubble that was integrated with the integration bubble to update the bubble information.

Description

Support devices, methods, and programs

The present disclosure relates to a support device, a support method, and a program.
This application claims priority to Japanese Patent Application No. 2022-117992 filed in Japan on July 25, 2022, the contents of which are incorporated herein.

By performing platooning (hereinafter also referred to as "following"), in which multiple vehicles drive in a platoon in the same direction or towards the same destination, the driver's driving burden is reduced and the aerodynamic performance is improved. There are benefits such as improved fuel efficiency. As a technology to support following driving, Patent Document 1 discloses that among vehicles existing within the communication range of vehicle-to-vehicle communication, vehicles that have the same route to the destination and the desired vehicle type request and receive permission for following driving. It is stated that this is done automatically.

JP2022-32673A

However, with conventional technology, when there is no target vehicle for following within the communication range of vehicle-to-vehicle communication, or when there is a non-target vehicle for following between the target vehicles, the matching partner for following (previous vehicle) It may be difficult to locate the vehicle (or the vehicle being followed).

The purpose of the present disclosure is to provide a support device, a support method, and a program that can match vehicles that are subject to following driving without being affected by the communication range of vehicle-to-vehicle communication or the presence of vehicles that are not subject to following driving. It's about doing.

According to one aspect of the present disclosure, the support device is a support device that supports following-driving of a vehicle, and when a bubble registration request is received from the vehicle, a group of vehicles in following-driving with the vehicle as a leader. A bubble generation unit that generates a certain bubble and registers bubble information that associates vehicle information of the vehicle with identification information of the generated bubble; a matching processing unit that selects a bubble that satisfies a predetermined matching condition from among the bubbles of the following as a matching candidate for the requesting bubble of the following travel request, and instructing the respective leaders of the requesting bubble and the matching candidate to merge bubbles. an integration instruction unit, and a merged bubble to be integrated into the integration bubble based on the bubble information of the integration bubble when an integration completion notification is received notifying that one of the request source bubble and the matching candidate is set as an integration bubble; and an update processing unit that integrates and updates the bubble information.

According to one aspect of the present disclosure, the support method is a support method for supporting following-driving of a vehicle, and when a bubble registration request is received from the vehicle, a group of vehicles in following-driving with the vehicle as a leader. A step of generating a certain bubble and registering bubble information in which vehicle information of the vehicle concerned is associated with identification information of the generated bubble; selecting a bubble that satisfies a predetermined matching condition from among the bubbles as a matching candidate for the requesting bubble of the follow-up request; and instructing leaders of the requesting bubble and the matching candidate to merge bubbles; When an integration completion notification is received to notify that one of the requesting bubble and the matching candidate is to be an integrated bubble, the bubble information of the integrated bubble to be integrated into the integrated bubble is integrated into the bubble information of the integrated bubble. and updating the information.

According to one aspect of the present disclosure, when a bubble registration request is received from a vehicle, the program generates a bubble that is a group of vehicles following the vehicle with the vehicle as the leader, and combines the vehicle information of the vehicle with the generated bubble. registering bubble information associated with identification information of the bubble; and when a following request is received from a vehicle included in the bubble, a bubble that satisfies a predetermined matching condition among the plurality of bubbles is selected for the following driving. selecting a matching candidate for the requesting bubble of the request; instructing leaders of the requesting bubble and the matching candidate to merge bubbles; and setting one of the requesting bubble and the matching candidate as an integrated bubble. When an integration completion notification is received, the support device is caused to perform a step of integrating and updating bubble information of an integrated bubble to be integrated into the integrated bubble with bubble information of the integrated bubble.

According to the above aspect, it is possible to match target vehicles for follow-up travel without being affected by the communication range of vehicle-to-vehicle communication or the presence of non-target vehicles for follow-up travel.

1 is a schematic diagram showing the overall configuration of a support system according to a first embodiment. FIG. 2 is a block diagram showing the functional configuration of the support device according to the first embodiment. FIG. 3 is a diagram for explaining a bubble according to the first embodiment. FIG. 2 is a sequence diagram showing an example of bubble generation processing in the support system according to the first embodiment. It is a figure showing an example of vehicle information concerning a 1st embodiment. It is a figure showing an example of bubble information concerning a 1st embodiment. FIG. 3 is a diagram showing an example of update information according to the first embodiment. FIG. 2 is a sequence diagram showing an example of bubble integration processing in the support system according to the first embodiment. 7 is a flowchart illustrating an example of matching processing in the support device according to the first embodiment. 7 is a flowchart illustrating an example of speed instruction processing in the support device according to the first embodiment. FIG. 3 is a first diagram illustrating an example of bubble information update processing according to the first embodiment. FIG. 2 is a sequence diagram showing an example of information notification processing in the support system according to the first embodiment. FIG. 2 is a sequence diagram showing an example of bubble separation processing in the support system according to the first embodiment. FIG. 7 is a second diagram illustrating an example of bubble information update processing according to the first embodiment. FIG. 2 is a sequence diagram showing an example of management of bubble information between different areas in the support system according to the first embodiment. FIG. 3 is a diagram showing an example of state transition of the target vehicle according to the first embodiment. FIG. 3 is a diagram showing an example of state transition of the support device according to the first embodiment.

<First embodiment>
(Overall configuration of support system)
Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a schematic diagram showing the overall configuration of a support system according to a first embodiment.
As shown in FIG. 1, the support system 1 includes a support device 10, a target vehicle 20, a traffic information DB 41, and a weather information DB 42.

The support device 10 is installed at a road control center or the like that monitors the target road R, and provides a following driving support service that supports the following driving of the target vehicle 20 on the target road R.

The target road R is, for example, an expressway, on which target vehicles 20 and non-target vehicles 30 travel together.

The target vehicle 20 is a connected vehicle that uses the following driving support service, and performs wireless communication with the support device 10 using a communication service provided by a mobile communication carrier to transmit and receive various information, signals, etc. related to following driving. Further, the target vehicle 20 performs wireless communication (vehicle-to-vehicle communication) with other target vehicles 20 to transmit and receive various information, signals, etc. related to following driving. When the user (passenger such as a driver, or vehicle user or administrator in the case of an automatic driving vehicle) desires, the target vehicle 20 can be connected to other target vehicles 20 and a group of vehicles when traveling on the target road R. The vehicle follows the vehicle (following the vehicle). The target vehicle 20 may be a vehicle driven by a driver, or may be an automatically driven vehicle. Further, during the following driving, the following target vehicle 20 may be electronically towed by the preceding target vehicle 20.

The non-target vehicle 30 is a non-connected vehicle that does not use the following driving support service.

Traffic information for the target road R is recorded in the traffic information DB 41. The traffic information includes, for example, events such as traffic congestion, accidents, and road closures, the occurrence position (point or section) of the event, and the start time and end time (estimated time) of the event.

Weather information for the target road R is recorded in the weather information DB 42. The weather information includes, for example, information regarding the weather for each area (region consisting of one or more sections) of the target road R, and information on events caused by the weather (such as freezing of the road surface).

Furthermore, the support system 1 may further include roadside equipment 50 provided on the roadside of the target road R. The roadside device 50 relays communication between the support device 10 and the target vehicle 20. The roadside equipment 50 performs wireless communication (road-to-vehicle communication) with the target vehicle 20 to transmit and receive various information, signals, and the like. The roadside device 50 performs wireless or wired communication with the support device 10 using a communication service provided by a mobile communication carrier to transmit and receive various information, signals, and the like.

Note that in this embodiment, an example will be described in which the support device 10 and the target vehicle 20 communicate directly without using the roadside equipment 50.

(Functional configuration of support device)
FIG. 2 is a block diagram showing the functional configuration of the support device according to the first embodiment.
As shown in FIG. 2, the support device 10 includes a processor 11, a memory 12, a storage 13, and a communication interface 14.

The memory 12 has a memory area necessary for the operation of the processor 11.

The storage 13 is a so-called auxiliary storage device, and is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

The communication interface 14 is an interface for transmitting and receiving various information with external devices (target vehicle 20, traffic information DB 41, weather information DB 42, roadside equipment 50, etc.).

The processor 11 functions as a bubble generation section 110, a matching processing section 111, an update information acquisition section 112, an integration instruction section 113, an update processing section 114, a separation processing section 115, and a notification section 116 by operating according to a predetermined program. demonstrate.

When the bubble generation unit 110 receives a bubble registration request from the target vehicle 20, it generates a bubble that is a group of vehicles following the target vehicle 20 as a leader, and identifies the vehicle information of the target vehicle 20 and the generated bubble. Register bubble information associated with information.

When the matching processing unit 111 receives a following travel request from one bubble, it selects a bubble that satisfies a predetermined matching condition from among the plurality of bubbles as a matching candidate for the requesting bubble of the following travel request.

The update information acquisition unit 112 acquires update information including the traveling positions of each of the plurality of bubbles.

The integration instruction unit 113 instructs the leaders of the requesting bubble and the matching candidate to integrate bubbles.

When the update processing unit 114 receives an integration completion notification indicating that one of the requesting bubble and the matching candidate will be an integrated bubble and the other will be an integrated bubble to be integrated into the integrated bubble, the update processing unit 114 updates the bubble information of the integrated bubble. The bubble information of the integrated bubble is integrated and updated. Furthermore, the update processing unit 114 deletes bubble information of the bubble to be integrated.

When the separation processing unit 115 receives a separation request to cause a leaving vehicle to leave a bubble, it deletes and updates the vehicle information of the leaving vehicle from the bubble information of the bubble, and generates a leaving bubble with the leaving vehicle as the leader. Then, bubble information is registered in which the vehicle information of the leaving vehicle is associated with the identification information of the generated leaving bubble.

The notification unit 116 notifies the matching candidates of the updated information of the requesting bubble, and also notifies the requesting bubble of the updated information of the matching candidates. Furthermore, when the notification unit 116 detects that there is an abnormal event ahead of the bubble in the traveling direction from the traffic information in the traffic information DB 41 or the weather information in the weather information DB 42, the notification unit 116 notifies the bubble of abnormal information regarding this abnormal event. . The abnormal event is, for example, an event such as an accident or frozen road surface that may affect the following driving.

Note that the support device 10 may be configured by a single computer, or the configuration of the support device 10 may be divided into multiple computers, and the multiple computers may cooperate with each other to configure the support device 10. It may also function as

Further, a predetermined program executed by the processor 11 of the support device 10 is stored in a computer-readable recording medium. Further, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. Alternatively, this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program. Furthermore, this program may be for realizing some of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

(About bubbles)
FIG. 3 is a diagram for explaining the bubble according to the first embodiment.
The support device 10 according to the present embodiment manages a group of vehicles following each other on the target road R in units called "bubbles". The concept of a bubble will be explained below with reference to FIG.

As shown in FIG. 3, the bubble includes at least one target vehicle 20. Furthermore, one of the target vehicles 20 included in each bubble becomes a leader. The leader is a vehicle that represents communication between the support device 10 and the bubble. Since the leader vehicle has the function of deploying and relaying information to the support device 10 and target vehicles 20 other than the leader, vehicles other than the leader do not need to communicate with the support device 10 individually. . The leader performs vehicle-to-vehicle communication with other target vehicles 20 in the same bubble, and transmits various information regarding following travel, signals, and information notified from the support device 10.

FIG. 3A shows an example of single bubbles B1 and B2 in which only one target vehicle 20 (20A, 20B) is included in one bubble. Leaders of individual bubbles B1 and B2 are

target vehicles

20A and 20B, respectively.

Furthermore, bubbles can be integrated to form one bubble that includes a plurality of target vehicles 20. FIG. 3B shows an example of an integrated bubble B1 that integrates individual bubbles B1 and B2 and includes two

target vehicles

20A and 20B. In the example of FIG. 3B, the single bubble B1 absorbs the single bubble B2 and becomes the integrated bubble B1, and the single bubble B2 becomes the integrated bubble B2 that is absorbed by the integrated bubble B1 and disappears. The leader of the integrated bubble B1 is determined by adjusting between the

target vehicles

20A and 20B. In the example of FIG. 3(b), the target vehicle 20A becomes the leader of the integrated bubble B1.

The upper limit number of target vehicles 20 included in one bubble can be set in advance, and in that case, a bubble that has reached the upper limit number cannot be combined with other bubbles. Furthermore, even if the bubbles do not meet the maximum number of bubbles, they cannot be combined if the number exceeds the maximum number. Furthermore, the integrated bubble may be further integrated with other single bubbles or integrated bubbles until the upper limit number is reached.

Note that the driving formation (driving lane, driving order, etc.) of each target vehicle 20 included in the integrated bubble is arbitrary. As in the example in FIG. 3B, the

target vehicles

20A and 20B of the integrated bubble B1 may run in the same lane one behind the other. At this time, the following target vehicle 20B may be electronically towed by the preceding target vehicle 20A. Furthermore, the

target vehicles

20A and 20B of the integrated bubble B1 may travel on different lanes. Further, in order to avoid danger or the like, the lane may be temporarily changed based on the judgment of the driver of each

target vehicle

20A, 20B, or the built-in automatic driving control device in the case of an automatic driving vehicle. The leader vehicle does not necessarily have to run at the front. Formation, lane changes, etc. are performed while mutual adjustments are made between the

target vehicles

20A and 20B through inter-vehicle communication.

Further, the integrated bubble B1 including the plurality of target vehicles 20 can be separated into two bubbles. For example, as shown in FIG. 3C, when one of the

target vehicles

20A and 20B leaves the following vehicle at a branch or exit, the integrated bubble B1 separates into two bubbles B1 and B3. In the example shown in FIG. 3C, the integrated bubble B1 is separated into a continuation bubble B1 that continues traveling on the target road R and a departure bubble B3 that leaves the target road R. A new leader is set in each of the continuation bubble B1 and withdrawal bubble B3. In the example of FIG. 3C, the leader of the continuation bubble B1 is the target vehicle 20A, and the leader of the breakaway bubble B3 is the target vehicle 20B. When each bubble includes a plurality of target vehicles 20, a leader is determined by coordination among the target vehicles 20 within the bubble.

(Processing of support device 1: Bubble generation processing)
FIG. 4 is a sequence diagram illustrating an example of bubble generation processing in the support system according to the first embodiment.
The flow of bubble generation processing will be described in detail below with reference to FIG. Here, an example of generating a bubble for the target vehicle 20A shown in FIG. 3(a) will be described.

First, when the target vehicle 20A determines to start the following driving support service (step S10), it transmits a bubble registration request to the support device 10 (step S11).

For example, the target vehicle 20A determines to start the service when the user performs an operation to start the service. Further, the target vehicle 20A may determine to start the service when it detects that it has entered the target road R using a known position detection technique using GNSS or the like. Alternatively, the start may be determined using communication with a road-vehicle communication device installed on the roadside as a trigger.

FIG. 5 is a diagram showing an example of vehicle information according to the first embodiment.
The bubble registration request sent by the target vehicle 20 to the support device 10 includes vehicle information D1 (FIG. 5). As shown in FIG. 5, the vehicle information D1 includes information such as identification information (vehicle ID) of the target vehicle 20, vehicle attributes, destination, transit points, destination arrival deadline, companion vehicle information, and traveling position. Vehicle attributes are information representing classifications of vehicles, such as large vehicles, extra-large vehicles, and buses, according to their external characteristics, usage, and the like. The destination and the waypoint are, for example, the exit IC of the target road R. The companion vehicle information includes the number of companion vehicles accompanying the target vehicle 20 and identification information (vehicle ID) of the companion vehicles. The accompanying vehicle is, for example, a vehicle that has been following the target vehicle 20 before entering the target road R, or a towed vehicle towed by the target vehicle 20 using electronic traction or the like. In the examples of FIGS. 3 and 5, the target vehicle 20B is a vehicle that travels alone, and the number of accompanying vehicles is zero.

Next, the bubble generation unit 110 of the support device 10 generates a new bubble based on the vehicle information D1 included in the bubble registration request (step S12). The bubble generation unit 110 also generates bubble information D2 (FIG. 6) of the newly generated bubble and records it in the storage 13.

FIG. 6 is a diagram illustrating an example of bubble information according to the first embodiment.
As shown in FIG. 6, the bubble information D2 includes information such as bubble identification information (bubble ID), leader, number of included vehicles, traveling direction, common destination, and individual vehicle information. The leader is the vehicle ID of the target vehicle 20 that is the bubble leader. The number of included vehicles is the total number of target vehicles 20 included in the bubble. The common destination is a destination (exit IC) to which the target vehicles 20 included in the bubble head in common. The individual vehicle information is vehicle information D1 (FIG. 5) of each target vehicle 20 included in the bubble. Moreover, the bubble information D2 may include information on the final destination indicating the farthest destination among the destinations of the target vehicle 20 included in the bubble.

In the examples of FIGS. 3, 5, and 6, the target vehicle 20A has no accompanying vehicle (accompanying vehicle information=0). In this case, the bubble generation unit 110 generates a single bubble B1 that includes only the target vehicle 20A. The leader of this single bubble B1 is the target vehicle 20A, and the number of included vehicles is "1". The traveling direction and the common destination are the traveling direction (up, down, direction of 〇〇, etc.) of the target vehicle 20A and the destination (exit IC). Only the vehicle information D1 of the target vehicle 20A is recorded in the individual vehicle information.

Note that when receiving a bubble registration request from the target vehicle 20 that has an accompanying vehicle, the bubble generation unit 110 generates a bubble that includes the target vehicle 20 and a plurality of accompanying vehicles. At this time, the target vehicle 20 performs vehicle-to-vehicle communication with the companion vehicle and acquires vehicle information D1 of the companion vehicle. Further, in step S11, the target vehicle 20 transmits vehicle information D1 of itself and the accompanying vehicle to the support device 10 along with a bubble registration request. The bubble generation unit 110 of the support device 10 generates bubble information D2 including vehicle information D1 of each of the target vehicle 20 and its accompanying vehicle. The total number of target vehicles 20 and accompanying vehicles is input to the number of included vehicles in the bubble information D2.

Furthermore, the bubble generation unit 110 of the support device 10 notifies the target vehicle 20A, which is the transmission source of the bubble registration request, of the bubble ID by transmitting the bubble information D2 of the generated bubble B1 (step S13).

When the target vehicle 20A receives the bubble information D2 (bubble ID), it transmits an ACK notification (step S14). The ACK notification also includes update information D3 (FIG. 7) of the bubble B1 of the target vehicle 20A.

FIG. 7 is a diagram illustrating an example of update information according to the first embodiment.
As shown in FIG. 7, the update information D3 includes bubble identification information (bubble ID), update time of the update information, traveling position, bubble speed, and the like. In the case of bubble B1 of target vehicle 20A, the traveling position and bubble speed of update information D3 are the position and traveling speed of target vehicle 20A at the update time.

Next, if the user desires to follow another target vehicle 20 (matching with another bubble), the target vehicle 20A transmits a follow-up request to the support device 10 (step S15). For example, when the target vehicle 20A performs an operation to search for a matching candidate for following the user, the target vehicle 20A transmits a following request. Further, if the target vehicle 20A has received a function setting requesting follow-up travel from the user in advance, the target vehicle 20A may automatically transmit the follow-up travel request. Further, the follow-up travel request may include update information D3 to notify the current position and traveling speed of the target vehicle 20A.

Note that when a bubble includes multiple target vehicles 20 (or accompanying vehicles), the leader target vehicle 20 transmits a follow-up request on behalf of the bubble. At this time, if the number of vehicles included in the bubble has already reached the upper limit, the target vehicle 20 does not transmit a follow-up request.

When the matching processing unit 111 of the support device 10 receives the following travel request from the bubble B1, it searches for matching candidates that can be integrated with the requesting bubble B1 from other bubbles recorded in the storage 13 (step S16). ). Details of the matching candidate search process will be described later.

In addition, in the example of FIG. 4, a case will be described in which no matching candidate for the request source bubble B1 is found. When the matching processing unit 111 cannot find a matching candidate with the request source bubble B1, it transmits a "wait for matching candidate" instruction to the target vehicle 20A, which is the leader of the request source bubble B1 (step S17).

When the target vehicle 20A, which is the leader of the bubble B1, receives the "wait for matching candidate" instruction, it puts the following drive on hold. Further, the target vehicle 20A thereafter transmits update information D3 to the support device 10 at predetermined time intervals (step S18). Upon receiving the update information D3 from the bubble B1 (target vehicle 20A), the update information acquisition unit 112 of the support device 10 records and accumulates it in the storage 13. Thereby, the support device 10 can grasp which position on the target road R and at what speed the requesting bubble B1 is traveling.

(Support device processing 2: Bubble integration processing)
FIG. 8 is a sequence diagram showing an example of bubble integration processing in the support system according to the first embodiment.
Hereinafter, the flow of processing for integrating two bubbles will be described in detail with reference to FIG. 8. Here, an example will be described in which bubbles B1 and B2 shown in FIGS. 3(a) and 3(b) are integrated. It is also assumed that bubble B1 transmits a follow-up travel request in step S15 of FIG. 4 and is in a state of waiting for matching candidates.

The leaders (

target vehicles

20A, 20B; hereinafter also referred to as

leaders

20A, 20B) of each bubble B1, B2 transmit update information D3 to the support device 10 at predetermined time intervals (step S20). When the update information acquisition unit 112 of the support device 10 receives the update information D3 from each of the bubbles B1 and B2, it records and accumulates it in the storage 13. This process is the same as step S18 in FIG.

The matching processing unit 111 of the support device 10 searches for matching candidates to be integrated with the bubble B1 based on the update information D3 of each bubble recorded in the storage 13 (step S21).

FIG. 9 is a flowchart illustrating an example of matching processing in the support device according to the first embodiment.
With reference to FIG. 9, the flow of processing in which the support device 10 searches for matching candidates for bubble B1 will be described. Note that each process (steps S211 to S216) shown in FIG. 9 is a process common to step S16 in FIG. 4 and step S21 in FIG.

First, the matching processing unit 111 extracts bubbles within the range of ODD (Operational Design Domain) related to following driving based on the update information D3 of each bubble (step S211). For example, the matching processing unit 111 extracts, from among the plurality of bubbles registered in the storage 13, bubbles whose bubble speed is less than or equal to a predetermined following-travel upper limit speed (for example, 80 km/h). The matching processing unit 111 excludes bubbles whose speed exceeds the upper limit speed of following travel as not to be matched. Note that the following travel upper limit speed is set within a range of not less than the minimum speed and not more than the maximum speed stipulated for the target road R. Additionally, different upper limit speeds for following travel may be set for each vehicle attribute.

Next, the matching processing unit 111 identifies bubbles that cannot be integrated within a predetermined follow-up travel restriction section (for example, 1 km) before and after the traveling position of the request source bubble B1, that is, a bubble in which the number of included vehicles has reached the upper limit number. It is determined whether there exists (step S212).

If there is a bubble in which the number of included vehicles has reached the upper limit within the set section of the requesting bubble B1 (step S212; NO), the matching processing unit 111 determines that there is no matching candidate that can be integrated with the requesting bubble B1. (Step S216). In this case, the matching processing unit 111 once ends the matching candidate search process and proceeds to step S17 in FIG. 4. Thereby, the matching processing unit 111 secures the interval between the bubbles and suppresses the bubbles from coming close to each other and hindering the following travel.

Next, the matching processing unit 111 determines whether, among the bubbles extracted in step S211, there is a bubble that satisfies a predetermined matching condition within a search distance (for example, 1 km) forward in the traveling direction from the traveling position of the requesting bubble B1. A judgment is made (step S213). For example, the matching conditions are conditions (1) to (4) below.

(1) The traveling direction matches that of the request source bubble B1.

(2) The request source bubble B1 and the vehicle attribute match. Note that vehicle attributes do not necessarily have to be the same. For example, combinations of vehicle attributes that can be integrated are set in advance in a table, etc., and if the vehicle attributes (for example, a large car or a bus) that can be integrated with the vehicle attributes (for example, a large car) of the request source bubble B1, the vehicle It may be determined that the attributes match.

(3) The total number of vehicles included in the request source bubble B1 and the number of vehicles included in the extracted bubble is less than or equal to the upper limit (that is, target vehicles included in the request source bubble B1 can be added).

(4) At least a portion of the travel route to the common destination of the request source bubble B1 and the travel route to the common destination of the extracted bubble are common, and the length of this common travel route is predetermined. distance (for example, 40 km) or more. Alternatively, when the bubble speed is set as the upper limit speed for following travel, the travel time of the common travel route is longer than a predetermined time (for example, 30 minutes).

If there is a bubble that satisfies the above matching conditions (1) to (4) in front of the request source bubble B1 in the traveling direction (step S213; YES), the matching processing unit 111 selects this bubble as a matching candidate (step S215).

Furthermore, if there is no bubble that satisfies the matching condition ahead of the requesting bubble B1 in the traveling direction (step S213; NO), the matching processing unit 111 searches for a matching candidate behind the requesting bubble B1 in the traveling direction. Specifically, the matching processing unit 111 determines whether there is a bubble that satisfies the above matching conditions (1) to (4) within a search distance (for example, 1 km) backward in the traveling direction from the running position of the request source bubble B1. A judgment is made (step S214).

If there is a bubble that satisfies the above matching condition behind the request source bubble B1 in the traveling direction (step S214; YES), the matching processing unit 111 selects this bubble as a matching candidate (step S215). In the example of FIG. 3, the matching processing unit 111 selects the bubble B2 that exists behind the request source bubble B1 in the traveling direction as a matching candidate.

On the other hand, if there is no bubble that satisfies the matching condition behind the request source bubble B1 in the traveling direction (step S214; NO), the matching processing unit 111 determines that there is no matching candidate for the request source bubble B1 (step S216). In this case, the matching processing unit 111 once ends the matching candidate search process and proceeds to step S17 in FIG. 4.

By limiting the search distance for matching candidates as described above, the matching processing unit 111 can exclude bubbles that take time to merge (integrate) from matching candidates.

Further, even if there is no matching candidate (step S216), the matching processing unit 111 updates the update information D3 from the request source bubble B1 or every time a predetermined search waiting time elapses, as shown in FIG. The series of processes to search for matching candidates is performed again. As a result, even if no matching candidate is found within the search distance, for example, if a new bubble that later enters the target road R is generated and this bubble satisfies the matching conditions, this new bubble will be added to the requesting bubble. It can be selected as a matching candidate for B1.

In addition, in each process described above, if there is a time difference between the update time of the update information D3 and the current time, the matching processing unit 111 estimates the running position of each bubble at the current time based on this time difference and the bubble speed. You may.

Next, returning to FIG. 8, the process after the matching processing unit 111 of the support device 10 selects the bubble B2 as a matching candidate for the requesting bubble B1 in step S21 will be described. The integration instruction unit 113 of the support device 10 transmits an integration standby instruction to the

leaders

20A and 20B of the request source bubble B1 and matching candidate bubble B2, respectively (step S22). The integrated standby instruction includes the bubble ID of each matching bubble. For example, the bubble ID of the matching candidate bubble B2 is transmitted to the request source bubble B1 together with the integration standby instruction. Further, the bubble ID of the request source bubble B1 is transmitted to the matching candidate bubble B2 together with the integration standby instruction.

Further, upon receiving the integration standby instruction, the

leaders

20A and 20B of the bubbles B1 and B2 scheduled to be integrated each transmit an ACK notification (step S23). The ACK notification also includes update information D3 for each bubble B1 and B2.

Based on the update information D3 of each bubble B1 and B2 included in the ACK notification, the integration instruction unit 113 of the support device 10 generates and transmits an integration instruction for each of the bubbles B1 and B2 scheduled to be integrated (step S24).

The integrated instruction is, for example, an instruction to change the bubble speed. The integration instruction unit 113 determines that among the bubbles B1 and B2 scheduled to be integrated, a subsequent bubble (bubble B2 in the example of FIG. 3) traveling in the rear direction in the traveling direction is a preceding bubble (in the example in FIG. 3) traveling in the front direction in the traveling direction. , bubble B1), or so that the preceding bubble B1 catches up with the succeeding bubble B2.

FIG. 10 is a flowchart illustrating an example of speed instruction processing in the support device according to the first embodiment.
With reference to FIG. 10, details of the process in which the support device 10 instructs the speed of the subsequent bubble B2 and the preceding bubble B1 will be described.

First, if the current bubble speed of the subsequent bubble B2 is less than the upper limit speed (step S241; YES), the integrated instruction unit 113 sets the speed instruction of the subsequent bubble B2 to "accelerate to the upper limit speed" (step S242).

The upper limit speed is the upper limit speed of following travel. For example, if the current bubble speed of the subsequent bubble B2 is 70 km/h and the upper limit speed of following travel is 80 km/h, the integrated instruction unit 113 may change the speed instruction of the subsequent bubble B2 to "accelerate to the upper limit speed of following travel 80 km/h". ”.

Additionally, the integrated instruction unit 113 may change the upper limit speed by referring to traffic information in the traffic information DB 41 or weather information in the weather information DB 42. For example, if there is a temporary speed restriction on the target road R due to rain or the like, and the speed limit in the temporary speed restriction is lower than the upper limit speed for following travel, the speed limit in the temporary speed restriction is considered as the upper limit speed. When the current bubble speed of the following bubble B2 is 70 km/h, the upper limit speed for following travel is 80 km/h, and the speed limit under the temporary speed regulation is 75 km/h, the integrated instruction unit 113 sets the speed limit under the temporary speed regulation to 75 km/h. Let h be the upper limit speed. Also, at this time, the integrated instruction unit 113 sets the speed instruction for the subsequent bubble B2 to "accelerate to the speed limit of 75 km/h under the temporary speed regulation."

On the other hand, if the current bubble speed of the subsequent bubble B2 is the same as the upper limit speed (the upper limit speed for following travel or the speed limit under the temporary speed regulation) (step S241; NO), the integrated instruction unit 113 instructs the speed of the subsequent bubble B2. is set to "maintain the current bubble speed" (step S243).

Next, the integrated instruction unit 113 sets a speed instruction for the preceding bubble B1 based on the current bubble speed of the preceding bubble B1.

If the current bubble speed of the preceding bubble B1 exceeds the predetermined speed (step S244; YES), the integrated instruction unit 113 sets the speed instruction of the preceding bubble B1 to "decelerate to the specified speed" (step S245). The predetermined speed is a value obtained by subtracting a predetermined margin α from the upper limit speed, and is, for example, 75 km/h when the upper limit speed=80 km/h and the predetermined margin α=5 km/h. The value of the predetermined margin α may be changed arbitrarily. Further, the designated speed is, for example, a value obtained by subtracting a predetermined margin α from the upper limit speed. For example, when the current bubble speed of the preceding bubble B1 is 80 km/h, the integrated instruction unit 113 sets the speed instruction of the preceding bubble B1 to "decelerate to 75 km/h." Then, assuming that the distance between the preceding bubble B1 and the succeeding bubble B2 is 1 km, and the speed difference between each bubble B1 and B2 after the instruction is 5 km/h, the succeeding bubble B2 will reach the preceding bubble B1 by approximately 12 minutes. You can catch up with (join with) the driver behind you (after driving about 16 km).

Furthermore, when the current bubble speed of the preceding bubble B1 is equal to or lower than the predetermined speed (step S244; YES), the integrated instruction unit 113 sets the speed instruction of the preceding bubble B1 to "maintain the current bubble speed" (step S245). ). For example, if the current bubble speed of the preceding bubble B1 is 75 km/h, it is instructed to maintain this speed.

Further, after determining the speed instruction for each bubble, the integrated instruction unit 113 transmits the speed instruction to each of the subsequent bubble B2 and the preceding bubble B1 (step S247). Then, the

leaders

20A and 20B of each bubble B1 and B2 run according to the received speed instructions. Moreover, when each bubble B1, B2 consists of two or more target vehicles 20, the

leaders

20A, 20B transmit speed instructions to other target vehicles 20 (non-leaders) via vehicle-to-vehicle communication. Other target vehicles 20 (non-leaders) travel according to the speed instructions transmitted from the

readers

20A, 20B. Note that when each target vehicle 20 is a manned vehicle, the target vehicle 20 presents a speed instruction to the driver, and the driver drives according to the speed instruction presented to the target vehicle 20. Further, if the target vehicle 20 has a cruise control device or is an automatic driving vehicle, the cruise control device or the automatic driving control device may automatically control acceleration and deceleration according to speed instructions. .

Next, returning to FIG. 8, the process after the integration instruction unit 113 of the support device 10 transmits the integration instruction (speed instruction) to the bubbles B1 and B2 scheduled to be integrated in step S24 will be described. Each bubble B1, B2 transmits update information D3 to the support device 10 at predetermined time intervals from receiving the integration instruction until the integration is completed (step S25).

Upon receiving the update information D3 from the bubbles B1 and B2, the notification unit 116 of the support device 10 notifies (transfers) the update information D3 to each matching partner (step S26). That is, the notification unit 116 notifies the bubble B2 of the update information D3 received from the bubble B1, and notifies the bubble B1 of the update information D3 received from the bubble B2. The

target vehicles

20A and 20B of bubbles B1 and B2 may present the driving position of the matching partner, the distance to the matching partner, etc. to the user based on the updated information D3 of the matching partner, It may also be used as information.

Next, when the

leaders

20A and 20B of bubbles B1 and B2 approach a distance that allows vehicle-to-vehicle communication, they send and receive bubble IDs to confirm that they are matching partners, and then process the integration of bubbles B1 and B2. (Step S27).

In the integration process, which target vehicle 20 is to be the leader of the integrated bubble is determined by adjusting between the bubbles B1 and B2. In the example of FIG. 3, the target vehicle 20A becomes the leader of the integrated bubble B1. In this case, the preceding bubble B1 of the target vehicle 20A integrates the subsequent bubble B2 to become an integrated bubble B1, and the subsequent bubble B2 becomes an integrated bubble B1 that is integrated with the preceding bubble B1. Further, each target vehicle 20 of the integrated bubble B1 acquires each other's vehicle information D1 via inter-vehicle communication. As a result, each target vehicle 20 can reach the final destination of the integrated bubble B1 (the farthest destination among the destinations of the target vehicle 20) or the common destination (the closest destination among the destinations of the target vehicle 20). ) and other information can be shared.

In addition, in the integrated process, the target vehicles 20 of the bubbles B1 and B2 communicate with each other using sensors such as cameras so that they can communicate directly through vehicle-to-vehicle communication or indirectly through other target vehicles 20. The formation is changed as necessary by checking the position of the target vehicle 30 and the presence or absence of non-target vehicles 30 in the vicinity. What kind of formation is specifically determined depends on the judgment of the driver of each target vehicle 20 or the automatic driving control device. When the target vehicles 20 of both the bubbles B1 and B2 move to a state in which they can travel while communicating, that is, they can follow each other, the integration process is completed.

When the integration process is completed, the leader 20B of the integrated bubble B1 and the leader 20A of the integrated bubble B1 each transmit integration completion notifications to the support device 10 (step S28). In the integration completion notification, the leader 20B of the integrated bubble B1 notifies the bubble ID of itself (integrated bubble B2) and the bubble ID of the integrated bubble B1 to which it is integrated. In addition, the leader 20A of the integrated bubble B1 notifies the bubble ID of itself (integrated bubble B1) and the vehicle information D1 of each target vehicle 20 (leader 20A and non-leader 20B) of the integrated bubble B1 in the integration completion notification. Thereafter, the target vehicle 20A acts as the leader of the integrated bubble B1, and the target vehicle 20B acts as a non-leader of the integrated bubble B1, and they follow each other while performing vehicle-to-vehicle communication.

Furthermore, the update processing unit 114 of the support device 10 updates the bubble information D2 based on the integration completion notification received from the integrated bubble B1 and the integrated bubble B1 (step S29).

FIG. 11 is a first diagram illustrating an example of bubble information update processing according to the first embodiment.
As shown in FIG. 11, the update processing unit 114 updates the bubble information D2 of the integrated bubble B2 by adding bubble information D2 of the integrated bubble B2 to the bubble information D2 of the integrated bubble B1 based on the notification of integration completion of the integrated bubble B1 and the integrated bubble B2. do. The bubble ID of the integrated bubble B1 is unchanged since it inherits the bubble ID of the bubble B2 before integration. The leader of the integrated bubble B1 becomes the vehicle ID of the new leader after adjustment between the bubbles B1 and B2. In the example of FIG. 11, the leader of the integrated bubble B1 is the target vehicle 20A. The number of included vehicles is the total number of target vehicles 20 (and companion vehicles) included in bubbles B1 and B2. The common destination is a destination that both bubbles B1 and B2 reach, and the one that is closer to the common destination of bubbles B1 and B2 is recorded. In the individual vehicle information, vehicle information D1 of each of all

target vehicles

20A and 20B included in the integrated bubble B1 is recorded.

Additionally, the update processing unit 114 deletes the bubble information D2 of the bubble to be integrated B1.

(Processing of support device 3: Information notification processing)
FIG. 12 is a sequence diagram illustrating an example of information notification processing in the support system according to the first embodiment.
Hereinafter, with reference to FIG. 12, a process flow in which the support device 10 notifies each bubble of various information will be described.

First, the leader 20A of the integrated bubble B1 transmits the update information D3 of the integrated bubble B1 to the support device 10 at predetermined intervals (step S30).

The notification unit 116 of the support device 10 refers to the traffic information DB 41 and the weather information DB 42 to detect abnormal events or regulations that affect the following driving ahead of the driving position included in the updated information D3 of the integrated bubble B1 in the traveling direction. Check if information is available. When detecting an abnormal event or regulation information that affects following driving (step S31), the notification unit 116 transmits abnormal information or speed instructions according to the detected content to the leader 20A of the integrated bubble B1 (step S32). .

For example, it is assumed that the notification unit 116 detects an abnormal event in a certain section in front of the integrated bubble B1 in the traveling direction from the traffic information in the traffic information DB 41 and the weather information in the weather information DB 42. Examples of abnormal events include frozen road surfaces and accidents. In this case, the notification unit 116 generates abnormality information including the details of the abnormal event (frozen road surface) and the section in which the abnormal event has occurred (or is expected to occur), and transmits it to the leader 20A of the integrated bubble B1 ( Step S32). Additionally, if the traffic information or weather information includes the predicted end time of the abnormal event, or if the predicted end time can be estimated from the abnormal event, the abnormal event may include the predicted end time of the abnormal event. .

Further, for example, assume that the notification unit 116 detects, from the traffic information in the traffic information DB 41, that a temporary speed restriction has been set in a certain section ahead of the integrated bubble B1 in the direction of travel. In this case, the notification unit 116 generates a speed instruction to reduce the bubble speed of the integrated bubble B1 to the speed limit in the temporary speed regulation, and transmits it to the leader 20A of the integrated bubble B1 (step S32).

The notification unit may transmit both the abnormality information and the speed instruction to the leader 20A of the integrated bubble B1 when both the abnormal event and the regulation information are detected.

Next, when the leader 20A of the integrated bubble B1 receives abnormality information or speed instruction from the support device 10, the leader 20A of the integrated bubble B1 transmits this abnormality information or speed instruction to other target vehicles 20 (non-leader 20B) of the integrated bubble B1 through vehicle-to-vehicle communication. ) (step S33).

Further, the reader 20A and the non-reader 20B each perform processing according to the abnormality information or speed instruction. The processing according to the abnormality information depends on the judgment of the driver of the reader 20A and the non-reader 20B or the automatic driving control device. Furthermore, the leader 20A and the non-leader 20B travel according to the received speed instructions. Speed control is performed by the driver, a cruise control device, or an automatic driving control device.

In this way, when the support device 10 detects an abnormal event or regulatory information, it is not necessary to communicate with each of the plurality of

target vehicles

20A and 20B individually, but only with the leader 20A of the integrated bubble B1. Therefore, the amount of communication between the support device 10 and the target vehicle 20 can be reduced. Moreover, since it is sufficient to monitor the running position of each bubble without monitoring the running position of each

target vehicle

20A, 20B, it is possible to reduce the processing load and resources required for monitoring. Regarding the communication of abnormal events and regulation information via the leader vehicle shown here, if the communication processing between the support device 10 and each target vehicle can be tolerated by the processing load and resources, it is also possible to transmit the information individually. This is possible as a method.

(Processing of support device 3: Bubble separation processing)
FIG. 13 is a sequence diagram showing an example of bubble separation processing in the support system according to the first embodiment.
Hereinafter, the flow of processing for separating a bubble into two will be described in detail with reference to FIG. 13. Here, an example will be described in which the integrated bubble B1 shown in FIGS. 3(b) to 3(c) is separated into bubbles B2 and B3. Furthermore, in the examples of FIGS. 3 and 13, an example will be described in which the non-leader 20B leaves the integrated bubble B1, but the leader 20A may also leave the integrated bubble B1.

First, when the target vehicle 20B of the integrated bubble B1 needs to leave the integrated bubble B1 at a branch, exit, etc., it transmits a withdrawal notification to the other target vehicle 20A via vehicle-to-vehicle communication (step S40). For example, the target vehicle 20B has its own destination (exit IC) before the final destination of the integrated bubble B1 (destination of the other target vehicle 20A), and a predetermined distance before its own destination ( For example, when the target vehicle 20A reaches a position 5 km ahead, a departure notification is sent to the other target vehicle 20A.

Next, each target vehicle 20 of the integrated bubble B1 performs vehicle-to-vehicle communication and performs withdrawal arbitration processing (step S41). In the withdrawal mediation process, for example, the leader 20A acquires the vehicle ID and departure position (exit IC) from the target vehicle 20B (hereinafter also referred to as departure vehicle 20B) that is the source of the departure notification. Further, adjustments are made between the target vehicles 20 remaining in the continuation bubble B1 (integrated bubble B1) that continue to travel on the target road R, and a target vehicle to become the new leader of the continuation bubble B1 is determined. In the examples of FIGS. 3 and 13, only the target vehicle 20A remains in the continuation bubble B1, so the target vehicle 20A continues to be the leader. Note that if there are two or more target vehicles 20 remaining in the continuation bubble B1, the target vehicle 20A may continue to be the leader, or the leader may be replaced with another target vehicle 20. Furthermore, if there are a plurality of departing vehicles, the leader of the bubble to be separated from the integrated bubble B1 is determined from among the departing vehicles. In the examples of FIGS. 3 and 13, the target vehicle 20B is the only departing vehicle, so the target vehicle 20B becomes the leader of the bubble that separates.

Further, when the withdrawal mediation process is completed, the leader 20A of the continuation bubble B1 transmits a withdrawal bubble ID request to the support device 10 (step S42). The departure bubble ID request includes the bubble ID of the continuation bubble B1 (integrated bubble B1), the vehicle ID of the departure vehicle 20B that leaves the continuation bubble B1, and the like.

Next, the separation processing unit 115 of the support device 10 generates a new departure bubble B3 for the departure vehicle 20B (step S43).

FIG. 14 is a second diagram illustrating an example of bubble information update processing according to the first embodiment.
As shown in FIG. 14, the separation processing unit 115 generates bubble information D2 of the newly generated breakaway bubble B3 and records it in the storage 13. The vehicle information D1 of the leaving vehicle 20B of the leaving bubble B3 may be copied from the bubble information D2 of the integrated bubble B1 that is the leaving source, or may be acquired from the leader 20A of the continuation bubble B1. Furthermore, the separation processing unit 115 performs update processing on the bubble information D2 of the continuation bubble B1, such as deleting the vehicle information D1 of the departing vehicle 20B and subtracting the number of departing vehicles from the number of included vehicles.

When the separation processing unit 115 of the support device 10 generates the exit bubble B3, it notifies the leader 20A of the continuation bubble B1 of the bubble ID of the exit bubble B3 and the vehicle ID of the exit vehicle 20B included in the exit bubble B3 (step S44).

Upon receiving the bubble ID of the leaving bubble B3, the leader of the continuation bubble B1 notifies the leaving vehicle 20B of the bubble ID of the leaving bubble B3 received from the support device 10 (step S45). Upon receiving this notification, the leaving vehicle 20B changes from a non-leader of the integrated bubble B1 to a leader of the leaving bubble B3.

Further, after the integrated bubble B1 is separated into the continuation bubble B1 and the withdrawal bubble B3, the leader 20A of the continuation bubble B1 and the leader 20B of the withdrawal bubble B3 each transmit update information D3 to the support device 10 at predetermined intervals. (Step S46).

Next, when the leader 20B of the leaving bubble B3 determines to end the following driving service (step S47), it transmits a service leaving notification to the support device 10 (step S48). The service withdrawal notification includes the bubble ID of the withdrawal bubble B3.

For example, the leader 20B of the exit bubble B3 determines to end the service when the user performs an operation to end the service. Furthermore, when the leader 20B detects that the leader 20B has left the target road R, the leader 20B may determine to end the service. Alternatively, the termination may be determined by using communication with a road-vehicle communication device (roadside equipment 50) installed on the roadside as a trigger.

Further, when the update processing unit 114 of the support device 10 receives the service withdrawal notification from the withdrawal bubble B3, it deletes the bubble information D2 of the withdrawal bubble B3 from the storage 13 (step S49). As a result, the support device 10 ends the process of managing, monitoring, etc. of the bubble for which the following driving support service has ended.

(Processing of support device 4: Management of bubble information between different areas)
FIG. 15 is a sequence diagram showing an example of management of bubble information between different areas in the support system according to the first embodiment.
Although FIG. 1 shows an example in which the support system 1 includes one support device 10, the present invention is not limited to this. When the target road R spans multiple areas, the support system 1 may provide multiple support devices 10 for each area. Further, a different road operator operates the target road R for each area, and the support device 10 for each area may be operated by each road operator. Here, as shown in FIG. 15, an example will be described in which the target road R has two areas A and B, and two support devices 10A for area A and 10B for area B are provided.

First, assume that in area A, the support device 10A executes the bubble generation process (steps S10 to S17 in FIG. 4) for the target vehicle 20A, and a bubble B1 with the target vehicle 20A as the leader is registered. Furthermore, the leader 20A of the bubble B1 transmits update information to the support device 10A of the area A at predetermined time intervals while traveling in the area A (step S50).

When the update information acquisition unit 112 of the support device 10A receives the update information D3 from the bubble B1, it checks whether the bubble ID (bubble information D2) of this bubble B1 is registered (step S51). When the bubble information D2 of the bubble B1 has been registered in the support device 10A, the update information acquisition unit 112 of the support device 10A records the update information D3 in the storage 13 as management information such as the running position of the bubble B1. (Step S52).

Also, assume that bubble B1 moves from area A to area B. After moving to area B, the leader 20A of bubble B1 transmits update information D3 to the support device 10B at predetermined time intervals (step S50).

When the update information acquisition unit 112 of the support device 10B receives the update information D3 from the bubble B1, it checks whether the bubble ID (bubble information D2) of this bubble B1 is registered (step S51). Bubble information D2 of bubble B1 is registered in area A, so it is not registered in area B support device 10B. Therefore, the update information acquisition unit 112 of the support device 10A requests the bubble B1 to transmit the bubble information D2 (step S53).

Upon receiving the request to send the bubble information D2, the leader 20A of the bubble B1 transmits the bubble information D2 received together with the bubble ID from the support device 10A (step S13 in FIG. 3) to the support device 10B (step S54).

The update information acquisition unit 112 of the support device 10B records the bubble information D2 received from the bubble B1 in the storage 13 (step S55).

Furthermore, the leader 20A of the bubble B1 transmits update information D3 to the support device 10B at predetermined time intervals while traveling in the area B (step S50).

When the update information acquisition unit 112 of the support device 10B receives the update information D3 from the bubble B1, it checks whether the bubble ID of this bubble B1 is registered (step S51). Through the processing of steps S53 to S55, the bubble information D2 of the bubble B1 has been registered in the support device 10B, so the update information acquisition unit 112 of the support device 10B uses the bubble information D2 as management information such as the running position of the bubble B1. , update information D3 is recorded in the storage 13 (step S52).

In this way, the support device 10B can take over the management of the bubble B1 from the support device 10A in area A by acquiring the bubble information D2 of the bubble B1 generated by the support device 10A via the bubble B1. Here, processing is shown in the case where the support device 10A and the support device 10B do not share information regarding bubbles, but a plurality of support devices 10 may share bubble information for processing.

(Status transition of target vehicle)
FIG. 16 is a diagram illustrating an example of state transition of the target vehicle according to the first embodiment.
With reference to FIG. 16, how the state and role (leader or non-leader) of the target vehicle 20 change will be explained using the target vehicle 20A of FIG. 3 as an example.

"V11: Waiting for start" is a state in which the target vehicle 20A has not started the following driving support service using bubbles.

"V12: Waiting for bubble ID issuance" is a state in which the target vehicle 20A is waiting for a bubble ID notification from the support device 10 after starting the following driving support service (C101).

"V13: Single bubble (leader)" is a state in which the target vehicle 20A has been issued with the bubble ID of the single bubble B1 from the support device 10 (C102). After the target vehicle 20A transitions to this state, it transmits the update information D3 to the support device 10. Since the single bubble B1 does not include any other target vehicle, the target vehicle 20A is the leader of the single bubble B1.

"V14: Waiting for matching candidates (leader)" is a state in which a "following travel request is made to the support device 10 (C103) and the support device 10 is waiting for notification of selection of matching candidates. In this state, matching is canceled ( C105). Then, the state returns to the transition source state (V13).

“V15: Negotiation state (leader)” is a state in which bubble integration processing or bubble separation processing is in progress.
The state in which bubble integration processing is in progress is a state from when the bubble ID of a matching candidate is notified from the support device 10 (C106) until the integration processing between bubbles is completed (steps S21 to S28 in FIG. 8). . The leader selection is based on coordination among the target vehicles 20. Note that if matching is canceled (C107), the state returns to the transition source state (V13).
The state in which a bubble is being separated is a state from when a separation request is received from the leader of an integrated bubble until the bubble separation is completed (steps S40 to S45 in FIG. 13). There is a case (C114) in which the target vehicle 20A itself is a leader and makes a withdrawal request, and a case (C115) in which the target vehicle 20A is a non-leader and is promoted to leader in place of the leader who is leaving.

"V16: Integration completed (leader)" is a state when the target vehicle 20A is able to maintain the position of the leader of the integrated bubble B1 as a result of the bubble integration process (C109).
If there is no vacant seat in the integrated bubble B1 (number of included vehicles = upper limit number) (C112), the target vehicle 20A continues to travel in this state.
The target vehicle 20A is moved to "V13: Single bubble (leader)" when there is a vacant seat in integrated bubble B1 (number of included vehicles < upper limit number) or when a vacant seat occurs due to departure of another vehicle (non-leader) (C113). Transition.
Furthermore, if the target vehicle 20A itself, which is the leader, desires to leave the integrated bubble B1 or to be demoted from leader to non-leader (C114), the state transitions to "V15: Negotiation state (leader)". At this time, the target vehicle 20A, which is the leader, instructs the other target vehicles 20 in the integrated bubble B1 to perform readjustment (withdrawal mediation) such as selection of a new leader.

"V17: Integration completed (non-leader)" is a state (C110) when the target vehicle 20A does not become the leader of the integrated bubble (is demoted) as a result of the bubble integration process. If the target vehicle 20A, which is a non-leader, wishes to exit the target road R or proceed to SA/PA, it can leave the integrated bubble by requesting the leader of the integrated bubble to leave (C116). can.
In addition, when a leader requests to leave or a leader wishes to be demoted to a non-leader, a readjustment instruction is received from the leader. If vehicle-to-vehicle communication with the leader is interrupted during readjustment, it is determined that the leader has disappeared (C117), and the state transitions to "V18: Waiting for departure" state. As a result, the target vehicle 20A once resets its state and redoes the process of generating and integrating bubbles.
Note that if the user becomes the leader due to readjustment, the state transitions to "V15: Negotiation state (leader)".

"V18: Waiting for departure" is the state after the target vehicle 20A (non-leader) transmits a withdrawal request to the integrated bubble leader (C116). If a response (withdrawal bubble ID notification) is obtained from the leader in response to the withdrawal request, the bubble runs as an independent bubble (withdrawal bubble), and after determining the end of the service (C118), transitions to the "V19: End" state. The target vehicle 20A determines that the service is to be terminated, for example, when a termination operation by the user or exit from the target road R is detected, or after a predetermined timeout period has elapsed after transitioning to this state.
The target vehicle 20A may also transition to this state when the withdrawal request to the leader has not been received (no response).

"V19: Finished" is a state after the target vehicle 20A finishes the following driving support service using bubbles (C104, C118).

(Support device state transition)
FIG. 17 is a diagram illustrating an example of state transition of the support device according to the first embodiment.
With reference to FIG. 17, changes in the management state when the support device 10 manages the bubble B1 of the target vehicle 20A will be described.

"V21: Waiting for bubble ID request" is the initial state of the support device 10, and is a state in which it waits for a bubble registration request (bubble ID issuance request) from the target vehicle 20A.

"V22: Waiting for bubble service request" is a state in which, after issuing a bubble ID in response to a bubble registration request from the target vehicle 20A (C201), it waits for a follow-up request (matching request) from the bubble B1 of the target vehicle 20A. . Further, upon receiving the update information D3 of the bubble B1 (C202), the support device 10 continues this state and performs processing such as monitoring the position and speed of the bubble B1.

"V23: Waiting for matching candidate confirmation" is a state in which the support device 10 receives a matching request from bubble B1 (C203) and selects a matching candidate for this request source bubble B1. When the support device 10 receives the update information D3 from the request source bubble B1 (C204), it continues this state and reselects matching candidates.
When the request source bubble B1 cancels the matching request (C205), the support device 10 returns to "V22: Waiting for bubble service request".
When the request source bubble B1 terminates (cancels) the service (C206), the support device 10 enters a state of "V26: Bubble management ended" for this request source bubble B1.

"V24: Waiting for completion of bubble integration" is a state in which, after the support device 10 selects matching candidates for the requesting bubble B1 (C207), it waits for notifications of integration completion from the requesting bubble B1 and the matching candidates. When the support device 10 receives the update information D3 from the request source bubble B1 (C208), it continues this state, monitors the position and speed of the request source bubble B1, and transmits the update information D3 of the request source bubble B1 to matching candidates. Perform processing such as transferring.

"V25: Waiting for bubble integration update" means that when the requesting bubble B1 receives an integration completion notification indicating that it will continue as an integrated bubble B1 (C209), each target vehicle continues to follow this integrated bubble B1. The update information D3 from the integrated bubble B1 is awaited. When the support device 10 receives the update information D3 from the integrated bubble B1 (C210), it continues this state and performs processing such as monitoring the position and speed of the integrated bubble B1.

"V26: Bubble management completed" is a state in which the support service for bubble B1 is no longer required and management of this bubble B1 has ended.
When the support device 10 receives an integration completion notification indicating that the request source bubble B1 for which matching is desired will disappear as a non-integrated bubble B1 (C211), or the service ends (e.g., the detached bubble leaves the target road R). When the bubble becomes unnecessary (C212, C213), the process transitions to this state and ends the management of bubble B1.
Further, when the support device 10 receives a bubble separation request (withdrawal bubble ID request) from the integrated bubble B1 (C214), the support device 10 separates the integrated bubble B1 into two bubbles: a continuation bubble and a withdrawal bubble. At this time, the support device 10 transits to "V21: Waiting for bubble ID request" to issue an ID for the withdrawal bubble, and terminates the service from the withdrawal bubble after issuing the withdrawal bubble ID (after transitioning to "V22: Waiting for matching request"). When the notification is received (C215), the process returns to "V26: End of bubble management" and ends the management of the leaving bubble.

(action, effect)
As described above, when the support device 10 according to the present embodiment receives a bubble registration request from the target vehicle 20, it generates a bubble that is a group of vehicles following the target vehicle 20 as a leader, and A bubble generation unit 110 that registers bubble information D2 that associates vehicle information D1 of the vehicle 20 with the bubble ID (identification information) of the generated bubble, and a predetermined matching condition is satisfied when a following travel request is received from the bubble. A matching processing unit 111 that selects a bubble as a matching candidate for the requesting bubble of the following travel request, an integration instruction unit 113 that instructs the leaders of the requesting bubble and the matching candidate to integrate the bubbles, and It includes an update processing unit 114 that integrates and updates the bubble information D2 of the integrated bubble with the bubble information D2 of the integrated bubble when it receives an integration completion notification notifying that one of the bubbles is to be an integrated bubble.

By doing so, the support device 10 can start the process of searching for matching candidates for following driving without relying on the mutual connection between the target vehicles 20 through the vehicle-to-vehicle communication, and therefore the communication range of the vehicle-to-vehicle communication. It is possible to prevent the matching candidate search process from being hindered by the presence of other non-target vehicles 30 or the like. In addition, the support device 10 collectively manages a group of vehicles (a plurality of target vehicles 20) that perform follow-up travel in units called bubbles, and sends and receives instructions for bubble integration to and from the leader of each bubble, so that each target vehicle 20 Management resources and communication volume can be reduced compared to managing each separately.

The matching processing unit 111 also processes bubbles that have a travel route that is at least partially in common with the travel route to the destination of the request source bubble, and the length of the common travel route is longer than a predetermined distance, or A bubble whose travel time on a travel route is longer than a predetermined time is selected as a matching candidate.

If the distance or time for tailgating is short, the effects obtained from tailgating (reducing driving burden, improving fuel efficiency, etc.) will be smaller. However, the support device 10 according to the present embodiment suppresses shortening of the distance or time during which following driving is performed by matching bubbles that can continue following driving for a predetermined distance or a predetermined time, The effect of following driving can be enhanced.

Furthermore, the matching processing unit 111 selects a bubble having a vehicle attribute that matches the vehicle attribute of the requesting bubble as a matching candidate.

If the vehicle attributes (vehicle size, etc.) differ significantly, the effects of following driving, such as improving fuel efficiency due to improved aerodynamic performance, may be reduced. However, by matching bubbles with matching vehicle attributes, the support device 10 according to the present embodiment can suppress the reduction in the effect obtained by following the vehicle.

Furthermore, the matching processing unit 111 selects a bubble whose total number of vehicles including the number of vehicles included in the requesting bubble is equal to or less than the upper limit number of vehicles as a matching candidate.

By doing so, the support device 10 prevents the integrated bubble from becoming too large and making it difficult to follow the bubble, or from affecting the driving of other surrounding vehicles (non-target vehicle 30). Can be done.

Furthermore, the support device 10 further includes an update information acquisition unit 112 that acquires update information D3 including the travel positions of each of the plurality of bubbles. Based on the update information D3, the matching processing unit 111 selects bubbles located within a predetermined search distance from the traveling position of the requesting bubble as matching candidates.

By doing so, the support device 10 can exclude bubbles that take time to integrate from matching candidates. As a result, it is possible to prevent the distance or time for performing following driving after integration from becoming short and reducing the effect obtained by following driving.

Furthermore, regarding the two matching bubbles, the integration instruction unit 113 instructs at least one of deceleration of the preceding bubble and acceleration of the subsequent bubble so that the subsequent bubble catches up with the preceding bubble.

By doing so, the support device 10 can adjust the speed of the two matched bubbles to more reliably merge these bubbles. Further, since the driver of each bubble does not have to judge acceleration/deceleration by himself/herself in consideration of the position and speed of other bubbles, the burden associated with driving can be reduced.

In addition, when the support device 10 receives a separation request to cause a leaving vehicle to leave the bubble, it deletes and updates the vehicle information D1 of the leaving vehicle from the bubble information D2 of the bubble, and also updates the leaving vehicle with the leaving vehicle as the leader. The apparatus further includes a separation processing unit 115 that generates bubble information D2 of the leaving bubble.

By doing so, the support device 10 can integrate and separate the bubbles as necessary, so that the target vehicles 20 having different destinations can be combined and driven to follow each other as one bubble.

<Other embodiments>
In the embodiment described above, when the matching processing unit 111 of the support device 10 exists a bubble that satisfies the matching condition within a search distance (for example, 1 km) in the traveling direction of the bubble B1 that requests follow-up travel, The manner in which this bubble is selected as a matching candidate has been described, but the present invention is not limited to this. In another embodiment, the matching processing unit 111 may set a time limit for matching bubbles, and may select bubbles that can be matched within this time limit as matching candidates.

The bubble B1 that requests follow-up travel receives an operation from the user of the leader 20A and sets a time limit indicating by when bubble integration with the matching candidate is desired to be completed. Further, the request source bubble B1 transmits the following travel request (step S15 in FIG. 4), the set time limit, and update information D3 to the support device 10 (step S15 in FIG. 4).

Furthermore, in the matching candidate search process (step S21 in FIG. 8), the matching processing unit 111 of the support device 10 satisfies the above-mentioned matching conditions (1) to (4) and matches the request source bubble B1 within the time limit. Bubbles that can merge are selected as matching candidates.

Note that the matching processing unit 111
RT: Time limit DL: Distance between the position of the requesting bubble B1 in the latest update information D3 and the opponent bubble DV: Bubble speed difference between the requesting bubble B1 and the opponent bubble in the latest update information D3. A bubble that satisfies ÷DV<RT is determined to be able to merge with the request source bubble B1.

For example, assume that the time limit set by the requesting bubble B1 is 10 minutes, and that there are bubbles B2 and B3 that satisfy the matching condition. If the distance between request source bubble B1 and bubble B2 is 0.5 km and the speed difference is 5 km/h, "0.5 km/5 km/h=6 minutes". Then, since the time it takes to merge is less than the time limit, the matching processing unit 111 selects this bubble B2 as a matching candidate. On the other hand, if the distance between request source bubble B1 and bubble B3 is 1 km and the speed difference is 5 km/h, "1 km/5 km/h=12 minutes". In this case, since the time required for the bubbles to merge exceeds the time limit, the matching processing unit 111 excludes this bubble B3 from the matching candidates.

Furthermore, if there are multiple bubbles that satisfy the matching information and can merge by the time limit, the matching processing unit 111 selects the bubble closest to the request source bubble B1 as a matching candidate. Thereby, the matching processing unit 111 can select bubbles that can merge in the shortest time as matching candidates.

By doing so, the support device 10 can shorten the time it takes to complete bubble integration, thereby reducing the distance and time that the target vehicle 20 travels alone before finding the bubble that is the integration partner. Can be done. As a result, it is possible to prevent the distance or time for performing following driving after integration from becoming short and reducing the effect obtained by following driving.

Although one embodiment has 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. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Also, some of the processes may be executed in parallel.

<Additional notes>
The support device, support method, and program described in the above-described embodiments can be understood, for example, as follows.

(1) According to the first aspect, when a bubble registration request is received from a vehicle, the support device 10 that supports following driving of a vehicle generates a bubble, which is a group of vehicles in following driving with the vehicle as a leader. A bubble generation unit 110 registers bubble information D2 that associates vehicle information D1 of the vehicle with identification information of generated bubbles, and a bubble generation unit 110 that registers bubble information D2 that associates vehicle information D1 of the vehicle with identification information of generated bubbles. A matching processing unit 111 that selects a bubble that satisfies a predetermined matching condition among the bubbles as a matching candidate for the requesting bubble of the follow-up request, and an integration instructing unit 113 that instructs the leaders of the requesting bubble and the matching candidate to integrate the bubbles. When an integration completion notification is received informing that one of the requesting bubble and the matching candidate will be an integrated bubble, the bubble information D2 of the integrated bubble to be integrated into the integrated bubble is integrated into the bubble information D2 of the integrated bubble. and an update processing unit 114 that performs updates.

(2) According to the second aspect, in the support device 10 according to the first aspect, the vehicle information D1 includes the destination of the vehicle, and the matching processing unit 111 matches the driving route to the destination of the requesting bubble. Bubbles that have at least part of a common travel route, the length of the common travel route being longer than a predetermined distance, or the travel time of the common travel route being longer than a predetermined time are selected as matching candidates.

By doing so, the support device 10 can suppress the shortening of the distance or time for following the vehicle and increase the effectiveness of the vehicle following the vehicle.

(3) According to the third aspect, in the support device 10 according to the first or second aspect, the vehicle information D1 includes the vehicle attribute of the vehicle, and the matching processing unit 111 matches the vehicle attribute of the request source bubble. bubbles with vehicle attributes are selected as matching candidates.

By doing so, the support device 10 can prevent the effect obtained by following the vehicle from being reduced due to mismatch in vehicle attributes.

(4) According to the fourth aspect, in the support device 10 according to any one of the first to third aspects, the matching processing unit 111 has an upper limit of the total number of vehicles included in the request source bubble. Bubbles whose number is less than or equal to the number of bubbles are selected as matching candidates.

By doing so, the support device 10 can prevent the bubble after integration from becoming too large, making it difficult to follow the bubble, or from affecting the driving of other surrounding vehicles.

(5) According to the fifth aspect, the support device 10 according to any one of the first to fourth aspects includes the update information acquisition unit 112 that acquires the update information D3 including the running position of each of the plurality of bubbles. Furthermore, the matching processing unit 111 selects bubbles located within a predetermined search distance from the traveling position of the requesting bubble as matching candidates based on the update information D3.

(6) According to the sixth aspect, the support device 10 according to any one of the first to fourth aspects acquires update information D3 that includes the running position and bubble speed of each of the plurality of bubbles. The matching processing unit 111 further includes a unit 112, and the matching processing unit 111 selects, as a matching candidate, a bubble that can merge within a set time specified by the requesting bubble, based on the update information D3.

By doing so, the support device 10 can shorten the time it takes to complete bubble integration, thereby shortening the distance and time that the target vehicle 20 travels alone before finding the bubble that is the integration partner. Can be done. As a result, it is possible to prevent the distance or time for performing the follow-up travel after integration from becoming shorter and the effect obtained by the follow-up travel to be reduced.

(7) According to the seventh aspect, in the support device 10 according to any one of the first to sixth aspects, the integration instruction unit 113 determines whether the subsequent bubble running behind the request source bubble and the matching candidate is Instruct at least one of deceleration of the preceding bubble and acceleration of the following bubble so as to catch up with the preceding bubble traveling ahead.

(8) According to the eighth aspect, when the support device 10 according to any one of the first to seventh aspects receives a separation request for leaving a detached vehicle from a bubble, the support device 10 extracts the bubble information D2 of the bubble from the bubble information D2 of the bubble. Delete and update the vehicle information D1 of the leaving vehicle, generate a leaving bubble with the leaving vehicle as the leader, and register bubble information D2 that associates the vehicle information D1 of the leaving vehicle with the identification information of the generated leaving bubble. The apparatus further includes a separation processing section 115 that performs the following steps.

(9) According to the ninth aspect, the support method is a support method for supporting following driving of a vehicle, and when a bubble registration request is received from a vehicle, a group of vehicles in following driving with the vehicle as a leader. A step of generating a bubble and registering bubble information D2 that associates vehicle information D1 of the vehicle with identification information of the generated bubble; A step of selecting a bubble that satisfies a predetermined matching condition among the bubbles as a matching candidate for the requesting bubble of the following travel request, a step of instructing the leaders of the requesting bubble and the matching candidate to merge the bubbles, and When an integration completion notification notifying that one of the matching candidates is to be an integrated bubble is received, updating bubble information D2 of an integrated bubble to be integrated into the integrated bubble with bubble information of the integrated bubble; , has.

(10) According to the tenth aspect, when receiving a bubble registration request from a vehicle, the program generates a bubble that is a group of vehicles following the vehicle with the vehicle as the leader, and sets the vehicle information D1 of the vehicle. A step of registering bubble information D3 associated with the identification information of the generated bubble, and when a following driving request is received from a vehicle included in the bubble, a bubble that satisfies a predetermined matching condition among the plurality of bubbles, a step of selecting a requesting bubble as a matching candidate for the requesting bubble; a step of instructing the leaders of the requesting bubble and the matching candidate to merge the bubbles; and a step of notifying that one of the requesting bubble and the matching candidate will be the merged bubble. When the completion notification is received, the support device is caused to perform a step of integrating and updating bubble information D2 of the integrated bubble to be integrated into the integrated bubble with the bubble information D2 of the integrated bubble.

1 Support system 10, 10A, 10B Support device 11 Processor 110 Bubble generation section 111 Matching processing section 112 Update information acquisition section 113 Integration instruction section 114 Update processing section 115 Separation processing section 116 Notification section 12 Memory 13 Storage 14

Communication interface

20, 20A , 20B Target vehicle 30 Non-target vehicle 50 Roadside equipment

Claims

A support device that supports following driving of a vehicle,
When a bubble registration request is received from the vehicle, a bubble is generated that is a group of vehicles following the vehicle with the vehicle as the leader, and bubble information is generated that associates the vehicle information of the vehicle with the identification information of the generated bubble. A bubble generation unit to register,
a matching processing unit that selects a bubble that satisfies a predetermined matching condition from among the plurality of bubbles as a matching candidate for a requesting bubble of the following request when a following request is received from a vehicle included in the bubble;
an integration instruction unit that instructs leaders of the request source bubble and the matching candidate to integrate bubbles;
When an integration completion notification notifying that one of the request source bubble and the matching candidate is to be an integrated bubble is received, bubble information of an integrated bubble to be integrated into the integrated bubble is integrated into bubble information of the integrated bubble. an update processing unit that updates the
A support device equipped with.
The vehicle information includes a destination of the vehicle,
The matching processing unit is configured to match a bubble that has a travel route that is at least partially in common with the travel route to the destination of the requesting bubble, and the length of the common travel route is equal to or longer than a predetermined distance, or selecting a bubble whose route travel time is longer than a predetermined time as the matching candidate;
The support device according to claim 1.
The vehicle information includes vehicle attributes of the vehicle,
The matching processing unit selects a bubble having a vehicle attribute that matches a vehicle attribute of the requesting bubble as the matching candidate.
The support device according to claim 1.
The matching processing unit selects, as the matching candidate, a bubble in which the total number of vehicles included in the request source bubble is equal to or less than the upper limit number of vehicles.
The support device according to claim 1.
further comprising an update information acquisition unit that acquires update information including travel positions of each of the plurality of bubbles,
The matching processing unit selects, as the matching candidate, a bubble located within a predetermined search distance from the traveling position of the request source bubble, based on the update information.
The support device according to claim 1.
further comprising an update information acquisition unit that acquires update information including travel positions and bubble speeds of each of the plurality of bubbles,
The matching processing unit selects, as the matching candidate, a bubble that can merge within a set time specified by the requesting bubble, based on the update information.
The support device according to claim 1.
The integration instruction unit instructs at least one of deceleration of the preceding bubble and acceleration of the subsequent bubble so that the subsequent bubble running behind among the requesting bubble and the matching candidate catches up with the preceding bubble running ahead. do,
The support device according to claim 1.
When receiving a separation request to cause a detached vehicle to leave the bubble, delete and update vehicle information of the detached vehicle from bubble information of the bubble, and generate a detachment bubble with the detached vehicle as a leader; further comprising a separation processing unit that registers bubble information that associates vehicle information of the leaving vehicle with identification information of the generated leaving bubble;
The support device according to any one of claims 1 to 7.
A support method for supporting following driving of a vehicle,
When a bubble registration request is received from the vehicle, a bubble is generated that is a group of vehicles following the vehicle with the vehicle as the leader, and bubble information is generated that associates the vehicle information of the vehicle with the identification information of the generated bubble. Steps to register,
When a following request is received from a vehicle included in the bubble, selecting a bubble that satisfies a predetermined matching condition from among the plurality of bubbles as a matching candidate for the requesting bubble of the following request;
instructing the respective leaders of the request source bubble and the matching candidate to merge bubbles;
When an integration completion notification notifying that one of the request source bubble and the matching candidate is to be an integrated bubble is received, bubble information of an integrated bubble to be integrated into the integrated bubble is integrated into bubble information of the integrated bubble. and the step of updating
A support method with
When a bubble registration request is received from a vehicle, a bubble is generated that is a group of vehicles following the vehicle with the vehicle as the leader, and bubble information is registered that associates the vehicle information of the vehicle with the identification information of the generated bubble. the step of
When a following request is received from a vehicle included in the bubble, selecting a bubble that satisfies a predetermined matching condition from among the plurality of bubbles as a matching candidate for the requesting bubble of the following request;
instructing the respective leaders of the request source bubble and the matching candidate to merge bubbles;
When an integration completion notification notifying that one of the request source bubble and the matching candidate is to be an integrated bubble is received, bubble information of an integrated bubble to be integrated into the integrated bubble is integrated into bubble information of the integrated bubble. and the step of updating
A program that causes the support device to execute.