Vehicle following travel system, information processing method, and storage medium

Abstract

In a vehicle following system, a user of a following vehicle is made to easily grasp a reward for following travel. A vehicle following system for causing a following vehicle to follow a preceding vehicle to perform following travel. A user of the following vehicle is caused to input a desired departure point and a desired destination. A preceding vehicle for the following vehicle to follow is searched for based on the departure point and the destination. A travel plan including a section of following travel in at least a part of a route between the departure point and the destination is generated. A reward from the following vehicle to the preceding vehicle for the following travel is calculated based on the travel plan.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle following travel system, an information processing method, and a storage medium. BACKGROUND

[0002] In order to realize automatic driving, a following travel system is proposed in which a following vehicle follows a preceding vehicle. In Patent Literature 1, a technology is disclosed in which a following vehicle is controlled in accordance with a target trajectory that follows a travel trajectory of a preceding vehicle, so as to maintain a distance from the preceding vehicle. In addition, in Patent Literature 2, a technology is disclosed in which braking, driving, or steering of a preceding vehicle is limited based on vehicle performance of a following vehicle. Further, in Patent Literature 3, a technology is disclosed in which a preceding vehicle is selected based on a predetermined travel path of a following vehicle, and information indicating a travel plan and the preceding vehicle to be followed is presented to a user of the following vehicle. On the other hand, Patent Literature 4 discloses that in platooning, a user of a following vehicle pays a fee to a driver of a preceding vehicle using an ETC system.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2019-001227

[0006] Patent Literature 2: Japanese Patent Application Publication No. 2019-156197

[0007] Patent Literature 3: International Publication No. 2016 / 113890

[0008] Patent Literature 4: Japanese Patent Application Publication No. 2004-94780 SUMMARY

[0009] PROBLEMS TO BE SOLVED BY THE INVENTION

[0010] In the technology described in Patent Literature 4, a fee is determined based on travel time and travel distance, and if platooning ends, payment of the fee is performed. However, in the technology described in Patent Literature 4, the fee is not determined until platooning ends. Therefore, it is not easy for a user of a preceding vehicle or a following vehicle to determine whether or not to participate in following travel.

[0011] An object of the present application is to make it easy for a user of a preceding vehicle or a following vehicle to grasp a reward for following travel in a vehicle following travel system.

[0012] MEANS FOR SOLVING THE PROBLEMS

[0013] In order to achieve the object of the present application, a vehicle following travel system according to an embodiment of the present application has the following configuration.

[0014] That is, a vehicle follow-up travel system that is a vehicle follow-up travel system for causing a follow-up vehicle to follow a lead vehicle to travel, includes:

[0015] an acquisition unit that acquires a departure place and a destination desired by a user of the follow-up vehicle;

[0016] a search unit that searches for the lead vehicle for the follow-up vehicle to follow, based on the departure place and the destination;

[0017] a generation unit that generates a travel plan of a section including the follow-up travel in at least a part between the departure place and the destination; and

[0018] a calculation unit that calculates a reward to the lead vehicle for the follow-up travel, based on the travel plan.

[0019] Effects of Invention

[0020] In the vehicle follow-up travel system, a user of the lead vehicle or the follow-up vehicle is easily able to grasp a reward for follow-up travel.

[0021] Other features and advantages of the present application will be apparent from the following specification taken in conjunction with the accompanying drawings, wherein like elements refer to identical parts. Additionally, for the purpose of clarity and the convenience of the reader, the figures herein are in schematic form and the dimensions of certain aspects are exaggerated relative to others. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

[0023] Figure 1 is a diagram illustrating an example of follow-up travel related to one embodiment.

[0024] Figure 2 is a diagram illustrating an example of a configuration of a vehicle follow-up travel system related to one embodiment.

[0025] Figure 3 is a diagram illustrating an example of a functional configuration of an information processing apparatus related to one embodiment.

[0026] Figure 4 is a diagram illustrating information exchange between an information processing apparatus and a vehicle related to one embodiment.

[0027] Figure 5 is a diagram illustrating an example of follow-up travel related to one embodiment.

[0028] Figure 6 is a diagram illustrating an example of follow-up travel related to one embodiment.

[0029] Figure 7 is a diagram illustrating an example of follow-up travel involved in one embodiment.

[0030] Figure 8 is a flowchart of an information processing method involved in one embodiment.

[0031] Figure 9 is a flowchart of an information processing method involved in one embodiment.

[0032] Figure 10 is a diagram showing an example of a hardware configuration of an information processing apparatus involved in one embodiment. DETAILED DESCRIPTION

[0033] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments are not limiting on the technical scope of the present application, and the combinations of characteristics described in the embodiments are not necessarily essential to the application. Two or more characteristics described in the embodiments can be combined arbitrarily. In addition, the same portions or similar portions are denoted by the same reference numerals in different drawings, and repeated explanations are omitted.

[0034] [Embodiment 1]

[0035] One embodiment of the present application relates to a vehicle follow-up travel system in which a follow-up vehicle follows a leading vehicle to perform follow-up travel. The control method of follow-up travel is not particularly limited, and for example, the method described in Patent Document 1 and Patent Document 2 can be employed. Hereinafter, follow-up travel involved in one embodiment will be described.

[0036] (Follow-up travel control)

[0037] Figure 1 is an example of follow-up travel. As shown in Figure 1 , at the time of follow-up travel, the follow-up vehicle 202 can recognize the leading vehicle 201 and automatically (without manual driving by the user) perform follow-up travel following the recognized leading vehicle 201. The follow-up vehicle 202 can recognize the leading vehicle 201 by vehicle-to-vehicle communication with the leading vehicle 201, or can recognize the leading vehicle 201 using a shape recognition device such as a vehicle-mounted camera or a laser radar. The follow-up vehicle 202 and the leading vehicle 201 can be provided with a vehicle motion control system such as that shown in Figure 2 .

[0038] Figure 2 is a block diagram showing an example of the functional configuration of the follow-up vehicle 202 and the leading vehicle 201 that perform follow-up travel using vehicle-to-vehicle communication. In Figure 2In this case, the leading vehicle 201 is provided with a processing section 214 and a communication device 215, and the following vehicle 202 is provided with a communication device 221, an identification section 222, a track generation section 223, a motion control section 224, and a control section 225.

[0039] The processing section 214 of the leading vehicle 201 processes operation information of the accelerator 211, the brake 212, and the steering wheel 213 operated by the driver, and leading vehicle information constituted by a running state amount such as vehicle speed or acceleration, or a vehicle parameter. The communication device 215 transmits the leading vehicle information to the following vehicle 202.

[0040] The communication device 221 of the following vehicle 202 receives the leading vehicle information transmitted from the leading vehicle 201. The identification section 222 acquires leading vehicle identification information such as a relative distance, a relative speed, or a relative angle between the following vehicle and the leading vehicle. The identification section 222 can acquire the leading vehicle identification information based on the leading vehicle information acquired by the communication device 221 through vehicle-to-vehicle communication, or can acquire the leading vehicle identification information using a shape recognition device such as a vehicle-mounted camera or a LiDAR (LADAR) or a radar.

[0041] The track generation section 223 generates a target track for following the running track of the leading vehicle based on the information acquired by the identification section 222. The motion control section 224 calculates a control command for the vehicle motion of the following vehicle to follow the target track generated by the track generation section 223. The control section 225 calculates and outputs a control amount of a drive system 226 such as an engine or a drive motor, a brake 227, and a steering wheel 228 related to steering, braking, and driving, based on the control command calculated by the motion control section 224.

[0042] In addition, the leading vehicle 201 and the following vehicle 202 can be provided with a reporting section (not shown) that transmits the intention of the follow-up running to the surroundings by emitting light from a vehicle light or the like when the follow-up running is performed. By reporting that the follow-up running is in progress, it is possible to prevent cut-in between the leading vehicle 201 and the following vehicle 202. Further, the following vehicle 202 can be provided with a retreat function based on a track storage function, a retreat function based on a long-distance control, or a function of detecting a posture or the like and retreating, or the like, in consideration of a case where it is necessary to retreat at the end of the follow-up running or the like.

[0043] (Running Plan Generation)

[0044] In the vehicle follow-up running system, it is possible to formulate a running plan of the following vehicle 202 so that the following vehicle 202 can follow the leading vehicle 201. Figure 3is a block diagram showing one example of a configuration of a vehicle following travel system. The system includes an information processing apparatus 310, a terminal 320, and a terminal 330. Note that the vehicle following travel system does not necessarily include all of the information processing apparatus 310, the terminal 320, and the terminal 330. Also, the information processing apparatus 310, the terminal 320, and the terminal 330 are not necessarily separate apparatuses. For example, the vehicle following travel system can be configured of a plurality of information processing apparatuses that are connected via a network and realize the functions of the information processing apparatus 310. Further, part or all of the processes described below as processes performed by the information processing apparatus 310 can be performed by the terminal 320 or the terminal 330.

[0045] As shown in Figure 1 , the terminal 320 and the terminal 330 are information processing apparatuses associated with the following vehicle 202 and the leading vehicle 201, respectively. For example, the terminal 320 and the terminal 330 can be in-vehicle terminals such as car navigation terminals provided in the following vehicle 202 and the leading vehicle 201, or portable terminals such as smartphones held by users of the following vehicle 202 and the leading vehicle 201. The terminal 320 is associated with the following vehicle 202, acquires an operation or information input by a user of the following vehicle 202 to the information processing apparatus 310, and transmits the operation or the information to the information processing apparatus 310. Here, details of the content input by the user will be described later. Also, the terminal 320 can receive information from the information processing apparatus 310. For example, the terminal 320 can receive a travel plan from the information processing apparatus 310. Similarly, the terminal 330 is associated with the leading vehicle 201, and can transmit information to the information processing apparatus 310 and receive information from the information processing apparatus 310. For example, the terminal 330 can also receive a travel plan from the information processing apparatus 310. Here, the terminal 330 can receive a travel plan directly from the information processing apparatus 310, or can receive a travel plan via a server that manages travel of the leading vehicle 201.

[0046] The information processing apparatus 310 generates a travel plan based on a departure place and a destination desired by a user of the following vehicle 202. The travel plan includes a section in which the following vehicle 202 follows the leading vehicle 201 in at least a part of a route between the departure place and the destination. Here, the information processing apparatus 310 can search for the leading vehicle 201 that the following vehicle 202 follows in the section in which the following vehicle 202 follows. Hereinafter, for the sake of explanation, it is assumed that the information processing apparatus 310 is a server of an application that provides following travel as a service, and generates a travel plan based on matching with the leading vehicle 201 input by a user of the following vehicle 202.

[0047] Figure 10is a block diagram indicating a hardware configuration example of the information processing apparatus 310. The information processing apparatus 310 includes a processing section 1101, a storage section 1102, and a communication I / F (interface) 1103. The processing section 1101 is a processor like a CPU, and executes a program stored in the storage section 1102. The storage section 1102 is a storage device such as a RAM, a ROM, a hard disk, or the like, and can store a program and various data. The communication I / F 1103 is a wired or wireless communication interface. The communication I / F 1103 can communicate with the terminal 320 and the terminal 330 via a communication network. In addition, the communication I / F 1103 can communicate with the leading vehicle 201 or the following vehicle 202 via the communication network and the communication device 215 or the communication device 221.

[0048] Figure 3 Each function of the information processing apparatus 310 illustrated can be realized by the processing section 1101 acting in accordance with a program stored in the storage section 1102. In addition, the functions of the processing section 214, the recognition section 222, the motion control section 224, and the control section 225 can also be realized by a processor possessed by the leading vehicle 201 or the following vehicle 202 acting in accordance with a program stored in a memory. Similarly, the actions of the terminal 320 or the terminal 330 described later can also be realized by a processor possessed by the terminal 320 or the terminal 330 acting in accordance with a program stored in a memory. However, Figure 3 At least a part of the functions of the information processing apparatus 310 illustrated can also be realized by a dedicated hardware.

[0049] In the storage section 1102, various data are stored in addition to the program executed by the processing section 1101. The data include, for example, a program, a table, and the like. Figure 10In the example of FIG. 11, as data stored in the storage section 1102, a database (DB) 1111 and a DB 1112 are exemplified. The DB 1111 is a DB in which information of candidates of a preceding vehicle to be followed is registered. The information of the candidates of the preceding vehicle can be information of a driver of the preceding vehicle, for example, can be the number of times of experience of preceding travel in follow-up travel, or an evaluation given by a user of the following vehicle, and the like. In addition, the information of the candidates of the preceding vehicle can also be information related to a vehicle parameter of the preceding vehicle. The information related to the vehicle parameter can be a maximum speed, a maximum acceleration, a maximum braking force, a maximum steering angle, a minimum turning radius, whether or not autonomous travel on an expressway is possible, overall length, width, and height, or fuel information of the preceding vehicle. Further, the information of the candidates of the preceding vehicle can also be travel information of the vehicle indicating a current location of the vehicle or a scheduled moving route of the vehicle, and the like. In addition, the DB 1112 is a DB in which information of the following vehicle is registered. The information of the following vehicle can be information of a vehicle parameter of the following vehicle. The information of the following vehicle can be stored in association with an account of a user who wishes to follow in the DB 1112. Furthermore, in the present specification, autonomous travel refers to automatic travel in which at least a part of the operation of the vehicle by the user is automated, unlike follow-up travel in which the preceding vehicle is followed and normal travel in which the user performs normal manual driving.

[0050] Hereinafter, a case in which the information processing apparatus 310 generates a travel plan in which follow-up travel is performed in at least a part between a departure location and a destination based on the departure location and the destination desired by the user of the following vehicle 202 will be described. Furthermore, the departure location desired by the user can be a current position of the following vehicle 202, or a position selected by the user on an online map. In this case, the following vehicle 202 can be a vehicle possessed by the user, or a vehicle temporarily used by the user. In addition, the preceding vehicle 201 is not particularly limited. The preceding vehicle 201 can be a vehicle (hereinafter, a delivery vehicle) driven by a logistics infrastructure practitioner of a transport company, a postal transport, or the like that performs delivery while performing transport, or can be a vehicle (hereinafter, a professional vehicle) driven by a professional who performs only preceding.

[0051] In the present specification, a start point and an end point of follow-up travel are referred to as a handover point. In addition, the start point of follow-up travel is referred to as a merging point. The merging point can include the departure location, or can include a plurality of merging points at which follow-up travel with different preceding vehicles 201 is respectively started in a travel plan from the departure location to the destination.

[0052] As described above, the information processing apparatus 310 can generate a travel plan in which follow-up travel is performed in at least a part between a departure location and a destination based on the departure location and the destination desired by the user of the following vehicle 202. Figure 3As shown, the information processing apparatus 310 according to the present embodiment includes an acquisition unit 311, a route search unit 312, a vehicle search unit 313, a plan generation unit 314, and a transmission unit 315. In addition, a reward calculation unit 316 is a functional unit used in a case where a reward is paid from the follower vehicle 202 to the leader vehicle 201, and will be described later in detail.

[0053] The acquisition unit 311 acquires a departure place and a destination desired by a user of the follower vehicle. The terminal 320 has a touch screen-like acquisition unit that acquires a departure place and a destination desired by a user of the follower vehicle 202. Also, the acquisition unit 311 can acquire a departure place and a destination input by a user who desires to follow a ride to the terminal 320. In addition, the acquisition unit 311 can also acquire other information related to a follow ride. For example, the acquisition unit 311 can acquire further conditions regarding a ride plan. As conditions of a ride plan, for example, a condition related to a merging point or a handover point, a condition related to a standby time until merging, a condition related to the leader vehicle 201, and whether or not to pass through an expressway, and the like can be given. As another example of information related to a follow ride, fuel information of the follower vehicle 202, information of whether or not a person is on board the follower vehicle 202, or information of whether or not the follower vehicle 202 can be manually driven can be given. The information processing apparatus 310 can generate a ride plan of the follower vehicle 202 from a departure place to a destination based on information acquired by the acquisition unit 311.

[0054] The condition related to the merging point or the handover point can include, for example, a condition related to a facility serving as the merging point or the handover point. The condition related to the facility serving as the merging point or the handover point can be a type of facility (for example, a type of facility such as a convenience store, a restaurant, a drive-through restaurant (a station of a road), or a gas station) or a designation of a specific facility. With such a configuration, a user of the follower vehicle easily starts a follow ride from a desired place or ends a follow ride at a desired place.

[0055] The condition related to the standby time until merging is a condition related to a standby time for waiting for the leader vehicle 201 at the merging point. For example, the condition can be an upper limit time for which a standby for the leader vehicle 201 is possible. In a case where such a condition is set, a ride plan is generated in a manner that a follow ride is performed on the leader vehicle 201 that can arrive within the upper limit time after the follower vehicle 202 arrives.

[0056] The conditions related to the lead vehicle can be, for example, conditions related to the driver of the lead vehicle, or conditions related to the category of the lead vehicle. As the conditions related to the driver of the lead vehicle, there can be conditions regarding the designation of the driver, the evaluation of the driver, or the lead experience of the driver. As the conditions related to the category of the lead vehicle, there can be conditions regarding the operator of the lead vehicle (e.g., whether the lead vehicle is a delivery vehicle or a professional vehicle), or conditions of the vehicle category of the lead vehicle (e.g., passenger car, truck, or two-wheeled vehicle). The conditions related to the lead vehicle can also be a combination of the above conditions.

[0057] The fuel information of the follow vehicle 202 is, for example, the kind of fuel, the remaining amount of fuel, or the distance that can be traveled, and the like. In addition, the information of whether the follow vehicle 202 can be manually driven can indicate whether the user of the follow vehicle 202 is drunk.

[0058] The route search section 312 generates a provisional route from the current location of the follow vehicle to the destination based on the information of the departure location and the destination that the user wishes to obtain, which is obtained by the acquisition section 311. The provisional route is used for the search of the lead vehicle by the vehicle search section 313 described later and the generation of the travel plan by the plan generation section 314. The detailed explanation will be described later.

[0059] The vehicle search section 313 searches for the lead vehicle 201 that the follow vehicle 202 follows from among the candidates of the lead vehicle 201 based on the provisional route generated by the route search section 312. In this way, the search of the lead vehicle 201 for the follow vehicle 202 to follow is performed based on the departure location and the destination. For example, the vehicle search section 313 can select a professional vehicle located in the vicinity of the current position of the follow vehicle 202 from among the candidates of the lead vehicle 201. In addition, the vehicle search section 313 can select a delivery vehicle that goes to the destination from the vicinity of the current location of the follow vehicle 202 at around the current time from among the candidates of the lead vehicle 201.

[0060] In the present specification, the professional vehicle can travel to the starting point of the follow travel to meet the follow vehicle 202 regardless of the route currently being traveled, and can lead the follow vehicle 202 to the end point of the follow travel. On the other hand, the delivery vehicle travels along the prescribed travel route, and can lead the follow vehicle 202 along the travel route from the starting point to the end point of the follow travel. Among them, the delivery vehicle is set to be able to travel to the starting point of the follow travel that deviates from the prescribed travel route to meet the follow vehicle 202 if it is within a certain distance from the prescribed travel route, and can lead the follow vehicle 202 to the end point of the follow travel that deviates from the prescribed travel route. Furthermore, the category of the lead vehicle 201 is not particularly limited, and the follow vehicle 202 can be led by a self-use vehicle such as a professional vehicle, or can be led by a self-use vehicle that travels along a prescribed travel route such as a delivery vehicle.

[0061] The vehicle search section 313 can search for the lead vehicle 201 in accordance with the conditions on the travel plan or the follow travel acquired by the acquisition section 311 by referring to the information on the candidates for the lead vehicle registered in the DB 1111. For example, the vehicle search section 313 can acquire, from the DB 1111, travel information indicating the current location of the vehicle registered as a candidate for the lead vehicle 201, and the arrangement of the moving path, and the like. The vehicle search section 313 can acquire, for the candidate for the lead vehicle 201, the travel information on the path and the time of the delivery. Table 1 indicates an example of the information on the candidates for the lead vehicle stored in the DB 1111. In Tables 1 and 2, as the information on the candidates for the lead vehicle, parameters indicating the performance of the vehicle, information on the driver, travel information on the moving path, and other conditions are stored. Further, in Table 1, the information on the delivery vehicle is shown, and in Table 2, the information on the professional vehicle is shown.

[0062]

Table 1

[0063]

[0064]

Table 2

[0065]

[0066] Further, the vehicle search section 313 can search for the lead vehicle 201 taking into account the vehicle size of the lead vehicle 201. For example, the vehicle search section 313 can search for the lead vehicle 201 that can enter the size of the start point and the end point of the follow travel.

[0067] Next, the plan generation section 314 generates a travel plan including, in at least a part of the travel between the departure location and the destination, a follow travel in which the follow vehicle 202 follows the lead vehicle 201 searched by the vehicle search section 313, based on the information acquired by the acquisition section 311.

[0068] The plan generation section 314 can generate a travel plan in such a manner that the follow travel starts at a location desired by the user of the follow vehicle 202, by referring to the conditions on the merging point with the lead vehicle acquired by the acquisition section 311. In addition, the plan generation section 314 can generate a travel plan in such a manner that the follow travel starts at a facility of a type desired by the user of the follow vehicle 202, by referring to the conditions on the merging point with the lead vehicle acquired by the acquisition section 311.

[0069] It is not necessary to perform follow-up travel over the entire section between the departure place and the destination. The plan generation unit 314 can generate a travel plan that includes, in at least a part of the section between the departure place and the above-mentioned destination, a section of autonomous travel in which the follow-up vehicle 202 performs autonomous travel alone, or a section of manual travel in which the follow-up vehicle 202 performs manual travel alone. According to such a configuration, the section in which the lead vehicle 201 performs leading can be shortened, and thus the lead vehicle 201 can be easily found by searching. For example, in a case where the follow-up vehicle 202 is a vehicle that can autonomously travel on a specific kind of road (for example, an expressway), the plan generation unit 314 can generate a travel plan in which autonomous travel is performed on such a specific kind of road. In this way, in the travel plan, autonomous travel and follow-up travel can be switched at an intermediate point.

[0070] Further, in a case where manual driving of the follow-up vehicle 202 is possible, the plan generation unit 314 can generate a travel plan that includes, in at least a part of the section between the departure place and the destination, a section of manual travel in which the user manually drives the follow-up vehicle 202. For example, in a case where the lead vehicle 201 close to the departure place is not found, the follow-up vehicle 202 can be moved to the vicinity of the lead vehicle 201 by manual driving and then start follow-up travel. In this case, the plan generation unit 314 can switch whether to include a section of manual travel in the travel plan, depending on whether the user of the follow-up vehicle 202 can manually drive the follow-up vehicle 202. For example, the plan generation unit 314 can determine that the user cannot manually drive the follow-up vehicle 202 in a case where the user of the follow-up vehicle 202 has been drinking.

[0071] In addition, the follow-up vehicle 202 can also travel by sequentially following a plurality of lead vehicles 201. That is, the plan generation unit 314 can generate a travel plan that includes a section of first follow-up travel in which the follow-up vehicle 202 follows a first lead vehicle, and a section of second follow-up travel in which the follow-up vehicle 202 follows a second lead vehicle. According to such a configuration, the section in which one lead vehicle 201 performs leading can be shortened, and thus the lead vehicle 201 can be easily found by searching.

[0072] As a specific example, the following vehicle 202 can travel following the first lead vehicle from a start point that is a place where initial follow-up travel starts to a handover point that is a place where initial follow-up travel ends. In addition, the following vehicle can travel following the second lead vehicle from the handover point to a place where next follow-up travel ends. In this way, the end point of the first follow-up travel section and the start point of the second follow-up travel section can exist at the same place. According to such a configuration, the user of the following vehicle 202 can perform handover of the lead vehicle 201 without manual driving. In this case, the vehicle search section 313 can select, for example, a professional vehicle located in the vicinity of the start point from among the candidates for the lead vehicle 201, and can select, for example, a delivery vehicle heading toward the destination from the handover point in the vicinity of the scheduled arrival time of arrival at the handover point.

[0073] The merging point at which follow-up travel starts is not particularly limited, and by setting a space in which a vehicle can be parked as the merging point, it is easy to make the following vehicle 202 or the lead vehicle 201 wait for the other at the merging point, and it also becomes easy for the following vehicle 202 to merge with the lead vehicle 201. Therefore, as the merging point, a space in which a vehicle can be parked or stopped other than the main lane of a road through which a vehicle passes can be set. As a specific example of the merging point, a parking lot, a shoulder or a roadside strip of a road, and the like can be given.

[0074] As described above, the acquisition section 311 can acquire a condition related to the merging point with the lead vehicle. In this case, the travel plan generation section 314 can generate a travel plan in such a way that follow-up travel starts at a merging point that satisfies the condition. For example, as the condition related to the merging point, a store of a prescribed type can be selected, and in this case, the travel plan generation section 314 can generate a travel plan in which the merging point is a parking lot of the selected type of store.

[0075] Figure 5 An example of a travel plan generated by the travel plan generation section 314 is shown. In this travel plan, the following vehicle 500 merges with the lead vehicle 501 at the departure point 511 at 10 o'clock, and reaches the handover point 512 following the lead vehicle 501 at 10:30. From the handover point 512 to the handover point 513 is an expressway on which autonomous travel is possible. Therefore, the following vehicle 500 departs from the handover point 512 at 10:30 by autonomous travel, and reaches the handover point 513 at 13:30. After that, the following vehicle 500 waits for the arrival of the lead vehicle 502, and departs from the handover point 513 following the lead vehicle 502 at 13:35, and reaches the destination 514 at 14 o'clock.

[0076] The handover point of autonomous travel and follow-up travel is not particularly limited, and by setting an entrance or exit of a road on which autonomous travel is performed (for example, an expressway) as the handover point, the start or end of leading by the lead vehicle 201 and the start or end of autonomous travel become easy. Therefore, in one embodiment, the travel plan generation section 314 generates a travel plan that switches autonomous travel and follow-up travel at an entrance or exit of an expressway having a parking space (for example, an intelligent IC at which a rest area is provided side by side). According to such a configuration, the user of the follow-up vehicle is able to switch follow-up travel and autonomous travel without performing manual driving.

[0077] In addition, in a case where manual driving of the follow-up vehicle 202 is possible, a parking space located in the vicinity of an entrance or exit of a road on which autonomous travel is performed can be set as a handover point of the start or end of follow-up travel. For example, the follow-up vehicle 202 is able to follow the lead vehicle 201 to the handover point and move from the handover point to a position of an entrance of an expressway by manual driving of the user, and perform autonomous travel from the entrance of the expressway.

[0078] Figure 6 This also indicates one example of a travel plan generated by the travel plan generation section 314. In this travel plan, the follow-up vehicle 600 departs from a departure place 611 by manual driving at 10 o'clock, and arrives at a handover point 612 at 10:10. Thereafter, the follow-up vehicle 600 waits for arrival of the lead vehicle 601, and departs from the handover point 612 following the lead vehicle 601 at 10:15, and arrives at a handover point 613 at 13 o'clock. The leading by the lead vehicle 601 ends at the handover point 613, and therefore the follow-up vehicle 600 waits for arrival of the lead vehicle 602. Then, the follow-up vehicle 600 departs from the handover point 613 following the lead vehicle 602 at 13:20, and arrives at a destination 614 at 14 o'clock.

[0079] The transmission section 315 is able to transmit the travel plan generated by the travel plan generation section 314 to the terminal 320 of the follow-up vehicle 202. As described later, the transmission section 315 is also able to transmit the travel plan generated by the travel plan generation section 314 to the terminal 330 of the lead vehicle 201.

[0080] As described above, the vehicle search section 313 is able to search for the lead vehicle 201 on the basis of travel information indicating a current location or a scheduled movement route with respect to candidates of the lead vehicle 201 traveling on each location. Figure 4 This indicates one example of communication processing performed by the information processing apparatus 310 in order to collect travel information with respect to candidates of the lead vehicle 201.

[0081] In Figure 4In the present embodiment, the information processing apparatus 310 acquires the information of the departure place and the destination and the like by performing transmission and reception of information with the terminal 320 used by the follower vehicle 401 or the user thereof. In addition, the information processing apparatus 310 acquires the travel information on the vehicles 402, 403 which are candidates for the leading vehicle by performing transmission and reception of information with the terminal 330 used by the vehicles 402, 403 or the users thereof. In Figure 4 In the present embodiment, the vehicle 402 is a professional vehicle, and the vehicle 403 is a delivery vehicle, which transmits various information including the current position and the scheduled movement path to the information processing apparatus 310. In addition, the vehicle 404 is also a delivery vehicle. The vehicle 404 travels according to the instruction of the server 405 which manages the vehicle 404, and the travel information thereof is managed by the server 405. In this case, the information processing apparatus 310 can acquire the travel information on the vehicle 404 which is a candidate for the leading vehicle from the server 405. Thereafter, the information processing apparatus 310 can transmit the generated travel plan to the follower vehicle 401, the vehicles 402, 403 which are selected as the leading vehicle, and the server 405 which manages the vehicle 404 which is selected as the leading vehicle.

[0082] (Process Example)

[0083] Figure 8 is a flowchart showing one example of the process of generating a travel plan performed by the information processing apparatus 310 of the present embodiment. In step S801, the vehicle search section 313 acquires the travel information including the current location and the scheduled movement path of the candidate for the leading vehicle which travels in each place, and stores it in the DB 1111. In step S802, the acquisition section 311 acquires the information including the departure place and the destination which the user of the follower vehicle 202 inputs via the terminal 320.

[0084] In step S803, the route search section 312 generates a provisional route from the departure place to the destination of the follower vehicle 202 on the basis of the information acquired by the acquisition section 311. The method of generating the provisional route is not particularly limited, and for example, the shortest route from the departure place to the destination can be adopted as the provisional route.

[0085] On the other hand, in the case where autonomous travel is performed in the middle of the way, the route search section 312 can set the handover place in a manner that makes it easy to switch between autonomous travel and follow-up travel. In this case, the route search section 312 can set the provisional route and the handover place in step S803 in accordance with the flowchart of Figure 9 Here, a case where autonomous travel is performed on an expressway is described.

[0086] In step S901, the route search section 312 generates a temporary route from the departure place of the following vehicle 202 to the destination. In step S902, the route search section 312 determines whether the following vehicle 202 can autonomously travel and whether there is a road (expressway) on which autonomous travel is possible on the temporary route. In a case where the following vehicle can autonomously travel and there is an expressway on the temporary route, the process proceeds to step S903, and otherwise Figure 9 the process ends.

[0087] In step S903, the route search section 312 determines whether handover between following travel and autonomous travel at an entry IC and an exit IC of the expressway on the temporary route can be performed. In a case where the entry IC and the exit IC have a parking space (for example, in a case of an intelligent IC), the route search section 312 can determine that handover can be performed. In a case where handover can be performed, the process proceeds to step S904. In this case, the route search section 312 sets the entry IC and the exit IC as candidates for the handover place. Thus, Figure 9 the process ends. On the other hand, in a case where handover cannot be performed in at least one of the entry IC or the exit IC, the process proceeds to step S905. In this case, the route search section 312 can set the entry IC or the exit IC in which handover is possible as a candidate for the handover place.

[0088] In step S905, the route search section 312 determines whether manual driving of the following vehicle 202 is possible. In a case where manual driving is possible, the process proceeds to step S906. In this case, the route search section 312 sets a place such as a parking lot, which is in the vicinity of the entry IC and the exit IC in which handover is not possible, as a candidate for the handover place. Thus, Figure 9 the process ends. In a case where manual driving is not possible, the process proceeds to step S907.

[0089] In step S907, the route search section 312 determines whether there is an IC on which handover is possible in an expressway section on the temporary route. The route search section 312 can determine whether there is an IC on which handover is possible in the vicinity of the entry IC and the exit IC on the temporary route. In a case where there is an IC on which handover is possible, the process proceeds to step S908. In step S908, the route search section 312 modifies the temporary route so as to change the entry IC or the exit IC in the temporary route calculated in step S901 to the IC on which handover is possible, and sets the changed entry IC and exit IC as a candidate for the handover place. Thus, Figure 9 the process ends. When it is determined in step S907 that there is no IC on which handover is possible, the route search section 312 also Figure 9the processing ends. In this case, the travel plan can be generated in a manner that follow driving on an expressway is also performed.

[0090] According to Figure 9 According to the method illustrated in FIG. 8, handover between follow driving and autonomous driving can be performed at an approach IC and a departure IC having a parking space. In addition, in a case where manual driving is possible, handover between follow driving and autonomous driving can be performed in the vicinity of the approach IC and the departure IC.

[0091] Next, by the processing of steps S804 to S812, a travel plan from the departure place to the destination is generated. Further, in a case where the autonomous driving section is set in step S803, a travel plan for each section other than the autonomous driving section can be generated.

[0092] In step S804, the vehicle search section 313 searches for a candidate of the leading vehicle 201 that the follow vehicle 202 can follow, on the basis of the travel information of the candidate of the leading vehicle acquired in step S801 and the temporary path generated in step S803. As described above, the vehicle search section 313 can search for a candidate of the leading vehicle 201 located in the vicinity of the departure place or a candidate of the leading vehicle 201 heading from the departure place toward the destination. In a case where a candidate of the leading vehicle 201 is found, the processing proceeds from step S805 to S809, and in a case where no candidate is found, the processing proceeds from step S805 to S806.

[0093] In step S806, the plan generation section 314 determines whether or not the follow vehicle 202 can perform manual driving. In a case where manual driving is possible, the follow vehicle 202 can be moved by manual driving and merged with the leading vehicle 201 at another location. In a case where manual driving of the follow vehicle 202 is possible, the processing proceeds to step S807, and in a case where manual driving is not possible, the processing proceeds to step S808. Further, in order to shorten the manual driving section, in a case where a location (for example, a parking lot) at which the follow vehicle 202 can be merged with the leading vehicle 201 exists within a prescribed range from the position (the departure place or the handover location) of the follow vehicle 202, the processing can proceed from step S806 to step S807.

[0094] In step S807, the plan generation section 314 sets a place, which is located in the vicinity of the position (departure place or handover place) of the following vehicle 202, and which is able to merge with the leading vehicle 201, as the handover place. In addition, the vehicle search section 313 calculates a manual driving route and a required time to the handover place. In step S808, the vehicle search section 313 searches for a candidate of the leading vehicle 201, which is located in the vicinity of the handover place set in step S807, or which goes toward the destination from the handover place, around a predetermined arrival time at which the following vehicle 202 arrives at the handover place, similarly to step S804. Further, in a case where a candidate of the leading vehicle 201 is not found, the vehicle search section 313 can calculate a manual driving route and a required time to the destination. After that, the process returns to step S805. On the other hand, in step S808, the vehicle search section 313 transmits a meaning that the leading vehicle 201 cannot be found to the terminal 320 of the following vehicle 202, and ends the process.

[0095] In step S809, the plan generation section 314 determines whether the following vehicle 202 is able to reach the destination by following a candidate of the leading vehicle 201 searched in the previous step S804 or S807. For example, in a case where a candidate of the leading vehicle 201 goes toward the destination or its vicinity, it can be determined that the following vehicle 202 is able to reach the destination. As a specific example, in a case where a candidate of the leading vehicle 201 is a delivery vehicle, when the destination is located within a prescribed range from a predetermined transport route of the delivery vehicle, it can be determined that the following vehicle 202 is able to reach the destination. In addition, in a case where a candidate of the leading vehicle 201 is a professional vehicle, when the destination is within a leadable area set in advance for each vehicle, it can be determined that the following vehicle 202 is able to reach the destination. In a case where the following vehicle 202 is able to reach the destination, the process proceeds to step S812. In a case where the following vehicle 202 is not able to reach the destination, the process proceeds to step S810.

[0096] In step S810, the plan generating portion 314 sets a place where the follower vehicle 202 can reach by following travel and can merge with other lead vehicles 201 as the handover place. For example, the plan generating portion 314 can set a parking lot located within a range prescribed from a predetermined carrying path of a delivery vehicle that is a candidate of the lead vehicle 201, and closest to the destination, as the handover place. In addition, the plan generating portion 314 can set a parking lot located within a leadable area of a professional vehicle that is a candidate of the lead vehicle 201, and closest to the destination, as the handover place. Then, the plan generating portion 314 calculates a following travel path and a required time until the follower vehicle 202 reaches the handover place by following the lead vehicle 201 searched in the previous step S804 or S807. In step S811, the vehicle searching portion 313 searches for a candidate of the lead vehicle 201 located near the handover place set in step S810 or the destination direction from the handover place near the scheduled arrival time of the follower vehicle 202 to reach the handover place, similarly to step S804. After that, the process returns to step S805.

[0097] In step S812, the plan generating portion 314 calculates a following travel path and a required time until the destination by following the lead vehicle 201 searched in the previous step S804, S807, or S811. Through the process up to this point, a travel plan from the departure place to the destination can be obtained. The travel plan can include a travel path and a travel time of the following travel calculated in step S810 or S812. In addition, the travel plan can include a travel path and a travel time of the autonomous travel or the manual travel calculated in step S803 or S807.

[0098] Further, a plurality of travel plans can also be generated for one combination of the departure place and the destination. For example, in step S804, S807, or S811, the vehicle searching portion 313 can search for a plurality of candidates of the lead vehicle 201. In this case, a travel plan corresponding to each candidate of the lead vehicle 201 can be obtained. In addition, in step S803, the path searching portion 312 can generate a plurality of temporary paths. In this case, a travel plan corresponding to each temporary path can be obtained.

[0099] In step S813, the plan generating portion 314 transmits the generated travel plan to the user of the following vehicle 202. For example, the plan generating portion 314 transmits information indicating the travel plan to the terminal 320 used by the user of the following vehicle 202 via the transmission portion 315. The terminal 320 can display the travel path from the departure place to the destination and the required time in accordance with the information. In addition, the terminal 320 can display the following travel section included from the departure place to the destination in a manner distinguishable from other travel sections (for example, autonomous travel sections or manual travel sections) in accordance with the information. Further, the terminal 320 can display information related to each handover place (for example, the position of the handover place and the name or kind of the facility selected as the handover place). In addition, in a case where the user of the following vehicle 202 needs to wait for the lead vehicle 201 at the handover place, the terminal 320 can display the waiting time.

[0100] In step S814, the plan generating portion 314 determines whether the user of the following vehicle 202 agrees to the transmitted travel path. For example, the plan generating portion 314 can acquire a user instruction indicating whether to agree to the travel plan displayed on the terminal 320 from the terminal 320. The terminal 320 can display a plurality of travel plans, in which case the plan generating portion 314 can acquire a user instruction indicating the agreed travel plan. In a case where the travel plan is not agreed, the process proceeds to step S815. In a case where the travel plan is agreed, the process proceeds to step S816.

[0101] In step S815, the plan generating portion 314 determines whether the user of the following vehicle 202 wishes to change the travel plan. In a case where the change is wished, the process returns to step S802. For example, the plan generating portion 314 can acquire a user instruction indicating whether to change the travel plan displayed on the terminal 320 from the terminal 320. At this time, the plan generating portion 314 can acquire the content of the change wished by the user from the terminal 320. As specific examples, the user can make a user input to the terminal 320 indicating manual driving in a specific section, a user input indicating following of a professional vehicle in a specific section, or a user input to change the handover place. In this case, the travel plan can be generated again in a manner to set a manual driving section, search for a candidate of the lead vehicle 201, or set a handover place in accordance with the conditions conforming to these user inputs. Further, in a case where the search for the lead vehicle 201 is not needed as in a case where the last following driving section is changed to a manual driving section, the process proceeds to step S816 after the plan generating portion 314 changes the travel plan.

[0102] In step S816, the plan generation section 314 starts the travel plan based on the travel plan for which the user of the following vehicle 202 has given consent. For example, the plan generation section 314 can notify the user of the leading vehicle 201 or a server that manages travel of the leading vehicle 201 in order to entrust the vehicle dispatch of the leading vehicle 201. In addition, the plan generation section 314 can notify the following vehicle 202 to perform the following travel and autonomous travel in accordance with the travel plan. Further, the plan generation section 314 can notify the following vehicle 202 of a waiting time until the leading vehicle 201 arrives.

[0103] According to such Figure 8 The flowchart illustrated in FIG. 1 is executed. According to the flowchart illustrated in FIG. 1, a travel plan from a departure place to a destination is generated. According to the flowchart illustrated in FIG. 2, a travel plan from a departure place to a destination is generated. According to the flowchart illustrated in FIG. 3, a travel plan from a departure place to a destination is generated. Figure 8 The flowchart illustrated in FIG. 1 is executed. According to the flowchart illustrated in FIG. 1, a travel plan from a departure place to a destination is generated. According to the flowchart illustrated in FIG. 2, a travel plan from a departure place to a destination is generated. According to the flowchart illustrated in FIG. 3, a travel plan from a departure place to a destination is generated.

[0104] According to such a configuration, it is possible to reduce the section of manual travel of the following vehicle 202 from the departure place to the destination or to enable the following vehicle 202 to move through automatic travel in the entire section from the departure place to the destination. In particular, even in the case of autonomous travel in a section such as an expressway in which autonomous travel is possible, it is possible to reduce the section of manual travel by further performing following travel in a section other than the expressway.

[0105] [Embodiment 2]

[0106] In the vehicle following travel system according to Embodiment 2, the leading vehicle and the following vehicle are made to easily merge by transmitting information indicating the section of following travel to the terminal used by the user of the leading vehicle. The vehicle following travel system according to Embodiment 2 can have the same configuration as Embodiment 1 and can perform the same processing. For example, the vehicle following travel system according to Embodiment 2 can also be provided with the information processing apparatus 310, the terminal 320, and the terminal 330 illustrated in FIG. 4. In addition, the information processing apparatus 310 can perform the same processing as the flowchart illustrated in FIG. 5. Hereinafter, the differences from Embodiment 1 will be described. Figure 3 Figure 8

[0107] ​​In the present embodiment, the transmission section 315 can transmit information indicating the section of follow-up travel to the terminal 330 used by the user of the lead vehicle 201. In this case, a display section such as a display possessed by the terminal 330 can acquire and display information indicating the section of follow-up travel, which is at least a part of the section between the departure place and the destination desired by the user of the follower vehicle 202. In this way, the terminal 330 can prompt the user of the lead vehicle 201 of the section of follow-up travel. According to such a configuration, the lead vehicle 201 can know the details of the follow-up travel to be performed thereafter before starting the follow-up travel. In the information indicating the section of follow-up travel, information indicating the start time, the end time, or the follow-up travel time of the follow-up travel can be included.

[0108] In particular, the information indicating the section of follow-up travel can include information of the place where the follow-up travel is started. With such a configuration, the lead vehicle 201 and the follower vehicle 202 easily merge at the place where the follow-up travel is started. For example, the user of the lead vehicle 201 can arrive at the place where the follow-up travel is started by driving the lead vehicle 201 according to the information of the place where the follow-up travel is started, and wait for the follower vehicle 202. The transmission section 315 can transmit the information of the place where the follow-up travel is started (e.g., the name of a parking lot, or the type of a store, etc.) to the terminal 330.

[0109] The transmission section 315 can further transmit information indicating the current position of the follower vehicle 202, or the arrival time of the follower vehicle 202 to the place where the follow-up travel is started, to the terminal 330 used by the user of the lead vehicle 201. According to such a configuration, the user of the lead vehicle 201 can grasp the scheduled arrival of the follower vehicle 202. The indication section possessed by the terminal 330 that receives these pieces of information can, for example, instruct the user of the lead vehicle 201 to merge with the follower vehicle 202 via the display section.

[0110] Furthermore, the transmission section 315 can also transmit the information indicating the section of follow-up travel to the terminal 320 used by the user of the follower vehicle 202. In this case, a display section such as a display possessed by the terminal 320 can acquire and display information indicating the section of follow-up travel, which is at least a part of the section between the departure place and the destination desired by the user of the follower vehicle 202. In the present embodiment, the information indicating the section of follow-up travel is shared with the information processing apparatus used by the user of the lead vehicle. With such a configuration, the follower vehicle 202 can know the details of the follow-up travel to be performed thereafter before starting the follow-up travel. The transmission section 315 can further transmit information indicating the current position of the lead vehicle 201, or the arrival time of the lead vehicle 201 to the place where the follow-up travel is started, to the terminal 320 used by the user of the follower vehicle 202. According to such a configuration, the user of the follower vehicle 202 can grasp the scheduled arrival of the lead vehicle 201.

[0111] These processes can be performed by the transmission section 315 in step S816 based on the generated travel plan.

[0112] The transmission section 315 can also receive a response from the terminal 330 of the leading vehicle 201 or a server that manages travel of the leading vehicle 201, in response to the transmitted information indicating the section for follow-up travel. For example, the transmission section 315 can accept an input of the user of the leading vehicle 201 indicating whether or not to agree to lead for the prompted follow-up travel or a response from a server that manages travel of the leading vehicle 201. In such a configuration, in step S816, the plan generation section 314 can start the travel plan in accordance with a response to agree to lead. On the other hand, the plan generation section 314 can perform regeneration of the travel plan in accordance with a response to disagree to lead. Further, the transmission section 315 can ask the terminal of the candidate of the leading vehicle 201 searched by the vehicle search section 313 or a server that manages travel thereof whether or not to agree to lead for follow-up travel in steps S804, S807, or S811. In this case, the plan generation section 314 can generate a travel plan in a manner that includes a section for follow-up travel that follows the leading vehicle 201 that agreed to lead.

[0113] [Embodiment 3]

[0114] The follow-up vehicle that performs follow-up travel can pay a reward to the leading vehicle. For example, in Embodiment 1, the user of the follow-up vehicle that wishes to perform follow-up travel can entrust the leading vehicle with follow-up travel by an application according to the generated travel plan, and perform follow-up travel. In this case, the user of the follow-up vehicle can pay a reward to the leading vehicle for leading in follow-up travel.

[0115] In the vehicle follow-up travel system according to Embodiment 3, a reward that the follow-up vehicle pays to the leading vehicle is calculated in follow-up travel according to the travel plan. According to such a configuration, the user of the leading vehicle or the follow-up vehicle easily grasps the reward for follow-up travel. For example, the user of the follow-up vehicle can confirm the amount of the reward before starting travel according to the travel plan. In addition, the user of the leading vehicle can also confirm the amount of the reward, and determine whether or not to lead for follow-up travel. The vehicle follow-up travel system according to Embodiment 3 can have the same configuration as Embodiment 1, and can perform the same processes. For example, the vehicle follow-up travel system according to Embodiment 3 can be provided with the information processing apparatus 310, the terminal 320, and the terminal 330 illustrated in FIG. 10. In addition, the information processing apparatus 310 can perform the same processes as the flowchart illustrated in FIG. 11. Hereinafter, differences from Embodiment 1 will be described. Figure 3 Figure 8

[0116] ​​In the present embodiment, the information processing apparatus 310 has a reward calculation section 316. The reward calculation section 316 can calculate a reward from the follower vehicle 202 to the leader vehicle 201 for the follow driving based on the travel plan generated by the plan generation section 314. For example, the reward calculation section 316 can calculate the reward based on the distance of the section of the follow driving. In addition, the reward calculation section 316 can calculate the reward according to the setting of the leader vehicle 201. For example, the reward calculation section 316 can calculate the reward based on the operator of the leader vehicle 201 (for example, a delivery vehicle or a professional vehicle), the vehicle classification of the leader vehicle 201, or the request of the user of the leader vehicle 201. The leader vehicle 201 as a delivery vehicle can follow along a prescribed path while making a delivery, and thus the path of the follow driving of the follower vehicle 202 is limited, but the reward required for the delivery vehicle can be less. On the other hand, the leader vehicle 201 as a professional vehicle can follow at a speed and a path desired by the user of the follower vehicle 202, and thus the required time of the follow driving of the follower vehicle 202 can be shorter, but the reward required for the professional vehicle can be more. In addition, the reward can be changed according to the time period, the ratio of the number of vehicles that can lead to the number of users who want to follow. For example, in a case where the number of users who want to follow is large with respect to the number of vehicles that can lead, the reward can be set to be high, and in a case where the number of users who want to follow is small, the reward can be set to be low.

[0117] As explained in Embodiment 1, the travel plan can include a plurality of sections of follow driving in which the follower vehicles follow different leader vehicles, respectively. The reward calculation section 316 can calculate a reward from the follower vehicles to each of the leader vehicles. For example, the reward calculation section 316 can calculate a reward to a first leader vehicle according to the distance of a first follow section in which the follower vehicle follows the first leader vehicle, and calculate a reward to a second leader vehicle according to the distance of a second follow section in which the follower vehicle follows the second leader vehicle.

[0118] In addition, a toll road can be included in the section of follow driving included in the travel plan. In this case, the toll of the toll road borne by the follower vehicle 202 can not be paid by the follower vehicle 202, but by the leader vehicle 201. In this case, the user of the follower vehicle 202 does not need to pay the toll at the toll station of the toll road, and thus the convenience is improved. In this case, the follower vehicle 202 can pay the toll of the toll road to the leader vehicle 201. In one embodiment, the reward from the follower vehicle 202 to the leader vehicle 201 calculated by the reward calculation section 316 can include the toll of the toll road through which the follower vehicle 202 passes in the travel plan.

[0119] In the travel plan, energy supply to the following vehicle 202 in a facility (such as an energy supply facility like a gas station) that extends the distance that can be traveled can be included. In this case, the cost of the energy supply borne by the following vehicle 202 can also be paid by the leading vehicle 201, not by the following vehicle 202. In this case, the user of the following vehicle 202 does not need to pay the cost in the energy supply facility, and thus convenience is improved. In this case, the following vehicle 202 can pay the cost of the energy supply to the leading vehicle 201. In one embodiment, the reward calculated by the reward calculation section 316 from the following vehicle 202 to the leading vehicle 201 can include the cost of the energy supplied to the following vehicle 202 in the travel plan.

[0120] Such a process of calculating the reward can be performed by the reward calculation section 316 in step S813 based on the generated travel plan. In this case, the transmission section 315 can transmit the travel plan generated by the plan generation section 314 and the reward calculated by the reward calculation section 316 to the user of the following vehicle 202. For example, the transmission section 315 can transmit information indicating the travel plan and the reward to the terminal 320 of the following vehicle 202. Here, the transmission section 315 can transmit information indicating details of the reward to the terminal 320. As a specific example, the transmission section 315 can transmit the reward for the leading, the toll for the toll road, and the cost of the energy supply to the user of the following vehicle 202 in a distinguishable manner. In addition, the transmission section 315 can issue an instruction to the user of the leading vehicle 201 to lead the following vehicle 202 to follow the travel plan in accordance with a response from the user of the following vehicle 202. According to such a configuration, the user of the following vehicle 202 can confirm the reward for the following travel before the start of the following travel.

[0121] Further, the reward calculation section 316 can also calculate the reward to be paid to the candidate leading vehicle 201 searched by the vehicle search section 313 in step S804, S807, or S811. Then, the transmission section 315 can transmit the reward to the terminal of the candidate leading vehicle 201 or a server that manages the travel thereof, and inquire whether or not to agree to lead for the following travel.

[0122] As described above, the plan generation section 314 can calculate a plurality of travel plans. In this case, the reward calculation section 316 can calculate the reward from the following vehicle 202 to the leading vehicle 201 for each of the plurality of travel plans. Then, the transmission section 315 can transmit the plurality of travel plans and the rewards to the user of the following vehicle 202, and acquire a user instruction indicating a travel plan desired by the user of the following vehicle 202.

[0123] Further, the plan generating section 314 can also calculate the travel plan taking into account the preferences related to the remuneration of the user of the follower vehicle 202. For example, the user of the follower vehicle 202 can select a setting to reduce the remuneration by giving priority to the delivery vehicle as the leader vehicle 201, or a setting to shorten the required time by giving priority to the professional vehicle as the leader vehicle 201. In addition, the user of the follower vehicle 202 can select a setting to actively perform manual travel, or a setting to try not to use manual travel. In the case where the setting to actively perform manual travel is selected, the plan generating section 314 can give priority to selecting a place where it is easy to merge with the leader vehicle 201 such as the delivery vehicle having low remuneration as the handover place, so as to make the remuneration lower. Further, the plan generating section 314 can generate a plurality of travel plans according to different settings, respectively. For example, the plan generating section 314 can generate a travel plan that places importance on remuneration (for example, giving priority to the delivery vehicle), a travel plan that places importance on speed (for example, giving priority to the professional vehicle), and an intermediate travel plan, respectively.

[0124] Likewise, the transmitting section 315 can also transmit the information indicating the section for the follow-up travel and the remuneration to the terminal used by the user of the leader vehicle 201 or the server that manages the travel of the leader vehicle 201 in step S816. In this case, the transmitting section 315 can notify the user of the follower vehicle 202 of the information indicating that the leader vehicle 201 is performing the follow-up travel in accordance with the response from the terminal used by the user of the leader vehicle 201 or the server that manages the travel of the leader vehicle 201. In this way, the transmitting section 315 can receive the notification of the agreement of the leader of the leader vehicle 201 to perform the follow-up travel from the terminal used by the user of the leader vehicle 201 or the server that manages the travel of the leader vehicle 201. Then, the transmitting section 315 can notify the follower vehicle 202 of the situation that the leader of the leader vehicle 201 has agreed to perform the follow-up travel. According to such a configuration, the user of the leader vehicle 201 (the driver or the manager of the leader vehicle 201) can confirm the remuneration for the follow-up travel before agreeing to the leader of the follow-up travel.

[0125] On the other hand, the remuneration calculating section 316 can also calculate the remuneration from the follower vehicle 202 to the leader vehicle 201 for the follow-up travel at the end of the follow-up travel or at the completion of the travel plan. In this case, the remuneration calculating section 316 can acquire the information indicating the remuneration added to the leader vehicle 201 by the user of the follower vehicle 202. With such a configuration, the remuneration calculating section 316 can include the tip specified by the user of the follower vehicle 202 in the remuneration from the follower vehicle 202 to the leader vehicle 201 in addition to the remuneration calculated by the above-described method.

[0126] Further, the reward calculation section 316 can have a payment section (not shown) that performs a payment process of the reward from the follower vehicle 202 to the leader vehicle 201. With such a configuration, the payment of the reward calculated by the reward calculation section 316 from the follower vehicle 202 to the leader vehicle 201 can be automatically performed at the end of the follow driving or at the completion of the driving plan. Thus, the payment of the reward from the follower vehicle to the leader vehicle becomes easy. For example, the user of the follower vehicle 202 can register the information of a credit card in the DB 1112. Also, the user of the follower vehicle 202 can pay the reward to the account of the user of the leader vehicle 201 (or a server that manages the follow driving of the leader vehicle) using the credit card via the application. However, the payment of the reward from the follower vehicle 202 to the leader vehicle 201 can also be performed by other methods.

[0127] Further, the kind of the reward is not particularly limited. The reward can be currency or virtual currency. Also, the reward can be points that can be exchanged for currency or points that cannot be exchanged for currency.

[0128] Further, the transmission section 315 can acquire the evaluation for the leader vehicle 201 from the follower vehicle 202 at the end of the follow driving or at the completion of the driving plan. In a case where the follow driving is performed for each of a plurality of leader vehicles 201 in the driving plan, the transmission section 315 can acquire the evaluation for each of the leader vehicles 201. The evaluation for the leader vehicle 201 can be the evaluation for the driver of the leader vehicle 201. Also, the transmission section 315 can acquire the evaluation for the route or the handover location included in the driving plan. The evaluation acquired by the transmission section 315 can be stored in the DB 1111, for example. Thereafter, the vehicle search section 313 can search for the candidate of the leader vehicle 201 with reference to the evaluation for the leader vehicle 201.

[0129] [Embodiment 4]

[0130] In the vehicle follow driving system according to Embodiment 4, a driving plan including a rest is generated. With such a configuration, the follower vehicle can temporarily interrupt the driving according to the driving plan, and the user of the follower vehicle can take a rest. In particular, in the present embodiment, the leader vehicle for the follow driving after the rest can be searched for in consideration of the arrival time of the follower vehicle at the handover location affected by taking the rest. The vehicle follow driving system according to Embodiment 4 can have the same configuration as Embodiment 1 and can perform the same processing. For example, the vehicle follow driving system according to Embodiment 4 can be provided with the information processing apparatus 310, the terminal 320, and the terminal 330 shown in Figure 3 Figure 8 The information processing apparatus 310 can perform the same processing as the flowchart shown in ​

[0131] In the present embodiment, the acquisition unit 311 can acquire, in addition to the user of the follower vehicle 202's desired departure place and destination, the user of the follower vehicle 202's desired rest condition. The rest condition is a condition related to a rest included in the travel plan, and can be the presence or absence of a rest, the number of rests, the interval of rests (for example, every 1 hour, 2 hours, or 3 hours), the time of each rest (for example, 5 minutes, 10 minutes, or 1 hour), or a condition related to a rest place. The condition related to the rest place can include a condition related to a facility serving as a rest place. The condition related to the facility serving as a rest place can be the type of facility (for example, the type of facility such as a convenience store, a restaurant, a drive-through restaurant (a station on a road), or a gas station), or the designation of a specific facility. In addition, in the case where a plurality of rests are made, the acquisition unit 311 can acquire, for each rest, a condition related to a different rest place. With such a configuration, the user of the follower vehicle can make a rest at a desired place.

[0132] The plan generation unit 314 generates a travel plan that includes an interval of follow driving between the departure place and the destination, and further includes a rest that satisfies the rest condition. The rest can be set at the start point, the middle, or the end point of the interval of follow driving. In addition, the rest can also be set at the start point, the middle, or the end point of an interval of autonomous driving in which the follower vehicle 202 alone performs automatic driving. Further, the rest can also be set at the start point, the middle, or the end point of an interval of manual driving in which the follower vehicle 202 is driven manually by the user. For example, a rest can be made at the start point of the interval of follow driving, that is, at a merging point. According to such a configuration, the user of the follower vehicle 202 can make a rest at a rest place (that is, a merging point) that satisfies the rest condition while waiting for the arrival of the leader vehicle 201 of the follow driving. In such a configuration, the rest condition can include an upper limit of the time of the rest.

[0133] As one example, the plan generation unit 314 can generate a travel plan that includes an interval of first follow driving in which the follower vehicle follows a first leader vehicle, and an interval of second follow driving in which the follower vehicle follows a second leader vehicle. At this time, the plan generation unit 314 can generate a travel plan in such a way that the interval of first follow driving ends and the interval of second follow driving starts at a rest place in the travel plan.

[0134] In the present embodiment, the transmission section 315 can transmit information related to a rest place in the travel plan to the user of the follower vehicle 202. For example, the transmission section 315 can transmit information related to the rest place as a part of the information indicating the travel plan to the terminal 320 used by the user of the follower vehicle 202. As the information related to the rest place, the position of the rest place, and the name or the kind of the facility selected as the rest place can be cited. Further, the transmission section 315 can provide the user of the follower vehicle 202 with a coupon related to the facility serving as the rest place as the information related to the rest place. The user of the follower vehicle 202 can obtain a benefit such as enjoying a discount on goods or services, or enjoying additional goods or services by using the coupon at the rest place. In addition, the transmission section 315 can transmit information indicating a rest time at the rest place as a part of the information indicating the travel plan to the terminal 320 used by the user of the follower vehicle 202.

[0135] The generation of the travel plan considering such a rest condition can be performed by the vehicle search section 313 and the plan generation section 314 in steps S804 to S812. For example, in a case where an interval of rest is specified as the rest condition, in step S809, the plan generation section 314 can determine whether or not the destination can be reached in a case where the continuous travel time of the follower vehicle 202 does not exceed the specified rest interval. The continuous travel time can be the time during which the follower vehicle 202 travels without rest, or the time during which the follower vehicle 202 follows the same leader vehicle 201. In a case where the destination cannot be reached, in step S810, the plan generation section 314 can calculate the follow travel path and the required time to the handover place set in such a way that the continuous travel time of the follower vehicle 202 does not exceed the specified rest interval, and further set the rest time at the handover place. With such a travel plan, the user of the follower vehicle 202 can rest at the handover place while waiting for the arrival of the leader vehicle 201. Then, in step S811, the vehicle search section 313 can search for candidates of the leader vehicle 201 that can lead the follower vehicle 202 from the handover place around the time after the rest at the handover place.

[0136] At this time, in a case where the time of each rest is specified as the rest condition, in step S810, the plan generation section 314 can set the rest time that meets the condition. In addition, in a case where the upper limit of the time of each rest is specified as the rest condition, in step S811, the vehicle search section 313 can search for candidates of the leader vehicle 201 that can lead the follower vehicle 202 from the handover place within the time that meets the rest condition. In a case where no candidate of such a leader vehicle 201 is found, the process can proceed from step S805 to S806, and as a result, a travel plan of manual driving from the handover place can be generated.

[0137] In addition, in a case where a condition related to the facility serving as the rest place is designated, the plan generating portion 314 can select the handover place that satisfies the condition in step S810. Here, the plan generating portion 314 can select the facility that is open at the scheduled arrival time as the handover place on the basis of the information indicating the business hours of the facility serving as the rest place. Further, the plan generating portion 314 can preferentially select the facility that provides a coupon to the user of the follower vehicle 202 as the handover place. In addition, the plan generating portion 314 does not necessarily select the handover place that satisfies the condition related to the facility serving as the rest place. For example, the plan generating portion 314 can preferentially select the handover place that satisfies the condition and select the handover place that does not satisfy the condition in a case where the handover place that satisfies the condition is not found.

[0138] As another method, in steps S809 and S810, the plan generating portion 314 can also consider whether the candidate of the lead vehicle 201 searched for in step S804 can take a rest in the lead. In a case where the candidate of the lead vehicle 201 can take a rest in the lead and can reach the destination, the process can proceed to step S812, in which case the travel plan can include an interval of the follow-up travel in which a rest that satisfies the rest condition is inserted and the lead is performed by the same lead vehicle 201. Likewise, in step S810, the plan generating portion 314 can calculate the path and the required time of the follow-up travel in which a rest that satisfies the rest condition is inserted and the lead is performed by the same lead vehicle 201. For example, information indicating whether the candidate of the lead vehicle 201 can take a rest can be stored in advance in the DB 1111. For example, a professional vehicle can be able to take a rest in the lead, and a delivery vehicle can not be able to take a rest in the lead.

[0139] Likewise, in step S803, the path searching portion 312 can set the end point of the autonomous travel interval and the rest time at the end point in accordance with the rest condition. In addition, in step S807, the plan generating portion 314 can set the end point of the manual travel interval and the rest time at the end point in accordance with the rest condition. In this case, in step S804 or step S807, the vehicle searching portion 313 can also search for a candidate of the lead vehicle 201 that can lead the follower vehicle 202 from the end point (i.e., the handover place) of the autonomous travel interval or the manual travel interval in the vicinity of the time after the rest. Further, in step S803 or step S807, the path searching portion 312 can set a rest place and a rest time in the middle of the autonomous travel interval or the manual travel interval in accordance with the rest condition.

[0140] The acquisition portion 311 can acquire information indicating the rest condition in step S802.

[0141] The above-describedFigure 6 A travel plan in which the leading vehicle 601 hands over to the leading vehicle 602 while following the vehicle 600 is shown during the period in which the user of the following vehicle 600 takes a break at the handover location 613 that is a rest location.

[0142] In a case where a travel plan including a break as described above is generated, it is predicted that the user of the following vehicle 202 arrives at the rest location at a planned time. Therefore, the transmission unit 315 can further have a function of transmitting, to a terminal used by the user of the rest location, a scheduled arrival time at the rest location in the travel plan. According to such a configuration, the user of the facility located at the rest location can prepare for the arrival of the following vehicle 202, for example, and prepare goods or services in accordance with the number of customers.

[0143] In addition, the transmission unit 315 can also have a function of acquiring, from the user of the following vehicle 202, an order for goods or services provided at the rest location in the travel plan, and transmitting the order to a terminal used by the user of the rest location. For example, the user of the facility located at the rest location can provide information related to the goods or services provided at the rest location to the user of the following vehicle 202. The user of the following vehicle 202 who sees such information can make an order for the goods or services before arriving at the rest location. According to such a configuration, the user of the facility located at the rest location can provide goods or services in accordance with the arrival of the user of the following vehicle 202.

[0144] [Embodiment 5]

[0145] In the vehicle following travel system according to Embodiment 5, a travel plan is generated taking into account the range of the following vehicle or the leading vehicle. According to such a configuration, the range of the following vehicle or the leading vehicle can be extended and travel can be performed by passing through a facility that extends the range of the following vehicle or the leading vehicle at the middle of the route in accordance with the range. The vehicle following travel system according to Embodiment 5 can have the same configuration as Embodiment 1 and can perform the same processing. For example, the vehicle following travel system according to Embodiment 5 can be provided with the information processing apparatus 310, the terminal 320, and the terminal 330 illustrated in Figure 3 The information processing apparatus 310 can perform the same processing as the flowchart illustrated in Figure 8 The following describes the differences from Embodiment 1.

[0146] In the present embodiment, the acquisition unit 311 acquires information indicating the range of the following vehicle 202 in addition to the departure location and the destination desired by the user of the following vehicle 202. The information indicating the range of the following vehicle 202 can be information indicating the remaining energy (e.g., the amount of fuel or the amount of charge) possessed by the following vehicle 202, or information indicating the range calculated by the following vehicle 202.

[0147] In addition, the acquisition unit 311 can acquire a setting for the service of extending the distance of the range from the user of the follower vehicle 202 or the DB 1112. For example, the acquisition unit 311 can acquire a setting indicating whether or not the user of the follower vehicle 202 performs, and whether or not the user of the leader vehicle 201 performs, the replenishment of the energy such as fuel or electric power. In addition, the acquisition unit 311 can acquire a setting indicating whether or not the user of the follower vehicle 202 pays, and whether or not the user of the leader vehicle 201 pays, the price of the replenishment of the energy for the facility. Further, the acquisition unit 311 can acquire information indicating the kind of the energy (for example, gasoline or light oil, etc.) used by the follower vehicle 202.

[0148] The plan generation unit 314 can generate a travel plan in such a manner that the follower vehicle 202 passes through the facility that extends the distance of the range at a place that the follower vehicle 202 can reach in terms of the distance of the range from the starting point. The plan generation unit 314 can generate a travel plan in such a manner that the follower vehicle 202 passes through the facility that extends the distance of the range at the start point, the midway point, or the end point of the section of the follow-up travel. In addition, the plan generation unit 314 can generate a travel plan in such a manner that the follower vehicle 202 passes through the facility that extends the distance of the range in the section of the autonomous travel or the manual travel.

[0149] The plan generation unit 314 is not particularly limited in the method of selecting the facility that extends the distance of the range. For example, the plan generation unit 314 can select the facility that extends the distance of the range at a place where the follower vehicle 202 receives the replenishment of the energy during a period in which the distance of the range of the follower vehicle 202 is within a prescribed range. In addition, the plan generation unit 314 can select the facility that extends the distance of the range to be passed through in the travel plan in accordance with whether or not the facility that extends the distance of the range provides information for use in discounting the price of the replenishment of the energy. For example, the facility that extends the distance of the range can provide a discount on the price of the replenishment of the energy to the user of the vehicle follow-up travel system larger than that to other users. In this case, the plan generation unit 314 can preferentially select the facility that provides such a discount. In addition, the plan generation unit 314 can select the facility that extends the distance of the range to be passed through in the travel plan in accordance with the price of the replenishment of the energy.

[0150] In such a configuration, the transmission unit 315 can transmit information indicating the section of the follow-up travel to the terminal used by the user of the leader vehicle 201, as with Embodiment 2. The user of the leader vehicle 201 can lead the follower vehicle 202 to the destination or the handover place via the facility that extends the distance of the range in accordance with the information indicating the section of the follow-up travel.

[0151] In the facility for extending the distance, the user of the follower vehicle 202 can perform the energy supply to the follower vehicle 202, or can entrust the energy supply to the follower vehicle 202 to the staff of the facility. On the other hand, the user of the leader vehicle 201 can perform the energy supply to the follower vehicle 202, or can entrust the energy supply to the follower vehicle 202 to the staff of the facility. The transmission section 315 can transmit information indicating whether the user of the leader vehicle 201 should perform the energy supply to the follower vehicle 202 or entrust the energy supply to the follower vehicle 202 to the staff of the facility, to the terminal used by the user of the leader vehicle 201, in accordance with the setting acquired by the acquisition section 311. In addition, the transmission section 315 can transmit information indicating the kind of energy used by the follower vehicle 202, to the terminal used by the user of the leader vehicle 201, in accordance with the setting acquired by the acquisition section 311.

[0152] In addition, in the facility for extending the distance, the user of the follower vehicle 202 can pay the price of the energy supplied by the follower vehicle 202 to the facility, or the user of the leader vehicle 201 can pay the price of the energy supplied by the follower vehicle 202 to the facility. The transmission section 315 can transmit information indicating whether the user of the leader vehicle 201 should pay the price of the energy supply to the follower vehicle 202 to the facility, to the terminal used by the user of the leader vehicle 201, in accordance with the setting acquired by the acquisition section 311.

[0153] In the case where the user of the leader vehicle 201 pays the price of the energy supplied by the follower vehicle 202 to the facility, the user of the leader vehicle 201 can collect the price of the energy from the user of the follower vehicle 202. Therefore, the information processing apparatus 310 can have a payment section (not shown) which performs the payment processing from the follower vehicle 202 to the leader vehicle 201, similarly to Embodiment 3. The payment section can perform the payment processing of paying the price of the energy supplied by the follower vehicle 202 to the leader vehicle 201 in the facility for extending the distance.

[0154] Further, similarly to Embodiment 3, a configuration in which the follower vehicle performing the following travel pays a reward to the leader vehicle can be adopted. In this case, the information processing apparatus 310 can have a reward calculation section 316 which calculates the reward from the follower vehicle to the leader vehicle for the following travel, based on the travel plan, as explained in Embodiment 3. In addition, the reward can include the price of the energy supplied by the follower vehicle in the facility for extending the distance.

[0155] The generation of such a travel plan based on the range of the follow-up vehicle 202 can be performed by the vehicle search section 313 and the plan generation section 314 in steps S804 to S812. For example, in steps S810 and S812, the plan generation section 314 can determine whether the destination or the handover point can be reached within the range of the follow-up distance of the follow-up vehicle 202. In the case where the destination or the handover point cannot be reached, the plan generation section 314 can calculate the follow-up travel path and the required time in such a manner that the follow-up vehicle 202 goes to the destination or the handover point after being refueled at a facility that extends the follow-up distance. The acquisition section 311 can acquire information indicating the follow-up distance in step S802.

[0156] In addition, in the case where the follow-up vehicle 202 cannot reach the destination or the handover point within the range of the follow-up distance, the plan generation section 314 can set the facility that extends the follow-up distance as a rest point. In this case, the handover of the follow-up travel to the first lead vehicle and the follow-up travel to the second lead vehicle can be performed at the facility that extends the follow-up distance. Such processing can be performed similarly to Embodiment 4.

[0157] Figure 7 A travel plan in which the follow-up vehicle 700 is refueled at the handover point 712, which is a gas station, during the leading of the follow-up vehicle 700 by the lead vehicle 701 is shown. In this travel plan, the follow-up vehicle 700 departs from the departure point 711 at 10:00 and reaches the handover point 712 at 12:00 while following the lead vehicle 701. The refueling is performed at the handover point 712. Then, the follow-up vehicle 700 departs from the handover point 712 at 12:20 while following the lead vehicle 701, and reaches the destination 713 at 14:00.

[0158] Thus far, the method of generating a travel plan based on the follow-up distance of the follow-up vehicle 202 has been described. On the other hand, a travel plan can also be generated based on the follow-up distance of the lead vehicle 201. In such a configuration, the acquisition section 311 can acquire information indicating the follow-up distance of the lead vehicle 201. Then, the plan generation section 314 can determine whether to pass through a facility that extends the follow-up distance based on the follow-up distance of the lead vehicle 201, and generate a travel plan for follow-up travel.

[0159] For example, in steps S810 and S812, the plan generation section 314 can determine whether the destination or the handover point can be reached within the range of the follow-up distance of the lead vehicle 201. In the case where the destination or the handover point cannot be reached, the plan generation section 314 can calculate the follow-up travel path and the required time in such a manner that the lead vehicle 201 goes to the destination or the handover point after being refueled at a facility that extends the follow-up distance.

[0160] In the case where the leading vehicle 201 is refueled, it is conceivable that the following vehicle 202 arrives at the destination with a delay. Therefore, in the case where the leading vehicle 201 is refueled, a reward can also be paid from the user of the leading vehicle 201 to the user of the following vehicle 202 as a feedback. For example, in the case where the configuration in which the following vehicle that performs the follow-up travel pays a reward to the leading vehicle is adopted as in Embodiment 3, the reward can be discounted in accordance with the case where the leading vehicle is refueled in the facility that extends the travelable distance.

[0161] The above describes an example in which a travel plan from the departure place to the destination is made in consideration of the travelable distance. However, a corrected travel plan can also be generated in consideration of the travelable distance after the travel is started in accordance with the travel plan. For example, in the case where the travelable distance of the leading vehicle 201 or the following vehicle 202 is insufficient in the follow-up travel, a corrected follow-up travel path can be generated in such a manner that the destination or the handover place is reached via the facility that extends the travelable distance.

[0162] [Embodiment 6]

[0163] In the vehicle follow-up travel system according to Embodiment 6, the follow-up travel is set in consideration of the motion performance of the leading vehicle and the following vehicle. According to such a configuration, the leading vehicle that is suitable for the follow-up can be selected, or the driving of the leading vehicle can be restricted so that the following vehicle can follow. The vehicle follow-up travel system according to Embodiment 6 can have the same configuration as Embodiment 1, and the same processing can be performed. For example, the vehicle follow-up travel system according to Embodiment 6 can be provided with the information processing apparatus 310, the terminal 320, and the terminal 330 illustrated in FIG. 6. In addition, the information processing apparatus 310 can perform the same processing as the flowchart illustrated in FIG. 5. Hereinafter, the difference from Embodiment 1 will be described. Figure 3 Figure 8

[0164] In this embodiment, the acquisition unit 311 acquires information indicating the motion performance of the following vehicle 202 and the leading vehicle 201. The acquisition unit 311 can acquire information indicating the motion performance of the leading vehicle 201 from the DB 1111, and can acquire information indicating the motion performance of the following vehicle 202 from the DB 1112. As examples of the information indicating the motion performance, the maximum speed, the maximum acceleration, the maximum braking force, the maximum steering angle, and the minimum turning radius, and the like can be given.

[0165] ​​The vehicle search unit 313 can search for the leading vehicle 201 that the following vehicle 202 follows, based on information indicating the performance of the following vehicle 202 and the leading vehicle 201. For example, the vehicle search unit 313 can search for the leading vehicle 201 having the same degree of performance as the following vehicle 202, so that the following vehicle 202 can follow the leading vehicle 201. In addition, the vehicle search unit 313 can calculate the maximum speed according to weather information such as road surface conditions.

[0166] Hereinafter, as a specific example, a case where the leading vehicle 201 is searched for based on the maximum braking force of the following vehicle 202 and the leading vehicle 201 will be described. In the case of following travel, in order to reduce the possibility that another vehicle cuts in between the leading vehicle 201 and the following vehicle 202, the inter-vehicle distance between the leading vehicle 201 and the following vehicle 202 can be shortened. On the other hand, in the case where the inter-vehicle distance between the leading vehicle 201 and the following vehicle 202 is short, in order to reduce the possibility that the following vehicle 202 collides with the leading vehicle 201 when the leading vehicle 201 suddenly decelerates, it can be necessary to reduce the speed of the following travel. In this example, the vehicle search unit 313 can search for the leading vehicle 201 based on the maximum braking force of the following vehicle 202 and the leading vehicle 201 in such a manner that the speed of the following travel exceeds a threshold value.

[0167] In order to prevent the following vehicle 202 from colliding with the leading vehicle 201 when the leading vehicle 201 suddenly decelerates, the relationship between the braking distance of the leading vehicle 201 and the braking distance of the following vehicle 202 can be set as follows.

[0168] (braking distance of the following vehicle 202) - (braking distance of the leading vehicle 201) ≤ (inter-vehicle distance) - (margin)

[0169] In the above formula, the margin indicates the distance provided between the leading vehicle 201 and the following vehicle 202 when the leading vehicle 201 and the following vehicle 202 suddenly decelerate and stop. Here, the braking distance is generally determined by the speed and the braking force, and the greater the speed, the longer the braking distance. Thus, the maximum speed of the following travel can be calculated in such a manner that the above formula is satisfied, based on the braking force of the leading vehicle 201 and the following vehicle 202. Further, the time lag from when the leading vehicle 201 starts to decelerate to when the following vehicle 202 starts to decelerate can be taken into account.

[0170] On the other hand, by selecting the lead vehicle 201 in such a manner that the maximum speed of the following travel is made large, it is possible to shorten the required time to the destination or prevent hindrance to traffic of other vehicles. From such a viewpoint, in one embodiment, the vehicle retrieval unit 313 can retrieve the lead vehicle 201 in accordance with the maximum speed of the following travel obtained on the basis of information indicating the motion performance of the following vehicle 202 and the lead vehicle 201. Specifically, the vehicle retrieval unit 313 can retrieve the lead vehicle 201 in such a manner that the maximum speed of the following travel calculated as described above becomes equal to or larger than a threshold value.

[0171] Further, the inter-vehicle distance used when calculating the maximum speed can be a fixed value or can vary depending on the route of the following travel. For example, the maximum speed of the following travel can be obtained on the basis of the route of the following travel. As a specific example, in a section in which traffic flows fast, such as an expressway, even if the inter-vehicle distance is long, the possibility of being cut in by other vehicles is low, and thus a long inter-vehicle distance (for example, 4 m) can be used. On the other hand, in a section in which traffic flows slowly, even if the inter-vehicle distance is short, the possibility of being cut in by other vehicles is high, and thus a short inter-vehicle distance (for example, 2 m) can be used. When following travel in accordance with the travel plan is performed, the motion control unit 224 of the following vehicle 202 can control the travel of the following vehicle 202 so as to maintain the inter-vehicle distance used when calculating the maximum speed.

[0172] In other embodiments, the vehicle retrieval unit 313 can also decide to provide a cut-in prevention member between the following vehicle 202 and the lead vehicle 201 on the basis of information indicating the motion performance of the following vehicle 202 and the lead vehicle 201. For example, in a case where the maximum speed of the following travel obtained on the basis of information indicating the motion performance of the following vehicle 202 and the lead vehicle 201 is lower than a threshold value, the vehicle retrieval unit 313 can decide to provide the cut-in prevention member. The cut-in prevention member is a member that connects the following vehicle 202 and the lead vehicle 201 in order to prevent other vehicles from cutting in between the following vehicle 202 and the lead vehicle 201, and can be, for example, a rope-like member such as a tow rope. In order to be able to improve the visual recognition from other vehicles, the cut-in prevention member can have a rope-like member that connects the following vehicle 202 and the lead vehicle 201, and a marker portion that is provided to, for example, the central portion of the rope-like member and is capable of being visually recognized from other vehicles.

[0173] In a case where such a queue prevention member is provided, the inter-vehicle distance between the following vehicle 202 and the leading vehicle 201 can be expanded. The vehicle search unit 313 can calculate the maximum speed of the follow-up driving on the basis of the inter-vehicle distance in a case where the queue prevention member is provided. The inter-vehicle distance in a case where the queue prevention member is provided can be set to be longer than the inter-vehicle distance in a case where the queue prevention member is not provided and shorter than the length of the queue prevention member. In addition, the vehicle search unit 313 can search for the leading vehicle 201 in such a manner that the maximum speed of the follow-up driving becomes equal to or higher than the threshold value at least in a case where the queue prevention member is provided.

[0174] In such a configuration, the transmission unit 315 can transmit information indicating the maximum speed of the follow-up driving, which is obtained on the basis of the information indicating the motion performance of the following vehicle 202 and the leading vehicle 201, to the leading vehicle 201 or a user of the leading vehicle 201. For example, the transmission unit 315 transmits the information indicating the maximum speed of the follow-up driving to a terminal used by the user of the leading vehicle 201, so that the user of the leading vehicle 201 can drive the leading vehicle 201 in such a manner that the speed does not exceed the maximum speed. In addition, the transmission unit 315 can cause the leading vehicle 201 to control the traveling speed in accordance with the maximum speed by transmitting the information indicating the maximum speed to the leading vehicle 201. Specifically, the processing unit 214 of the leading vehicle 201 can control the traveling of the leading vehicle 201 so that the speed of the leading vehicle 201 does not exceed the maximum speed.

[0175] In addition, as described above, the vehicle search unit 313 can determine to provide the queue prevention member between the following vehicle 202 and the leading vehicle 201 on the basis of the information indicating the maximum speed of the follow-up driving, which is obtained on the basis of the information indicating the motion performance of the following vehicle 202 and the leading vehicle 201. In this case, the user of the leading vehicle 201 can be transmitted a notification requesting to provide the queue prevention member between the following vehicle 202 and the leading vehicle 201. With such a configuration, the user of the leading vehicle 201 can start the follow-up of the leading vehicle 201 after the queue prevention member is provided in accordance with the notification. In addition, specifically, the processing unit 214 of the leading vehicle 201 can control the traveling of the leading vehicle 201 so that the follow-up of the leading vehicle 201 is started after the provision of the queue prevention member is confirmed.

[0176] Such a calculation of the maximum speed and the search for the leading vehicle 201 can be performed by the vehicle search unit 313 in steps S804, S807, and S811. The acquisition unit 311 can acquire the information indicating the motion performance of the following vehicle 202 and the leading vehicle 201 in step S802. In addition, the transmission unit 315 can perform the transmission of the information indicating the maximum speed in step S816.

[0177] Thus far, the case where the following travel is set taking into consideration the motion performance of the leading vehicle and the following vehicle in association with the vehicle following travel system according to Embodiment 1 has been mainly described. However, in the present embodiment, it is not necessary to generate the travel plan from the departure place to the destination. In one embodiment, by searching for the leading vehicle for the following vehicle to follow based on the information indicating the motion performance of the following vehicle and the leading vehicle, it is possible to select the leading vehicle suitable for the leading in the following travel. In addition, in the present embodiment, it is not necessary to search for the leading vehicle. In one embodiment, by transmitting information indicating the maximum speed of the following travel obtained based on the information indicating the motion performance of the following vehicle and the leading vehicle to the leading vehicle or the user of the leading vehicle, it is easy to cause the leading vehicle to travel in a manner that the following vehicle can follow. In addition, in one embodiment, based on the information indicating the motion performance of the following vehicle and the leading vehicle, a notification requesting to set the anti-cutting-in member between the following vehicle and the leading vehicle is transmitted to the user of the leading vehicle, whereby it is possible to increase the speed of the following travel.

[0178] [SUMMARY OF EMBODIMENTS]

[0179] The above-described embodiments disclose at least the following vehicle following travel system, information processing method, and program.

[0180] 1. The vehicle following travel system according to the above-described embodiment, which is a vehicle following travel system for causing a following vehicle (202) to follow a leading vehicle (201) to perform following travel,

[0181] The vehicle following travel system includes:

[0182] an acquisition unit (311) that acquires a departure place and a destination desired by a user of the following vehicle (202);

[0183] a search unit (313) that searches for the leading vehicle (201) for the following vehicle (202) to follow based on the departure place and the destination;

[0184] a generation unit (314) that generates a travel plan including an interval of the following travel in at least a part of the departure place and the destination; and

[0185] a calculation unit (316) that calculates a reward to the leading vehicle (201) for the following travel based on the travel plan.

[0186] According to the embodiment, in the vehicle following travel system, the user of the leading vehicle or the following vehicle easily grasps the reward of the following travel.

[0187] 2. In the vehicle following travel system according to the above-described embodiment,

[0188] The travel plan includes sections of the follow-up travel in which the follow-up vehicle (202) respectively follows different lead vehicles (201),

[0189] The calculation unit (316) calculates the reward to each of the lead vehicles (201).

[0190] According to this embodiment, the reward of the follow-up travel is easily grasped even when a plurality of lead vehicles is used.

[0191] 3. In the vehicle follow-up travel system according to any one of the above embodiments,

[0192] The generation unit (314) generates a plurality of the travel plans,

[0193] The calculation unit (316) calculates the reward to the lead vehicle (201) for each of the plurality of travel plans.

[0194] According to this embodiment, the user of the follow-up vehicle easily selects the travel plan in consideration of the reward.

[0195] 4. In the vehicle follow-up travel system according to any one of the above embodiments,

[0196] The reward includes a toll of a toll road through which the follow-up vehicle (202) passes in the travel plan.

[0197] According to this embodiment, the user of the follow-up vehicle can reduce the labor of paying the toll at a toll booth of the toll road.

[0198] 5. In the vehicle follow-up travel system according to any one of the above embodiments,

[0199] The reward includes a price of energy supplied to the follow-up vehicle (202) for extending the distance of the travelable distance in the travel plan.

[0200] According to this embodiment, the user of the follow-up vehicle can reduce the labor of paying the price of the energy supply to the facility for extending the distance of the travelable distance.

[0201] 6. In the vehicle follow-up travel system according to any one of the above embodiments,

[0202] The section of the follow-up travel and the reward are transmitted to a terminal (330) used by the user of the lead vehicle (201) or a server (405) that manages the travel of the lead vehicle (201), and, according to the case where information indicating the agreement of the implementation of the follow-up travel is received from the terminal (330) or the server (405), the user of the follow-up vehicle (202) is notified of information indicating the case where the lead vehicle (201) leads the follow-up travel.

[0203] According to this embodiment, the user of the following vehicle can confirm the reward for the follow driving before agreeing to follow the lead.

[0204] 7. In the vehicle follow driving system according to any one of the above embodiments,

[0205] the travel plan and the reward are transmitted to the user of the following vehicle (202), and based on a response from the user of the following vehicle (202), an instruction to follow the lead of the follow driving according to the travel plan is transmitted to the user of the lead vehicle (201).

[0206] According to this embodiment, the user of the following vehicle can confirm the reward for the follow driving before starting the follow driving.

[0207] 8. In the vehicle follow driving system according to any one of the above embodiments,

[0208] the calculation unit (316) acquires information indicating a reward specified by the user of the following vehicle (202) to be added to the lead vehicle (201).

[0209] According to this embodiment, the user of the following vehicle can pay the added reward to the lead vehicle.

[0210] 9. The vehicle follow driving system according to any one of the above embodiments further includes a payment unit that performs a payment process of the reward to the lead vehicle (201).

[0211] According to this embodiment, the payment of the reward from the following vehicle to the lead vehicle can be easily performed.

[0212] 10. An information processing method according to any one of the above embodiments, which is an information processing method performed by a vehicle follow driving system that causes a following vehicle (202) to follow a lead vehicle (201) to perform follow driving,

[0213] the information processing method includes:

[0214] a step of acquiring a departure place and a destination desired by a user of the following vehicle (202) (S802);

[0215] a step of searching for the lead vehicle (201) for the following vehicle (202) to follow based on the departure place and the destination (S804, S807, S811);

[0216] a step of generating a travel plan including an interval of the follow driving in at least a part of the departure place and the destination (S810, S812); and

[0217] calculating a reward to the leading vehicle (201) for the follow driving based on the travel plan (S804, S807, S811).

[0218] According to this embodiment, in the vehicle follow driving system, a user of the leading vehicle or the following vehicle easily grasps the reward for the follow driving.

[0219] 11. The storage medium of the above embodiment, which stores a program that causes a computer to function as each unit of the vehicle follow driving system of the above embodiment.

[0220] According to this embodiment, in the vehicle follow driving system, a user of the leading vehicle or the following vehicle easily grasps the reward for the follow driving.

[0221] The above describes the embodiments of the application, but the application is not limited to the above-described embodiments, and various modifications and changes can be made within the scope of the gist of the application.

[0222] Explanation of Reference Numerals

[0223] 201: leading vehicle; 202: following vehicle; 310: information processing device; 311: acquisition section; 312: route search section; 313: vehicle search section; 314: plan generation section; 315: transmission section; 316: reward calculation section; 320: terminal; 330: terminal.

Claims

1. A vehicle following system, which is used to enable a following vehicle to follow a leading vehicle, characterized in that, The vehicle following system includes: The acquisition unit acquires the desired departure point and destination of the user following the vehicle; The retrieval unit retrieves the lead vehicle for the following vehicle to follow based on the origin and the destination. A generation unit that generates a driving plan that includes at least a portion of the following driving section between the origin and the destination; A calculation unit, based on the driving plan, calculates the reward for the following driving from the following vehicle to the leading vehicle; as well as The communication unit sends the driving plan and the reward to the user of the following vehicle before the following driving begins.

2. The vehicle following system according to claim 1, characterized in that, The driving plan includes multiple following sections in which the following vehicle follows different lead vehicles. The computing unit calculates the reward from the following vehicle to each of the leading vehicles.

3. The vehicle following system according to claim 1 or 2, characterized in that, The generation unit generates multiple driving plans. The calculation unit calculates the reward from the following vehicle to the leading vehicle for each of the plurality of driving plans.

4. The vehicle following system according to claim 1 or 2, characterized in that, The compensation includes toll fees for the following vehicles traversing the toll roads in the driving plan.

5. The vehicle following system according to claim 1 or 2, characterized in that, The compensation includes the price of energy supplied to the following vehicle in the driving plan to extend the driving range.

6. The vehicle following system according to claim 1 or 2, characterized in that, The vehicle following system also includes a sending unit that sends the following driving range and the reward to the terminal used by the user of the leading vehicle or the server that manages the driving of the leading vehicle. Based on the information received from the terminal or the server indicating consent to the following driving, the system notifies the user of the following vehicle that the leading vehicle is leading the following driving.

7. The vehicle following system according to claim 1 or 2, characterized in that, The vehicle following system also includes a sending unit that, based on a response from the user of the following vehicle to which the driving plan and reward have been sent, sends an instruction to the user of the leading vehicle to follow the vehicle according to the driving plan.

8. The vehicle following system according to claim 1 or 2, characterized in that, The computing unit obtains information representing the additional reward specified by the user of the following vehicle for the lead vehicle.

9. The vehicle following system according to claim 1 or 2, characterized in that, The vehicle following system also includes a payment unit that processes the payment of the reward from the following vehicle to the leading vehicle.

10. An information processing method, which is an information processing method implemented by a vehicle following system for causing a following vehicle to follow a leading vehicle, characterized in that, The information processing method includes: The steps to obtain the desired departure and destination points of the user following the vehicle; The step of retrieving the lead vehicle for the following vehicle to follow based on the origin and the destination; The step of generating a travel plan that includes at least a portion of the following travel section between the origin and the destination; The step of calculating the reward for the following vehicle to the leading vehicle based on the driving plan; as well as The step of sending the driving plan and the reward to the user of the following vehicle before the following driving begins.

11. A storage medium, characterized in that, The storage medium stores programs that enable the computer to function as a unit of the vehicle following driving system. The vehicle following system is a system used to enable a following vehicle to follow the leading vehicle. The vehicle following system includes: The acquisition unit acquires the desired departure point and destination of the user following the vehicle; The retrieval unit retrieves the lead vehicle for the following vehicle to follow based on the origin and the destination. A generation unit that generates a driving plan that includes at least a portion of the following driving section between the origin and the destination; A calculation unit, based on the driving plan, calculates the reward for the following driving from the following vehicle to the leading vehicle; as well as The sending unit sends the driving plan and the reward to the user of the following vehicle before the following driving begins.

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