Travel control device, method thereof, computer readable medium, and queuing travel control system

Abstract

The present disclosure relates to a traveling control device and a method thereof, a computer-readable medium, and a platooning control system. The system has a platoon control device that generates a surrounding map for platooning travel of a plurality of vehicles, and a traveling control device that controls travel of a following vehicle that follows a leading vehicle. The platoon control device generates a surrounding map that shows positions of objects in a surrounding of the vehicle using information indicating positions of the objects detected from surrounding data output from surrounding sensors of the plurality of vehicles, and distributes the surrounding map to the following vehicle. The traveling control device transmits information indicating positions of the objects detected from surrounding data output from the surrounding sensors of the following vehicle to the platoon control device to update the positions of the objects shown in the latest surrounding map to positions of the objects at a time when the following vehicle reaches a position of the leading vehicle shown in the latest surrounding map, and controls travel of the following vehicle so that a distance between the following vehicle and the objects shown in the updated surrounding map is above a predetermined distance.

Description

Technical Field

[0001] The present disclosure relates to a travel control device, a travel control method, a travel control computer program, and a platoon travel control system for controlling the travel of vehicles traveling in a queue. Background Art

[0002] By automatically controlling the travel of subsequent vehicles so as to follow a leading vehicle traveling by automatic driving or manual driving, it is possible to realize platooning of a plurality of vehicles.

[0003] Patent Document 1 describes a platooning system in which a lead vehicle and subsequent vehicles following the lead vehicle, operating under automated driving, platoon. In the platooning system described in Patent Document 1, the lead vehicle transmits a predicted collision time until it collides with an obstacle to subsequent vehicles. If the subsequent vehicles predict that the lead vehicle will perform an emergency steering maneuver based on the change in the predicted collision time, they increase the distance between them and the lead vehicle.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-021342 Summary of the Invention

[0007] The platooning system described in Patent Document 1 takes into account the predicted time of collision with surrounding objects, but does not take into account the positions of the surrounding objects. Therefore, in the platooning system described in Patent Document 1, the following vehicle may not be able to maintain a sufficient distance from the surrounding objects.

[0008] An object of the present disclosure is to provide a platoon travel control system capable of appropriately controlling platoon travel of a plurality of vehicles.

[0009] The present disclosure provides a travel control device for controlling the travel of a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue, the device comprising: a detection unit for detecting the position of at least one object shown in the surrounding data output by a surrounding sensor mounted on the following vehicle; a transmission unit for transmitting object information indicating the position of the detected object to the queue control device for generating a surrounding map showing the positions of objects in the surroundings of the leading vehicle; an updating unit for updating the latest surrounding map among the surrounding maps distributed in time series from the queue control device based on time-series changes in the positions of objects shown in each surrounding map distributed before the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the following vehicle arrives at the position of the leading vehicle shown in the latest surrounding map; and a travel control unit for controlling the travel of the following vehicle in such a manner that the interval between the following vehicle and the object shown in the updated surrounding map becomes greater than a predetermined distance.

[0010] In the travel control device according to the present disclosure, the updating unit preferably updates the surrounding map to indicate the probability of an object existing in each of the plurality of areas included in the surrounding map when the following vehicle reaches the position of the leading vehicle shown in the surrounding map.

[0011] In the driving control device involved in the present disclosure, the sending unit sends object information indicating the position of an object detected within a predetermined range around a predetermined queuing track to the queuing control device, and does not send object information indicating the position of an object detected outside the predetermined range to the queuing control device.

[0012] The present disclosure provides a driving control method for controlling the driving of a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue, comprising: detecting the position of at least one object shown in the surrounding data output by a surrounding sensor mounted on the following vehicle; sending object information indicating the position of the detected object to a queue control device that generates a surrounding map showing the positions of objects in the surroundings of the leading vehicle; updating the latest surrounding map among the surrounding maps distributed in time series from the queue control device based on time-series changes in the positions of objects shown in each surrounding map distributed before the latest surrounding map so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the following vehicle arrives at the position of the leading vehicle shown in the latest surrounding map; and controlling the driving of the following vehicle in such a manner that the interval between the following vehicle and the object shown in the updated surrounding map becomes greater than a predetermined distance.

[0013] The present disclosure provides a non-transitory computer-readable medium storing a travel control computer program, the travel control computer program being executed by a processor mounted on a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue, and performing the following steps: detecting the position of at least one object shown in the surrounding data output by a surrounding sensor mounted on the subsequent vehicle; sending object information indicating the position of the detected object to a queue control device that generates a surrounding map showing the positions of objects in the surroundings of the leading vehicle; updating the latest surrounding map among the surrounding maps distributed in time series from the queue control device based on time-series changes in the positions of objects shown in each surrounding map distributed before the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map; and controlling the travel of the subsequent vehicle in such a way that the interval between the subsequent vehicle and the object shown in the updated surrounding map becomes greater than a predetermined distance.

[0014] The present disclosure provides a queuing travel control system comprising: a queuing control device that generates a surrounding map for queuing travel of a plurality of vehicles; and one or more travel control devices that respectively control the travel of one or more subsequent vehicles among the plurality of vehicles that follow a leading vehicle traveling at the head, wherein the queuing control device comprises: a generating unit that generates a surrounding map showing the positions of objects in the vicinity of the plurality of vehicles using object information representing the positions of objects detected from surrounding data output by surrounding sensors mounted on each of the plurality of vehicles; and a delivering unit that delivers the surrounding map to each of the one or more subsequent vehicles and controls the travel of one of the one or more subsequent vehicles. The travel control device comprises: a detecting unit that generates a surrounding map showing the positions of objects in the vicinity of the plurality of vehicles using object information representing the positions of objects detected from surrounding data output by surrounding sensors mounted on one of the plurality of vehicles; and a delivering unit that delivers the surrounding map to each of the one or more subsequent vehicles and controls the travel of one of the one or more subsequent vehicles. The surrounding data output by the surrounding sensors of the vehicle detects the position of at least one object shown in the surrounding data; a sending unit sends object information indicating the position of the detected object to a queue control device; an updating unit updates the latest surrounding map among the surrounding maps delivered in time series based on the time series changes in the positions of objects shown in each surrounding map delivered before the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when a subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map; and a driving control unit controls the driving of a subsequent vehicle in such a way that the interval between the subsequent vehicle and the object shown in the updated surrounding map becomes greater than a predetermined distance.

[0015] The platoon travel control system according to the present disclosure can appropriately control platoon travel of a plurality of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the platooning control system.

[0017] Figure 2 This is the action sequence diagram of the queuing control process.

[0018] Figure 3 This is a schematic diagram of the head vehicle equipped with a queue control system.

[0019] Figure 4 This is the hardware structure diagram of the control device at the beginning.

[0020] Figure 5 This is a functional block diagram of a processor included in the control device.

[0021] Figure 6 It is the hardware structure diagram of the queue control device.

[0022] Figure 7 This is a functional block diagram of a processor included in a queue control device.

[0023] Figure 8 This is a diagram showing an example of a first situation during queuing travel.

[0024] Figure 9 This is a diagram showing an example of a second situation during queuing travel.

[0025] Figure 10 FIG. 1 is a diagram showing an example of a surrounding map.

[0026] Figure 11 This is a schematic diagram of the structure of a subsequent vehicle equipped with a travel control device.

[0027] Figure 12 This is a hardware structure diagram of the travel control device.

[0028] Figure 13 This is a functional block diagram of a processor included in the travel control device.

[0029] Figure 14 FIG. 1 is a diagram showing an example of an updated surrounding map.

[0030] (Explanation of Symbols)

[0031] 1: Leading vehicle; 15: Leading control device; 16: Queue control device; 164: Generator; 165: Delivery unit; 2: Subsequent vehicles; 24: Travel control device; 244: Detector; 245: Transmitter; 246: Updater; 247: Travel control unit DETAILED DESCRIPTION

[0032] A platooning control system capable of appropriately controlling the platooning of multiple vehicles will be described in detail below with reference to the accompanying drawings. The platooning control system includes: a platooning control device that generates a surrounding map for the platooning of the multiple vehicles; and one or more travel control devices that each control the travel of one or more subsequent vehicles, each of the multiple vehicles following a leading vehicle.

[0033] A travel control device that controls the travel of one of one or more following vehicles detects at least one object indicated in the surrounding data from a surrounding sensor mounted on the one following vehicle. The travel control device transmits object information indicating the position of the detected object to a queuing control device.

[0034] The queue control device uses the object information sent from the travel control device to generate a surrounding map showing the positions of objects around the plurality of vehicles in a time series. The queue control device delivers the surrounding map to each of one or more subsequent vehicles in a time series.

[0035] The driving control device updates the latest surrounding map among the surrounding maps distributed in time series, based on the time series changes in the positions of objects shown in each surrounding map distributed before the latest surrounding map, so that the position of the object shown in the latest surrounding map represents the position of the object at the moment when a following vehicle arrives at the position of the leading vehicle shown in the latest surrounding map. Furthermore, the driving control device controls the driving of the following vehicle in a manner that prevents the object shown in the updated surrounding map from approaching within a predetermined distance.

[0036] Figure 1 This is a schematic diagram of the platooning control system. Figure 2 This is the action sequence diagram of the queuing control process.

[0037] The platoon travel control system 100 includes a platoon control device 16 and travel control devices 24-1 and 24-2 (hereinafter collectively referred to as the "travel control device 24"). The platoon control device 16 is mounted on the leading vehicle 1, along with a leading control device 15 that controls the travel of the leading vehicle 1, which is the leading vehicle among a plurality of vehicles. The travel control devices 24-1 and 24-2 are respectively mounted on the following vehicles 2-1 and 2-2 (hereinafter collectively referred to as the "following vehicles 2") that follow the leading vehicle 1, and control the travel of each of the following vehicles.

[0038] The queuing control device 16 and the travel control device 24 are communicatively connected using the PC5 communication standard based on C-V2X (Cellular Vehicle-to-Everything) technology. A road RD on which a leading vehicle 1 and a following vehicle 2 are traveling has a lane L1 and a lane L2. The leading vehicle 1 and the following vehicle 2 are controlled by the queuing travel control system 100 so that the following vehicle 2 follows the leading vehicle 1 and queues up in lane L1 of the road RD.

[0039] In the queuing control system 100, the travel control device 24 first detects at least one object indicated by the surrounding data output by the surrounding sensors mounted on the vehicle (step S21). The travel control device 24 transmits object information indicating the position of the detected object to the queuing control device 16 (step S22).

[0040] The queue control device 16 generates a surrounding map showing the positions of objects around the plurality of vehicles using the object information transmitted from the travel control device 24 (step S11 ). The queue control device 16 delivers the surrounding map to the travel control device 24 (step S12 ).

[0041] The driving control device 24 updates the latest surrounding map in the delivered surrounding map based on the time-series changes in the positions of objects shown in each of the surrounding maps delivered prior to the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment the host vehicle arrives at the position of the leading vehicle 1 shown in the latest surrounding map (step S23). The driving control device 24 then controls the driving of the host vehicle so that the distance between the host vehicle and the object shown in the updated surrounding map becomes greater than a predetermined distance (step S24).

[0042] While the leading vehicle 1 and the following vehicles 2 are traveling in a queue, the queue travel control system 100 repeatedly executes the queue travel control process at predetermined time intervals (for example, 1 / 10 second intervals).

[0043] Figure 3 It is a schematic structural diagram of the head vehicle 1 on which the queue control device 16 is installed.

[0044] The leading vehicle 1 includes a surrounding camera 11, a GNSS receiver 12, a data communication module 13 (DCM), a storage device 14, a leading control device 15, and a queue control device 16. The surrounding camera 11, the GNSS receiver 12, the data communication module 13, the storage device 14, the leading control device 15, and the queue control device 16 are communicatively connected via an in-vehicle network conforming to standards such as a controller area network.

[0045] The surrounding camera 11 is an example of a surrounding sensor used to detect conditions around the leading vehicle 1. The surrounding camera 11 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be imaged on the two-dimensional detector. The surrounding camera 11 includes a left front surrounding camera 11-1 and a right front surrounding camera 11-2. The left front surrounding camera 11-1 is positioned, for example, in the upper left front portion of the vehicle interior, facing the left front. The right front surrounding camera 11-2 is positioned, for example, in the upper right front portion of the vehicle interior, facing the right front. The surrounding camera 11 captures conditions around the leading vehicle 1 through the windshield at predetermined intervals (e.g., 1 / 30 to 1 / 10 second) and outputs a surrounding image representing the surrounding conditions as surrounding data. The number of cameras in the surrounding camera 11 can be one or three or more. Furthermore, the leading vehicle 1 may include a LiDAR (Light Detection and Ranging) sensor or a RADAR (Radio Detection and Ranging) sensor as a surrounding sensor. Based on the surrounding conditions of the leading vehicle 1, the LiDAR sensor or RADAR sensor outputs a range image as surrounding data, in which each pixel has a value corresponding to the distance to an object represented by that pixel.

[0046] The GNSS receiver 12 receives GNSS (Global Navigation Satellite System) signals from GNSS satellites at predetermined intervals and determines the position of the leading vehicle 1 based on the received GNSS signals. The GNSS receiver 12 outputs a positioning signal indicating the position of the leading vehicle 1 based on the GNSS signals to the leading vehicle control device 15 via the in-vehicle network at predetermined intervals.

[0047] The data communication module 13 is an example of a vehicle communication unit and is a device that performs wireless communication processing in accordance with predetermined wireless communication standards such as 4G (4th Generation) or 5G (5th Generation). The data communication module 13 connects to a data communication module (described later) of the following vehicle 2 using, for example, the PC5 communication method of C-V2X technology. The data communication module 13 includes data received from the queue control device 16 in an uplink wireless signal and transmits this wireless signal to the data communication module of the following vehicle 2. In addition, the data communication module 13 transmits data included in the wireless signal received from the data communication module of the following vehicle 2 to the queue control device 16. The data communication module 13 can also be installed as part of the queue control device 16.

[0048] The storage device 14 is an example of a storage unit and includes, for example, a hard disk drive or a nonvolatile semiconductor memory. The storage device 14 stores map data including information on features such as lane markings associated with their positions.

[0049] The leading control device 15 is an ECU (Electronic Control Unit) equipped with a communication interface, memory, and a processor. The leading control device 15 detects objects based on the surrounding data output by the surrounding camera 11 and controls the travel of the leading vehicle 1 so that the distance between the leading vehicle 1 and the detected object is greater than a predetermined distance.

[0050] The queue control device 16 is an ECU equipped with a communication interface, memory, and a processor. It generates a surrounding map using object information representing the positions of objects detected in surrounding images output by surrounding cameras installed in each of the multiple vehicles. The generated surrounding map is then distributed to each subsequent vehicle.

[0051] Figure 4 15 is a hardware diagram of the head control device 15. The head control device 15 includes a communication interface 151, a memory 152, and a processor 153.

[0052] The communication interface 151 is an example of a communication unit and includes a communication interface circuit for connecting the start control device 15 to the in-vehicle network. The communication interface 151 supplies received data to the processor 153. The communication interface 151 also outputs data supplied from the processor 153 to the outside.

[0053] The memory 152 is another example of a storage unit and includes volatile semiconductor memory and nonvolatile semiconductor memory. The memory 152 stores various data used in the processing executed by the processor 153, such as parameters of a neural network used as a recognizer for recognizing surrounding objects from surrounding data output by the surrounding camera 11. The memory 152 also stores various application programs, such as a start-up travel control program that executes the start-up travel control process.

[0054] The processor 153 is an example of a control unit and includes one or more processors and their peripheral circuits. The processor 153 may also include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit.

[0055] Figure 5 1 is a functional block diagram of the processor 153 included in the beginning control device 15 .

[0056] The processor 153 of the start control device 15 includes a detection unit 154, a transmission unit 155, and a driving control unit 156 as functional blocks. These components of the processor 153 are functional modules implemented by a computer program stored in the memory 152 and executed by the processor 153. The computer program that implements the functions of the various components of the processor 153 can also be provided in the form of a computer-readable and portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, these components of the processor 153 can be implemented in the start control device 15 as independent integrated circuits, microprocessors, or firmware.

[0057] The detection unit 154 detects at least one object shown in the surrounding image by inputting the surrounding image output by the surrounding camera 11 into a recognizer that has been previously learned so as to identify the position of the object.

[0058] The recognizer can be, for example, a convolutional neural network (CNN) having multiple convolutional layers connected in series from the input side to the output side. A large number of images showing objects to be detected, such as other vehicles and lane markings, and the categories of the objects shown in each image are input into the CNN as training data for pre-learning. The CNN then operates as a recognizer that detects objects and outputs the object category and the object area showing the object in the image.

[0059] The detection unit 154 estimates the actual spatial position of the detected object using the current position and posture of the leading vehicle 1 , the direction from the leading vehicle 1 toward the object, and the estimated distance from the leading vehicle 1 to the object.

[0060] The detection unit 154 determines the current position of the leading vehicle 1 based on, for example, positioning signals obtained from the GNSS receiver 12. Furthermore, the detection unit 154 determines the posture of the leading vehicle 1 by, for example, detecting features such as lane markings from the surrounding image and matching the detected features with corresponding features shown in the map data stored in the storage device 14.

[0061] The detection unit 154 estimates the direction from the leading vehicle 1 toward the object using, for example, the position of the object on the surrounding image, the focal length of the imaging optical system of the surrounding camera 11 , and the inclination of the optical axis of the imaging optical system of the surrounding camera 11 relative to the traveling direction of the leading vehicle 1 .

[0062] The detection unit 154 estimates the distance from the leading vehicle 1 to the object based on, for example, the reference size of the object in real space, the size of the object region shown in the surrounding image, and the internal parameters of the surrounding camera 11. The memory 152 pre-stores the reference size of objects in real space for each object type. The detection unit 154 searches the memory 152 using the object type output from the recognizer, which receives the surrounding image input, to determine the real-space size of the object shown in the surrounding image. The internal parameters of the surrounding camera 11 include, for example, the focal length of the imaging optical system of the surrounding camera 11 and the pixel size of the surrounding image.

[0063] The detection unit 154 outputs the estimated position of the detected object in real space as object information.

[0064] The transmitting unit 155 transmits object information indicating the position of the object detected by the detecting unit 154 to the queuing control device 16 via the communication interface 151 and the in-vehicle network.

[0065] The driving control unit 156 obtains information about lane markings surrounding the current position of the leading vehicle 1, as indicated in the positioning signal received from the GNSS receiver 12 via the communication interface 151 and the in-vehicle network, from the storage device 14 storing a high-precision map. The driving control unit 156 outputs a control signal to the driving mechanism (not shown) of the leading vehicle 1 via the communication interface 151 so that the leading vehicle 1 follows the lane markings. Furthermore, the driving control unit 156 controls the driving of the leading vehicle 1 so that the distance between the leading vehicle 1 and an object detected by the detection unit 154, such as a preceding vehicle traveling ahead of the leading vehicle 1 in the lane in which the leading vehicle 1 is traveling, is greater than a predetermined distance. The driving mechanism includes, for example, an engine or motor to power the leading vehicle 1, a brake device to reduce the speed of the leading vehicle 1, and a steering mechanism to steer the leading vehicle 1.

[0066] Figure 616 is a hardware diagram of the queue control device 16. The queue control device 16 includes a communication interface 161, a memory 162, and a processor 163.

[0067] The communication interface 161 is an example of a communication unit and includes a communication interface circuit for connecting the queuing control device 16 to the in-vehicle network. The communication interface 161 supplies received data to the processor 163. The communication interface 161 also outputs data supplied from the processor 163 to the outside.

[0068] Memory 162 is another example of a storage unit and includes volatile semiconductor memory and nonvolatile semiconductor memory. Memory 162 stores various data used in the processing executed by processor 163, such as object information indicating the positions of objects around following vehicle 2, transmitted from the travel control device 24 of following vehicle 2. Memory 162 also stores various application programs, such as a queue control program that executes queue control processing.

[0069] The processor 163 is an example of a control unit and includes one or more processors and their peripheral circuits. The processor 163 may also include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit.

[0070] Figure 7 This is a functional block diagram of the processor 163 included in the queue control device 16 .

[0071] The processor 163 of the queue control device 16 includes a generation unit 164 and a delivery unit 165 as functional blocks. These components of the processor 163 are functional modules implemented by a computer program stored in the memory 162 and executed by the processor 163. The computer program that implements the functions of the various components of the processor 163 may also be provided in the form of a computer-readable, portable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium. Alternatively, these components of the processor 163 may be implemented in the queue control device 16 as independent integrated circuits, microprocessors, or firmware.

[0072] The generating unit 164 generates a surrounding map showing the positions of objects around the plurality of vehicles using object information indicating the positions of objects detected from surrounding images output from surrounding cameras mounted on each of the plurality of vehicles.

[0073] The generation unit 164 may generate the trajectory of the leading vehicle 1 and the following vehicle 2 when they travel in a queue in the future so that the distance from the position of the object shown in the surrounding map becomes greater than a predetermined distance.

[0074] Figure 81 is a diagram showing an example of a first situation in which vehicles are traveling in a queue. Figure 9 This is a diagram showing an example of a second situation during queuing travel.

[0075] exist Figure 8 In the first situation shown, a leading vehicle 1 and a following vehicle 2 are traveling in a queue on lane L1 of a road RD having lanes L1 and L2. Vehicle 3 is traveling ahead of the leading vehicle 1 in lane L2 of road RD. Vehicle 4 is traveling behind the leading vehicle 1 in lane L2 of road RD.

[0076] The generator 164 determines a track P1 such that the interval between the vehicles 3 and 4 is equal to or greater than a predetermined distance (eg, 100 m in the traveling direction and 1.5 m in the width direction of the road RD), and generates track information indicating the track P1.

[0077] exist Figure 9 In the second situation shown, a leading vehicle 1 and a following vehicle 2 are traveling in a queue on lane L1 of a road RD having lanes L1 and L2. A vehicle 5 is traveling ahead of the leading vehicle 1 in lane L1 of the road RD toward the leading vehicle 1 (traveling against the flow).

[0078] The generator 164 determines a track P2 including a lane change from the lane L1 to the lane L2 so that the interval with the vehicle 5 becomes equal to or greater than a predetermined distance, and generates track information indicating the track P2.

[0079] exist Figure 9 In the second situation shown, vehicle 5 is shown in the surrounding image output by the surrounding camera of the leading vehicle 1 or the following vehicle 2. The generator 164 receives, from the leading control device 15 via the in-vehicle network, object information indicating the position of vehicle 5 detected from the surrounding images output in a time-series manner by the surrounding camera 11 mounted on the leading vehicle 1. Furthermore, the generator 164 receives, from the travel control device 24 mounted on the following vehicle 2 via the data communication module 13, object information indicating the position of vehicle 5 detected from the surrounding images output in a time-series manner by the surrounding camera mounted on the following vehicle 2 (described later).

[0080] Generator 164 uses object information acquired in time series from leading control device 15 and the travel control device 24 mounted on following vehicle 2 to generate a surrounding map showing the location of an object after a predetermined time. The surrounding map is, for example, a map showing the probability of an object being present in each of the multiple areas formed by dividing the area surrounding leading vehicle 1 and following vehicle 2. The surrounding map includes the location of leading vehicle 1.

[0081] Figure 10 is a diagram showing an example of a surrounding map. Figure 10 For the purpose of explanation, symbols (A0, 1-15) are added to the top and left sides of the surrounding map SM1. Hereinafter, in the areas included in the surrounding map SM1, the area with respect to the Ath column and the 1st row is referred to as area A1, and the area with respect to the Oth column and the 15th row is referred to as area O15.

[0082] In the area shown in the surrounding map SM1, the blackened areas G4 and G5 indicate a very high probability of an object's presence (e.g., 75% or greater). In the area shown in the surrounding map SM1, the areas with thick crosshatching (areas other than areas G4 and G5 within the rectangle with areas F3 and H6 as vertices) indicate a high probability of an object's presence (e.g., 50% or greater and less than 75%). In the area shown in the surrounding map SM1, the areas with light crosshatching (areas within the rectangle with areas E2 and I7 as vertices, but not within the rectangle with areas F3 and H6 as vertices) indicate a slightly higher probability of an object's presence (e.g., 25% or greater and less than 50%). In the area shown in the surrounding map SM1, the area marked with an "×" (X) indicates the position of the leading vehicle 1.

[0083] Refer again Figure 7 The delivery unit 165 delivers the surrounding map generated by the generation unit 164 to the following vehicle 2 via the communication interface 161, the data communication module 13, and the wireless communication line. The delivery unit 165 may also deliver the track information generated by the generation unit 164 to the following vehicle 2. In addition, the delivery unit 165 may also deliver the surrounding map and track information to the starting control device 15 via the communication interface 161 and the in-vehicle network.

[0084] Figure 11 It is a schematic configuration diagram of a following vehicle 2 equipped with the travel control device 24 .

[0085] The following vehicle 2 includes a surrounding camera 21, a GNSS receiver 22, a data communication module 23 (DCM), and a travel control device 24. The surrounding camera 21, the GNSS receiver 22, the data communication module 23, and the travel control device 24 are communicatively connected via an in-vehicle network conforming to a standard such as a controller area network.

[0086] The surrounding camera 21 , GNSS receiver 22 , and data communication module 23 included in the following vehicle 2 are the same as the surrounding camera 11 , GNSS receiver 12 , and data communication module 13 included in the leading vehicle 1 , and therefore detailed descriptions thereof are omitted.

[0087] The driving control device 24 is an ECU equipped with a communication interface, memory, and a processor. The driving control device 24 detects at least one object from the surrounding data output by the surrounding camera 21 and controls the driving of the following vehicle 2 so that the distance between the following vehicle 2 and the detected object is greater than a predetermined distance.

[0088] Figure 12 2 is a hardware diagram of the travel control device 24. The travel control device 24 includes a communication interface 241, a memory 242, and a processor 243.

[0089] The communication interface 241 , the memory 242 , and the processor 243 included in the travel control device 24 are respectively the same as the communication interface 151 , the memory 152 , and the processor 153 included in the start control device 15 , and therefore detailed descriptions thereof are omitted.

[0090] Figure 13 This is a functional block diagram of the processor 243 included in the travel control device 24 .

[0091] The processor 243 of the travel control device 24 includes a detection unit 244, a transmission unit 245, an update unit 246, and a travel control unit 247 as functional blocks. These components of the processor 243 are functional modules implemented by a computer program stored in the memory 242 and executed on the processor 243. The computer program that implements the functions of the various components of the processor 243 can also be provided in the form of a computer-readable, portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, these components of the processor 243 can be implemented in the travel control device 24 as independent integrated circuits, microprocessors, or firmware.

[0092] The detection unit 244 and the travel control unit 247 included in the processor 243 of the travel control device 24 are respectively the same as the detection unit 154 and the travel control unit 156 included in the processor 153 of the start control device 15 , and therefore detailed descriptions thereof are omitted.

[0093] The transmitting unit 245 transmits the object information indicating the position of the object in the real space detected by the detecting unit 244 to the queuing control device 16 via the communication interface 241 , the data communication module 23 , and the wireless communication network.

[0094] The sending unit 245 may also send the object information representing the position of the delivered object detected within a predetermined range around the queue track to the queue control device 16, and not send the object information representing the position of the object detected outside the predetermined range to the queue control device 16.

[0095] Refer again Figure 8, the transmitting unit 245 transmits object information indicating the position of the vehicle 3 detected within the predetermined range around the track P1 to the queuing control device 16. On the other hand, the transmitting unit 245 does not transmit object information indicating the position of the vehicle 4 detected outside the predetermined range around the track P1 to the queuing control device 16.

[0096] For example, the predetermined range is determined to be 3 meters from the center of a pair of lane-demarcating lines that demarcate lane L1 on track P1 running along lane L1. Transmitter 245 identifies the positions of the pair of lane-demarcating lines that demarcate lane L1 among the features detected by detector 244 from the surrounding image. Transmitter 245 then sets the predetermined range as a range of 3 meters from the center of the identified pair of lane-demarcating lines.

[0097] By transmitting the object information to the queue control device 16 in this manner through the transmitting unit 245 , the travel control device 24 can suppress the transmission of object information that does not affect the queue travel, thereby effectively utilizing the communication band.

[0098] Refer again Figure 13 The updating unit 246 updates the latest surrounding map among the surrounding maps delivered in time series from the queuing control device 16 based on the time series changes in the positions of the objects shown in each surrounding map delivered before the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the subsequent vehicle 2 arrives at the position of the leading vehicle 1 shown in the latest surrounding map.

[0099] The updating unit 246 calculates the distance between the position of the leading vehicle 1 shown in the latest surrounding map and the current position of the following vehicle 2 shown in the positioning signal received from the GNSS receiver 22 via the communication interface 241 and the in-vehicle network.

[0100] The updating unit 246 estimates the time required for the following vehicle 2 to reach the position of the leading vehicle 1 shown in the latest surrounding map by dividing the distance between the position of the leading vehicle 1 shown in the latest surrounding map and the current position of the following vehicle 2 by the current speed of the following vehicle 2. The updating unit 246 calculates the time when the following vehicle 2 arrives at the position of the leading vehicle 1 shown in the latest surrounding map by adding the estimated time required for the following vehicle 2 to reach the position of the leading vehicle 1 shown in the latest surrounding map to the current time.

[0101] Based on the time-series changes in the position of the object shown in each of the surrounding maps delivered from the queue control device 16 prior to the latest surrounding map, the updating unit 246 estimates the future position of the object at the moment when the following vehicle 2 arrives at the position of the leading vehicle 1 shown in the latest surrounding map. For each of the multiple areas included in the latest surrounding map, the updating unit 246 calculates the probability of the object being present in each area. For example, the updating unit 246 applies the least squares method to the position of the object shown in each of the surrounding maps delivered prior to the latest surrounding map to determine the object's movement trajectory, and estimates the object's future position based on this movement trajectory. In this case, the updating unit 246 calculates a lower probability of the estimated future position as the squared error between the object's movement trajectory determined by the least squares method and the object's position shown in the surrounding map delivered prior to the latest surrounding map increases.

[0102] The updating unit 246 may estimate the future position of an object using a prediction filter such as a Kalman filter or a particle filter for the position of the object shown in each surrounding map distributed before the latest surrounding map.

[0103] The updating unit 246 may also correct the probability of objects existing in each area included in the latest surrounding map by using the transmission delay time when the surrounding map is distributed from the leading vehicle 1, the data sending processing time in the queue control device 16, the data receiving time in the driving control device 24, etc.

[0104] Figure 14 is a diagram showing an example of an updated surrounding map. Figure 14 The updated surrounding map SM2 is also shown with Figure 9 The surrounding map SM1 shown similarly uses symbols to refer to areas.

[0105] The updated surrounding map SM2 is an example of an updated surrounding map updated by the travel control device 24-1 of the following vehicle 2-1 traveling immediately behind the lead vehicle 1. Within the area shown in the updated surrounding map SM2, the areas G11-G13 marked with an "X" represent the estimated position of the lead vehicle 1, and the area G15 marked with an "X" represents the estimated position of the following vehicle 2. In other words, the updated surrounding map SM2 shows the estimated positions of objects at the moment the following vehicle 2-1 arrives at the position of the lead vehicle 1 shown in the surrounding map SM1. The estimated position of the lead vehicle 1 can be estimated based on past changes in the position of the lead vehicle 1 and does not necessarily represent the actual position of the lead vehicle 1.

[0106] In the area shown in the updated surrounding map SM2, the blackened areas G8-G10 indicate that the probability of an object existing is very high (e.g., 75% or more). In the area shown in the updated surrounding map SM2, the areas with thick screen lines (areas other than areas G8-G10 included in the rectangular area with areas F7 and H11 as vertices) indicate that the probability of an object existing is high (e.g., 50% or more and less than 75%). In the area shown in the updated surrounding map SM2, the areas with light screen lines (areas included in the rectangular area with areas E5 and I12 as vertices and not included in the rectangular area with areas F7 and H11 as vertices) indicate that the probability of an object existing is slightly high (e.g., 25% or more and less than 50%).

[0107] By operating as described above, the platooning control system 100 can appropriately control the platooning of multiple vehicles, even when a following vehicle creates a blind spot due to a preceding vehicle. Furthermore, the platooning control system 100 eliminates the need for each vehicle to calculate trajectory information for other vehicles, thereby reducing the computational resources of the driving control device.

[0108] In this disclosure, an embodiment is described in which the queue control device 16 is mounted on the leading vehicle 1. However, the implementation of the queue travel control system is not limited to this, and the queue control device 16 may be mounted on any subsequent vehicle.

[0109] It should be understood that those skilled in the art can add various changes, substitutions, and modifications without departing from the spirit and scope of the present invention.

Claims

1. A travel control device for controlling the travel of a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue, comprising: a detection unit that detects, from surrounding data output by a surrounding sensor mounted on the following vehicle, a position of at least one object indicated in the surrounding data; a transmitting unit that transmits object information indicating the detected position of the object to a queue control device that generates a surrounding map indicating the positions of objects in the surroundings of the leading vehicle; an updating unit, which updates a latest surrounding map among the surrounding maps delivered in time series from the queuing control device, such that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map, based on a time-series change in the position of the object shown in each surrounding map delivered before the latest surrounding map; as well as The travel control unit controls travel of the following vehicle so that a distance between the following vehicle and an object shown in the updated surrounding map becomes equal to or greater than a predetermined distance.

2. The travel control device according to claim 1, wherein: The updating unit updates the surrounding map so as to indicate the probability of an object existing in each of a plurality of areas included in the surrounding map when the following vehicle reaches the position of the leading vehicle shown in the surrounding map.

3. The travel control device according to claim 1, wherein: The sending unit sends the object information indicating the position of the detected object within a predetermined range around the predetermined queuing track to the queuing control device, and does not send the object information indicating the position of the object detected outside the predetermined range to the queuing control device.

4. A driving control method for controlling the driving of a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue, comprising: detecting, from surrounding data output by a surrounding sensor mounted on the following vehicle, a position of at least one object indicated in the surrounding data; transmitting object information indicating the detected position of the object to a queue control device that generates a surrounding map showing the positions of objects in the surroundings of the leading vehicle; updating a latest surrounding map among the surrounding maps delivered in time series from the queue control device so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map, based on the time-series change in the position of the object shown in each surrounding map delivered before the latest surrounding map; as well as The travel of the following vehicle is controlled so that a distance between the following vehicle and an object shown in the updated surrounding map becomes equal to or greater than a predetermined distance.

5. A non-transitory computer-readable medium storing a travel control computer program, the travel control computer program being executed by a computer mounted on a subsequent vehicle following a leading vehicle among a plurality of vehicles traveling in a queue and causing the computer to execute: detecting, from surrounding data of a surrounding sensor mounted on the following vehicle, a position of at least one object indicated in the surrounding data; transmitting object information indicating the detected position of the object to a queue control device that generates a surrounding map showing the positions of objects in the surroundings of the leading vehicle; updating a latest surrounding map among the surrounding maps delivered in time series from the queue control device so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map, based on the time-series change in the position of the object shown in each surrounding map delivered before the latest surrounding map; as well as The travel of the following vehicle is controlled so that a distance between the following vehicle and an object shown in the updated surrounding map becomes equal to or greater than a predetermined distance.

6. A queuing control system comprising: a queue control device that generates a surrounding map for a plurality of vehicles traveling in a queue; and One or more travel control devices each controlling travel of one or more following vehicles following the leading vehicle among the plurality of vehicles; The queue control device comprises: a generating unit that generates the surrounding map showing positions of objects in the vicinity of the plurality of vehicles using object information indicating positions of objects detected from surrounding data output by surrounding sensors mounted on each of the plurality of vehicles; as well as a delivery unit that delivers the surrounding map to each of the one or more subsequent vehicles; The travel control device for controlling travel of one of the one or more following vehicles includes: a detection unit that detects, from surrounding data output by a surrounding sensor mounted on the one following vehicle, a position of at least one object indicated in the surrounding data; a sending unit, configured to send object information indicating the detected position of the object to the queuing control device; an updating unit for updating a latest surrounding map among the surrounding maps distributed in time series, based on a time-series change in the position of the object shown in each surrounding map distributed before the latest surrounding map, so that the position of the object shown in the latest surrounding map becomes the position of the object at the moment when the one subsequent vehicle arrives at the position of the leading vehicle shown in the latest surrounding map; as well as The travel control unit controls travel of the one following vehicle so that a distance between the one following vehicle and an object shown in the updated surrounding map becomes equal to or greater than a predetermined distance.

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