Vehicle control device, vehicle control program, and vehicle control method

Abstract

The vehicle control device includes: a target torque calculation unit that calculates a first target torque that causes the vehicle-to-vehicle distance to change from a leading vehicle to a following vehicle; a torque recording unit that records the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance between the following vehicle and the leading vehicle; and a distance setting unit that sets the corresponding vehicle-to-vehicle distance as the vehicle-to-vehicle distance corresponding to a value in the recorded actual torque that is within a specific range including the minimum value.

Description

[0001] Cross-reference of related applications

[0002] This application is based on and claims the priority of Japanese Patent Application No. 2023-203182, filed on November 30, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to vehicle control devices, vehicle control programs, and vehicle control methods. Background Technology

[0004] In the prior art disclosed in Patent Document 1, the air resistance increase / decrease rate is calculated based on the reference torque and the actual torque, and the platooning is carried out with the inter-vehicle distance that meets the target value of the air resistance increase / decrease rate.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2021-059131 Summary of the Invention

[0008] After detailed research, the inventors discovered the following technical problem: In the existing technology, even if the rate of increase or decrease in air resistance meets the target value, subsequent vehicles may not be able to travel at the inter-vehicle distance where the gain energy is at its maximum or close to its maximum value, that is, at the inter-vehicle distance where the driving resistance energy is at its minimum or close to its minimum value.

[0009] Thus, there is room for improvement in existing technologies in suppressing the energy consumption of following vehicles that are trailing ahead.

[0010] This disclosure was made in view of the above-mentioned technical problems, and its purpose is to provide a vehicle control device, vehicle control program and vehicle control method for suppressing the consumption of driving energy of subsequent vehicles.

[0011] To achieve the above objectives, the vehicle control device of this disclosure includes: a target torque calculation unit that calculates a first target torque that causes the vehicle-to-vehicle distance to change from a leading vehicle to a following vehicle; a torque recording unit that records the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance between the following vehicle and the leading vehicle; and a distance setting unit that sets the corresponding vehicle-to-vehicle distance as the vehicle-to-vehicle distance, which corresponds to a value in the recorded actual torque that falls within a specific range including a minimum value.

[0012] The vehicle control program disclosed herein causes at least one processor to perform processing including: calculating a first target torque that causes the vehicle-to-vehicle distance to change from a leading vehicle to a following vehicle; recording the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance between the following vehicle and the leading vehicle; and setting the corresponding vehicle-to-vehicle distance to the value of the recorded actual torque within a specific range including a minimum value.

[0013] In the vehicle control method disclosed herein, at least one processor performs a process comprising: calculating a first target torque that causes a change in the inter-vehicle distance from a leading vehicle to a following vehicle; recording actual torques generated based on the first target torque until the inter-vehicle distance reaches a specific inter-vehicle distance between the following vehicle and the leading vehicle; and setting the corresponding inter-vehicle distance as the inter-vehicle distance corresponding to a value in the recorded actual torque that falls within a specific range including a minimum value.

[0014] According to this disclosure, it is possible to suppress the consumption of driving energy by subsequent vehicles. Attached Figure Description

[0015] Figure 1 This is a diagram showing a vehicle including a vehicle control device according to an embodiment of the present disclosure.

[0016] Figure 2 This is a diagram illustrating the hardware structure of a vehicle control device according to an embodiment of the present disclosure.

[0017] Figure 3 This is a diagram illustrating the functional blocks of a vehicle control device according to an embodiment of the present disclosure.

[0018] Figure 4 This is a flowchart illustrating the operation of the vehicle control device according to the embodiments of this disclosure.

[0019] Figure 5 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0020] Figure 6 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0021] Figure 7 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0022] Figure 8 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0023] Figure 9 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0024] Figure 10 This is a diagram illustrating the operation of a vehicle control device according to an embodiment of this disclosure.

[0025] Figure 11A This is a diagram used to illustrate the correction method for actual torque.

[0026] Figure 11B This is a diagram used to illustrate the correction method for actual torque.

[0027] Figure 11C This is a diagram used to illustrate the correction method for actual torque.

[0028] Figure 12 This is a flowchart illustrating the actions of the vehicle control unit when correcting lateral offset.

[0029] Figure 13 This is a diagram showing the subsequent vehicles before and after the lateral offset was corrected.

[0030] Figure 14 This is a flowchart illustrating the method for estimating vehicle weight.

[0031] Figure 15 This is a flowchart illustrating the actions of the vehicle control device when an inserted vehicle is detected.

[0032] Figure 16 This is a diagram showing subsequent vehicles before and after the detected insertion vehicle. Detailed Implementation

[0033] Hereinafter, one embodiment of the present disclosure will be described.

[0034] (Implementation Method)

[0035] Figure 1 This is a diagram illustrating a vehicle including a vehicle control device according to an embodiment of the present disclosure. The vehicle 100 may include a battery 101, an inverter 102, an electric motor 103, an EPS (Electric Power Steering) system 104, a brake ECU (Electronic Control Unit) 105, a vehicle distance calculation unit 106, a sensor group 200, and a vehicle control device 300.

[0036] Battery 101 can be interpreted as an energy storage device comprising multiple individual cells. Battery 101 can store the power driving motor 103 and the power regenerated by motor 103. Each of the multiple individual cells can be interpreted as a secondary battery such as a lithium-ion battery, a nickel-metal hydride battery, or a lithium iron phosphate battery.

[0037] Inverter 102 can be interpreted as a device for controlling the rotation of motor 103. Inverter 102 can convert DC power supplied from battery 101 into AC power based on torque from vehicle control unit 300, and supply the AC power to motor 103, thereby controlling the rotation of motor 103. One or more inverters 102 can be installed in vehicle 100.

[0038] The electric motor 103 can be interpreted as a main electric motor that generates the driving force to propel the vehicle 100. The electric motor 103 can generate the rotational torque to propel the vehicle 100 using AC power supplied from the inverter 102. One or more electric motors 103 can be installed in the vehicle 100. The rotational torque of the electric motor 103 is transmitted to the powertrain 107. The powertrain 107 may include a drive force transmission system for the front wheels, front wheel tires, a drive force transmission system for the rear wheels, and rear wheel tires, etc.

[0039] EPS 104 can be explained as a system that uses an electric motor to assist steering. The braking ECU 105 can drive an actuator (not shown) according to the braking amount, thereby braking each wheel of the vehicle 100.

[0040] The sensor group 200 may include a brake oil pressure sensor 201, a wheel speed sensor 202, a resolver 203, an acceleration sensor 204, a motor output current sensor 206, and an external sensor 207.

[0041] Brake fluid pressure sensor 201 can be interpreted as a sensor that detects the fluid pressure of the brakes. Wheel speed sensor 202 can be interpreted as a sensor that detects the wheel speed (vehicle speed) of vehicle 100. Resolution sensor 203 can be interpreted as a sensor that detects the rotation angle of the rotor included in motor 103. Acceleration sensor 204 can be interpreted as a sensor that detects the acceleration of vehicle 100. Motor output current sensor 206 can be interpreted as a sensor that detects the output current supplied to motor 103.

[0042] External sensor 207 can be interpreted as a sensor that detects the surrounding conditions of vehicle 100. External sensor 207 may include sensors that detect the inter-vehicle distance from the following vehicle to the preceding vehicle and output the detected inter-vehicle distance information (such as vehicle-mounted millimeter-wave radar, cameras, vehicle-mounted sonar sensors, LiDER (Light Detection and Ranging), etc.). Inter-vehicle distance calculation unit 106 can calculate the inter-vehicle distance between the preceding vehicle and the following vehicle based on the inter-vehicle distance information from external sensor 207. The following vehicle can be interpreted as vehicle 100 in this disclosure.

[0043] The vehicle control device 300 can be interpreted as a device that controls the inverter 102. The vehicle control device 300 can control the speed, direction of rotation, torque, etc. of the motor 103 by controlling the inverter 102. The structural details of the vehicle control device 300 will be described later.

[0044] Next, refer to Figure 2 The hardware structure of the vehicle control device 300 will be described. Figure 2 This is a diagram illustrating the hardware structure of the vehicle control device 300 according to an embodiment of the present disclosure.

[0045] The vehicle control unit 300 may include an input / output (I / F) interface 1, a memory 2, and a processor 3. They can be connected communicatively via a bus 4.

[0046] Input / output I / F1 can be interpreted as being used for... Figure 1 The interface shown is for communication with the vehicle-mounted equipment. The vehicle-mounted equipment may include... Figure 1 The sensor group 200, inverter 102, EPS 104, braking ECU 105, and vehicle distance calculation unit 106 shown are among them.

[0047] Memory 2 can store data for control purposes. Figure 1 The vehicle control program 2a, including the electric motor 103 shown, is described. The processor 3 can execute specific processes by expanding the vehicle control program 2a. (See reference...) Figure 3 The functions implemented by vehicle control program 2a will be explained.

[0048] Next, refer to Figure 3 The functional structure of the vehicle control device is explained. Figure 3 This is a diagram showing the functional blocks of the vehicle control device 300 according to an embodiment of the present disclosure.

[0049] The vehicle control device 300 may include a vehicle distance output unit 301, a friction coefficient estimation unit 302, and a torque output unit 303. The vehicle distance output unit 301, the friction coefficient estimation unit 302, and the torque output unit 303 can be... Figure 2 The processor 3 shown executes the vehicle control program 2a to achieve this.

[0050] (Workshop distance from output department: 301)

[0051] The inter-vehicle distance output unit 301 can estimate the inter-vehicle distance when the actual torque (driving resistance) of the following vehicle is at or close to the minimum value based on vehicle information, and output information representing the inter-vehicle distance.

[0052] Vehicle information may include following permission signals, inter-vehicle distance, lateral offset, steering angle, vehicle speed, gradient, actual torque, motor speed 103, braking torque, etc. The vehicle control unit 300 can calculate the gradient based on the values ​​detected by the front and rear acceleration sensors and the acceleration calculated from the wheel speed.

[0053] The following permission signal can be interpreted as a signal indicating that a following vehicle is permitted to follow a preceding vehicle. For example, it can be output when the driver arbitrarily sets a certain distance between the preceding and following vehicles. Lateral offset can be interpreted as the relative offset of the following vehicle to the preceding vehicle in the lateral direction. Lateral offset can also be interpreted as the amount of offset of the following vehicle from near the center of the preceding vehicle's lateral width (vehicle width direction) towards the lateral direction.

[0054] The actual torque can be interpreted as the torque generated by the motor 103. Since there is a certain correlation between the current flowing through the motor 103 and the torque generated by the motor 103, the actual torque can be calculated based on this current, the angular velocity of the motor 103, etc. This current increases when the driving resistance is high and decreases when the driving resistance is low.

[0055] The inter-vehicle distance output unit 301 may include a torque recording unit 10, a distance setting unit 11, a lateral offset correction unit 12, a vehicle weight estimation unit 13, a safe inter-vehicle distance calculation unit 14, etc.

[0056] (Torque Recording Unit 10)

[0057] The torque recording unit 10 can record the actual torque generated based on the first target torque, for example, until the workshop distance reaches (equal to) a specific workshop distance.

[0058] The first target torque can be interpreted as the target torque calculated by the target torque calculation unit 16. The first target torque can also be interpreted as the target torque that causes the workshop distance to change, the target motor torque, etc.

[0059] A specific lane distance can be interpreted as, for example, the lane distance arbitrarily set by the driver when setting cruise control (CC) to maintain a certain distance between preceding and following vehicles. A specific lane distance can also be interpreted as the safe lane distance maintained between following and preceding vehicles. A safe lane distance can be interpreted as the distance that increases the likelihood of a following vehicle colliding with a preceding vehicle. Specifically, a safe lane distance can be interpreted as the braking distance that prevents a following vehicle from colliding with a preceding vehicle, cutting in front of another vehicle, etc., or the braking distance plus the free-travel distance. The free-travel distance can be interpreted as the distance traveled from when the driver senses danger until the brakes are applied and actually engaged. The braking distance can be interpreted as the distance traveled from when the brakes engage until the following vehicle comes to a stop.

[0060] Reference Figures 6 to 10 Examples of actual torque recorded by the torque recording unit 10 will be explained. These graphs show the actual torque varying with the inter-vehicle distance, etc. The vertical axis represents the actual torque, and the horizontal axis represents the inter-vehicle distance. These graphs show the minimum value of the actual torque, the actual torque within a specific range including that minimum value, etc.

[0061] A specific range can be interpreted as a certain range starting from the workshop distance corresponding to the minimum value of the actual torque. For example, when the workshop distance is 30m, a certain range can be interpreted as a distance equivalent to X% of 30m (e.g., ±3m). Taking into account the detection accuracy of the external sensor 207, the detection accuracy of the actual torque, and other errors, X% can, for example, include any value from a few percent to several tens of percent.

[0062] The actual torque within a specific range can include the minimum actual torque, actual torques that can be considered equivalent to that minimum, etc. Specifically, the actual torque within a specific range can include the minimum actual torque, smaller actual torques that are second only to the minimum actual torque, etc.

[0063] As described above, the torque recording unit 10 can record the actual torque generated based on the first target torque in a time sequence until the inter-vehicle distance, for example, reaches a safe inter-vehicle distance (a specific inter-vehicle distance). The first target torque is calculated in a way that allows the following vehicle to approach the preceding vehicle. Therefore, it is possible to determine the inter-vehicle distance at which the air resistance, i.e., the driving resistance, of the following vehicle is minimized or close to minimized. In other words, it is possible to determine the inter-vehicle distance at which the driving energy consumption of the following vehicle is reduced.

[0064] (Example 1 of other structures of torque recording unit 10)

[0065] The torque recording unit 10 can record the actual torque after correcting for the actual torque based on at least one of the following: the speed of the following vehicle, the slope as the tilt of the following vehicle, and the steering angle of the following vehicle.

[0066] In this way, by correcting the actual torque based on factors such as gradient and steering angle, it is possible to record the actual torque that matches the driving conditions of subsequent vehicles. Therefore, the accuracy of the inter-vehicle distance can be improved, thus reducing the energy consumption of subsequent vehicles. Details of the actual torque correction method will be described later.

[0067] (Example 2 of other structures of torque recording unit 10)

[0068] The torque recording unit 10 can record the actual torque when the lateral offset of the subsequent vehicle converges within a specific range. Specifically, the torque recording unit 10 can record the actual torque when it receives information indicating that the lateral offset has converged within a specific range. The torque recording unit 10 can also interrupt the recording of the actual torque if it does not receive such information.

[0069] Therefore, it is possible to record the actual torque while keeping most of the following vehicle's body within the projected area (projection region) of the preceding vehicle, thus enabling the recording of a smaller actual torque. Furthermore, details of the lateral offset correction operation, which converges the lateral offset within a specific range, will be described later.

[0070] (Example 3 of other structures of torque recording unit 10)

[0071] The torque recording unit 10 can further record the actual torque generated based on the first target torque when the subsequent vehicle approaches the leading vehicle, until the vehicle-to-vehicle distance reaches a specific distance shorter than the safe vehicle-to-vehicle distance (specific vehicle-to-vehicle distance). For example, when the safe vehicle-to-vehicle distance is 20m, the specific distance can be interpreted as the vehicle-to-vehicle distance (e.g., 15m) obtained by subtracting N% of 20m (e.g., 5m) from that 20m. Taking into account errors such as the detection accuracy of the external sensor 207 and the detection accuracy of the actual torque, N% can, for example, include any value from a few percent to several tens of percent.

[0072] By recording actual torque up to a certain distance, it is possible to explore the inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0073] (Distance Setting Section 11)

[0074] The distance setting unit 11 can set the corresponding vehicle-to-vehicle distance to the distance between the preceding vehicle and the following vehicle, such as the distance between the preceding and following vehicles. Figures 6 to 9The actual torque recorded as shown corresponds to a value (minimum, etc.) within a specific range. The distance setting unit 11 can output information related to the set corresponding workshop distance to the target torque calculation unit 16.

[0075] The corresponding workshop distance can be interpreted as the workshop distance corresponding to the minimum actual torque, or as the workshop distance corresponding to the smaller actual torque that is second only to the minimum actual torque. When there are multiple minimum actual torques with the same value, the corresponding workshop distance can be interpreted as the workshop distance corresponding to any one of these actual torques. Furthermore, when there are multiple minimum actual torques with the same value, the corresponding workshop distance can be interpreted as the workshop distance corresponding to the value of these actual torques that corresponds to the position of the following vehicle furthest from the preceding vehicle.

[0076] Thus, by setting the corresponding inter-vehicle distance as the inter-vehicle distance, the target torque calculation unit 16 can calculate the second target torque based on the corresponding inter-vehicle distance. The second target torque can be interpreted as the target torque used to maintain the corresponding inter-vehicle distance, that is, the inter-vehicle distance at which the energy consumption of subsequent vehicles is minimized. Furthermore, the structural details of the target torque calculation unit 16 will be described later.

[0077] (Example 1 of other structures of the distance setting unit 11)

[0078] When the actual torque changes from decreasing to increasing, the value is one (e.g.) Figure 8 The distance setting unit 11 can use the actual torque (shown as a dashed line) as a value within a specific range to set the corresponding inter-vehicle distance as the inter-vehicle distance. This allows for the setting of an inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0079] (Example 2 of other structures of distance setting unit 11)

[0080] When there are multiple values ​​for the actual torque as it changes from decreasing to increasing (e.g.) Figure 9 , Figure 10 (The two actual torques shown by the dashed lines) The distance setting unit 11 can set one of multiple values ​​as a value within a specific range and set the corresponding inter-vehicle distance as the inter-vehicle distance. This reduces the processing time for sequentially comparing the magnitudes of the actual torques in a time sequence and determining the minimum value, and allows setting an inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0081] (Example 3 of other structures of distance setting unit 11)

[0082] When there are multiple values ​​for the actual torque as it transitions from decreasing to increasing, the distance setting unit 11 can select the lowest value among these values ​​(refer to...). Figure 9The corresponding inter-vehicle distance is set as a value within a specific range. This allows for the setting of an inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0083] (Example 4 of other structures of distance setting unit 11)

[0084] When there are multiple values ​​for the actual torque as it transitions from decreasing to increasing, and these multiple values ​​are equal (refer to...). Figure 10 The distance setting unit 11 can select the value from a plurality of such values ​​that corresponds to the position where the following vehicle is farthest from the preceding vehicle as a value within a specific range, and set the corresponding inter-vehicle distance as the inter-vehicle distance. This allows for maintaining a safe inter-vehicle distance and setting an inter-vehicle distance that minimizes the energy consumption of the following vehicle.

[0085] (Example 5 of other structures of distance setting unit 11)

[0086] The distance setting unit 11 can compare the actual torque at the first time point with the actual torque at the second time point earlier than the first time point, and based on the comparison result, take the actual torque with the smaller value as the value within a specific range, and set the corresponding workshop distance as the workshop distance.

[0087] Specifically, the distance setting unit 11 can, for example, compare the latest actual torque detected in the current test with the minimum value of the previously detected actual torque among the actual torques detected in the time sequence. For example, this comparison can be performed until the subsequent vehicle reaches a safe inter-vehicle distance (a specific inter-vehicle distance), or it can be performed until the subsequent vehicle reaches (equal to) the aforementioned specific distance.

[0088] If the comparison result shows that the actual torque detected this time is less than the minimum value among the previously detected actual torques, the distance setting unit 11 can set the corresponding workshop distance corresponding to the actual torque detected this time as the workshop distance. That is, the workshop distance can be updated. On the other hand, when the actual torque detected this time is greater than the minimum value among the previously detected actual torques, the setting of the corresponding workshop distance corresponding to the minimum value among the previously detected actual torques can be maintained.

[0089] In this way, by comparing the magnitude of the actual torque in a time sequence, it is easy to set the inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0090] (Example 6 of other structures of distance setting unit 11)

[0091] The distance setting unit 11 can set the corresponding inter-vehicle distance as the minimum value (minimum value) of the actual torque within a specific range. As a result, it is possible to maintain an inter-vehicle distance that minimizes the energy consumption of subsequent vehicles.

[0092] (Example 7 of other structures of distance setting unit 11)

[0093] When a specific workshop distance is considered a safe workshop distance, if the corresponding workshop distance is shorter than the safe workshop distance, the distance setting unit 11 can set the safe workshop distance as the workshop distance instead of the corresponding workshop distance. On the other hand, if the corresponding workshop distance is longer than the safe workshop distance, the distance setting unit 11 can set the corresponding workshop distance as the workshop distance instead of the safe workshop distance.

[0094] Therefore, when the distance between vehicles is shorter than the safe distance, it is possible to maintain a safe distance while reducing the energy consumption of following vehicles. Conversely, when the distance between vehicles is longer than the safe distance, it is possible to maintain a safer distance while reducing the energy consumption of following vehicles.

[0095] (Example 8 of other structures of distance setting unit 11)

[0096] The distance setting unit 11 can set the corresponding inter-vehicle distance to the inter-vehicle distance while performing a specific function. Specific functions may include CC (cruise control), platoon driving mode, automatic driving mode, autonomous lane keeping mode, etc. For example, if the specific function is not performed in a following vehicle, the distance setting unit 11 may not set the corresponding inter-vehicle distance to the inter-vehicle distance. When the specific function is performed in a following vehicle, the distance setting unit 11 can set the corresponding inter-vehicle distance to the inter-vehicle distance.

[0097] In this way, by setting the corresponding inter-vehicle distance only during the period when a specific function is performed, discomfort to the driver from operating the accelerator pedal can be suppressed, for example, when the specific function is not being performed during manual driving. Furthermore, the driver can switch to a driving mode that reduces the energy consumption of following vehicles at any time.

[0098] (Lateral offset correction unit 12)

[0099] The lateral offset correction unit 12 can correct the relative offset (lateral offset) of the following vehicle with respect to the preceding vehicle in the lateral width direction. Specifically, it can adjust the steering amount of the following vehicle based on the camera information including the preceding vehicle captured by the camera unit, so that the lateral offset converges within a specific range.

[0100] When the calculated lateral offset exceeds a specific range (specific amount), the lateral offset correction unit 12 can adjust the steering of the following vehicle until the lateral offset is less than the specific amount. When the lateral offset is less than the specific amount, the lateral offset correction unit 12 can output information indicating that the lateral offset has converged to the specific range.

[0101] The specific range can be interpreted as a certain area starting from a position near the center of the preceding vehicle in the lateral (vehicle width) direction. Considering errors such as the detection accuracy of the camera unit, the specific range can, for example, include any value from a few percent to several tens of percent of the lateral width of the preceding vehicle.

[0102] (Vehicle weight estimation section 13)

[0103] The vehicle weight estimation unit 13 can estimate the weight of vehicle 100 (vehicle weight). (Refer to...) Figure 14 The method for estimating vehicle weight is explained in detail.

[0104] Figure 14 This is a flowchart illustrating the vehicle weight estimation method. In step S30, the vehicle weight estimation unit 13 can determine whether the start switch (e.g., ignition switch) is turned on. When the start switch is turned on (step S30: Yes), in step S31, the vehicle weight estimation unit 13 can determine whether the vehicle speed is less than 1 km / h.

[0105] When the vehicle speed is less than 1 km / h (step S31: Yes), in step S32, the vehicle weight estimation unit 13 can output an indication for outputting the creep torque. Therefore, when the torque output unit 303 outputs the creep torque, in step S33, the vehicle weight estimation unit 13 can determine whether the vehicle speed is less than 6 km / h.

[0106] When the vehicle speed is less than 6 km / h (step S33: Yes), in step S34, the vehicle weight estimation unit 13 can estimate the vehicle weight based on the actual torque generated at low speed, the wheel speed change (ΔVwheel), and the reference acceleration at the reference weight.

[0107] (Estimation of friction coefficient 302)

[0108] return Figure 3 The friction coefficient estimation unit 302 can estimate the friction coefficient of the road surface on which the vehicle 100 travels and output information representing the estimated friction coefficient. Specifically, the friction coefficient estimation unit 302 can calculate the friction coefficient μ based on the actual torque (actual torque of the electric motor) and the braking torque. Based on the calculated friction coefficient μ and the slip ratio, the friction coefficient estimation unit 302 can predict the position of the peak value of the friction coefficient (μ peak value) by using a cubic function approximation, thereby estimating the maximum μ value of the road surface.

[0109] (Safety workshop distance to calculation department 14)

[0110] The safe inter-vehicle distance calculation unit 14 can calculate the safe inter-vehicle distance based on at least one of vehicle speed, vehicle weight, and the coefficient of friction of the road surface on which the following vehicle travels. Vehicle weight can be interpreted as the vehicle weight estimated by the vehicle weight estimation unit 13. The coefficient of friction can be interpreted as the maximum μ value estimated by the coefficient of friction estimation unit 302.

[0111] (Torque output unit 303)

[0112] The torque output unit 303 may include a required torque calculation unit 15 and a target torque calculation unit 16.

[0113] (Torque calculation section 15 required)

[0114] The torque calculation unit 15 is required to calculate the required torque corresponding to the driver's accelerator pedal operation and output it to the switching unit SW.

[0115] (Target torque calculation unit 16)

[0116] The target torque calculation unit 16 can calculate a first target torque that causes the change in the inter-vehicle distance. Additionally, the target torque calculation unit 16 can calculate a second target torque for maintaining the aforementioned corresponding inter-vehicle distance, and output the second target torque instead of the first target torque to the switching unit SW. The switching unit SW can output either the torque required by the torque calculation unit 15 or the torque output by the target torque calculation unit 16 to the inverter 102 (see reference). Figure 1 ).

[0117] (Other structural examples of the target torque calculation unit 16)

[0118] The target torque calculation unit 16 can detect when a specific vehicle (inserted vehicle) is inserted between the leading vehicle and the following vehicle while maintaining the aforementioned corresponding vehicle distance and performing driving control of the subsequent vehicle following the leading vehicle.

[0119] In this case, the corresponding workshop distance may be shorter than the specific workshop distance. Therefore, when the corresponding workshop distance is shorter than the specific workshop distance, the target torque calculation unit 16 can calculate a first target torque to make the corresponding workshop distance longer than the specific workshop distance. Specifically, the target torque calculation unit 16 can calculate the first target torque instead of the second target torque used to maintain the corresponding workshop distance, and output the first target torque to the switching unit SW. The first target torque is used, for example, to increase the workshop distance to a distance equivalent to twice the safe workshop distance (corresponding workshop distance) before the insertion of the vehicle.

[0120] Furthermore, when the vehicle-to-vehicle distance exceeds twice the safe vehicle-to-vehicle distance (corresponding vehicle-to-vehicle distance), the target torque calculation unit 16 can calculate a first target torque that changes the vehicle-to-vehicle distance in a manner that causes subsequent vehicles to approach preceding vehicles, i.e., a first target torque that shortens the vehicle-to-vehicle distance. At this time, the torque recording unit 10 can record the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance. Moreover, the distance setting unit 11 can set the corresponding vehicle-to-vehicle distance as the value within a specific range that includes the minimum value from the recorded actual torque.

[0121] This structure enables the energy consumption of subsequent vehicles following a vehicle to be minimized.

[0122] Next, refer to Figures 4 to 16 The operation of the vehicle control device 300 will be explained. Figure 4 This is a flowchart illustrating the operation of the vehicle control device according to the embodiments of this disclosure.

[0123] In step S1, when CC is set (turned on), the vehicle control device 300 determines in step S2 whether the set vehicle speed exceeds a specific vehicle speed (e.g., 60 km / h).

[0124] If the vehicle speed is less than a certain speed (e.g., 60 km / h) (step S2: No), repeat step S2. If the vehicle speed exceeds a certain speed (step S2: Yes), proceed with steps S3 and beyond.

[0125] In step S3, when low-torque exploration driving is permitted, the vehicle control unit 300 can set a target speed for low-torque exploration driving in step S4. Low-torque exploration driving can be interpreted as a driving mode that explores the inter-vehicle distance where the actual torque is at or near its minimum value. Low-torque exploration driving can be initiated, for example, in conjunction with a CC (Car Control Center), or it can be manually set (initiated) by the driver.

[0126] Reference Figure 5 The processing of step S4 will be explained in detail. Figure 5 The diagram on the left shows a following vehicle when low-torque exploration begins. The following vehicle follows the leading vehicle, for example, at a target speed V (=70km / h).

[0127] When low-torque exploration driving is permitted, such as Figure 5 As shown in the central diagram, the target speed V (=70km / h) of subsequent vehicles is updated, for example, to target speed V+α (α=1km / h).

[0128] Then, in step S5, the vehicle control device 300 can calculate a first target torque corresponding to the target speed V+α. As a result, the following vehicle travels in a manner that shortens the distance between itself and the preceding vehicle, thus changing the inter-vehicle distance from the following vehicle to the preceding vehicle.

[0129] In step S6, the vehicle control device 300 compares the vehicle distance to the safe vehicle distance. If the vehicle distance is greater than or equal to the safe vehicle distance (step S6: Yes), in step S7, the actual torque corresponding to the vehicle distance can be recorded sequentially over time. Steps S6 and S7 can be repeated until the vehicle distance is less than the safe vehicle distance. Thus, the actual torque corresponding to the vehicle distance can be recorded until the vehicle distance is less than the safe vehicle distance.

[0130] When the distance between the vehicle and the workshop is less than the safe distance (step S6: No), the vehicle control device 300 executes the processing in step S8. In step S8, the vehicle control device 300 determines whether there are multiple recorded values ​​of the actual torque when it changes from decreasing to increasing.

[0131] For example, such as Figure 8 As shown, when the actual torque changes from decreasing to increasing to a certain value (step S8: No), in step S9, the vehicle control device 300 can use this value as a value within a specific range and set the corresponding inter-vehicle distance as the inter-vehicle distance.

[0132] For example, such as Figure 9 and Figure 10 As shown, when there are multiple values ​​for the actual torque to change from decreasing to increasing (step S8: Yes), in step S10, the vehicle control device 300 can use one of these values ​​as a value within a specific range and set the corresponding inter-vehicle distance as the inter-vehicle distance.

[0133] Specifically, such as Figure 9 As shown, the vehicle control device 300 can use the lowest value among multiple actual torques as the value within a specific range, and set the corresponding inter-vehicle distance as the inter-vehicle distance. For example... Figure 10 As shown, when there are multiple values ​​for the actual torque to change from decreasing to increasing and these values ​​are equal, the vehicle control device 300 can take the value that corresponds to the position of the subsequent vehicle farthest from the preceding vehicle as the value within a specific range and set the corresponding inter-vehicle distance as the inter-vehicle distance.

[0134] The vehicle control device 300 can calculate a second target torque in step S11 to maintain the set corresponding inter-vehicle distance, and in step S12, output the second target torque to replace the first target torque. Thus, as... Figure 5The diagram on the right shows the specific inter-vehicle distance (optimal inter-vehicle distance) that maintains a low torque value (low torque) for following vehicles. In other words, it is the inter-vehicle distance that minimizes or nearly minimizes the energy consumption of following vehicles.

[0135] (Correction method for actual torque)

[0136] Reference Figures 11A to 11C The aforementioned method for correcting the actual torque will be explained in detail. Figures 11A to 11C This is a diagram used to illustrate the correction method for actual torque.

[0137] Figure 11A The graph shows the relationship between driving resistance and vehicle speed. The horizontal axis represents vehicle speed, and the vertical axis represents driving resistance. Driving resistance can be related to actual torque. The solid line represents the actual torque when a following vehicle travels independently without following the preceding vehicle. The dashed line represents the actual torque recorded when a following vehicle travels at the first target torque. All driving resistances vary exponentially with respect to vehicle speed.

[0138] Figure 11B The graph shows the relationship between slope resistance and road slope. The horizontal axis represents the slope, and the vertical axis represents the slope resistance (Rg). Slope resistance (Rg) can be correlated with the actual torque.

[0139] Figure 11C The graph shows the relationship between steering resistance (Rsteer) and steering angle. The horizontal axis of the graph represents the steering angle, and the vertical axis represents steering resistance (Rsteer). Steering resistance (Rsteer) can be related to the actual torque.

[0140] The vehicle control device 300 can calculate the new actual torque based on the speed, gradient, and steering angle of the following vehicle as follows: for example, by subtracting the change in gradient resistance (ΔRg) and the change in steering resistance (ΔRsteer) from the actual torque, which is the driving resistance (Rspd) based on the speed of the following vehicle at 100 km / h, gradient at 0%, and steering angle at 0°.

[0141] Specifically, the value obtained by subtracting ΔRg and ΔRsteer from Rspd (converted motor torque: Tspd) can be used as the new actual torque for setting a specific workshop distance, as shown in equation (1) below. The converted motor torque can be interpreted as the actual torque after correction of the actual torque.

[0142] The converted motor torque (Tspd) = Rspd - ΔRg - ΔRsteer……(1)

[0143] The torque recording unit 10 can use the calculated Tspd as... Figures 6 to 10The actual torque shown is recorded. This improves the accuracy of the specific inter-vehicle distance (optimal inter-vehicle distance) that minimizes or nearly minimizes the energy consumption of subsequent vehicles.

[0144] (Example 1 of other actions)

[0145] Next, refer to Figure 12 and Figure 13 This section explains the actions taken when correcting the lateral offset of subsequent vehicles. Figure 12 This is a flowchart illustrating the actions of the vehicle control unit when correcting lateral offset. Figure 13 This is a diagram showing the subsequent vehicles before and after the lateral offset was corrected. Figure 12 In the flowchart shown, with Figure 4 The difference in the flowchart shown is that steps S20 to S22 are added between steps S2 and S3.

[0146] When the vehicle speed exceeds a certain speed (step S2: Yes), in step S20, the lateral offset correction unit 12 determines whether the lateral offset is less than a certain range (specific amount Y).

[0147] like Figure 13 As shown in the diagram on the left, when the lateral offset exceeds a specific amount Y (step S20: No), the lateral offset correction unit 12 can adjust the steering amount of the following vehicle until the lateral offset is less than the specific amount Y. Specifically, the lateral offset correction unit 12 can calculate the steering angle correction amount in step S21, and in step S22, indicate the operation amount based on the calculated steering angle correction amount to the EPS 104.

[0148] like Figure 13 As shown in the diagram on the right, when the lateral offset is less than a specific amount Y (step S20: Yes), the lateral offset correction unit 12 can output information indicating that the lateral offset has converged within a specific range. When this information is output, and low-torque exploration driving in step 3 is permitted, the vehicle control device 300 can set a target speed for low-torque exploration driving in step S4.

[0149] (Example 2 of other actions)

[0150] Next, refer to Figure 15 and Figure 16 The action taken when a specific vehicle (inserting vehicle) is detected while maintaining the aforementioned corresponding workshop distance and controlling the subsequent vehicle to follow the preceding vehicle is explained.

[0151] Figure 15 This is a flowchart illustrating the actions of the vehicle control device when an inserted vehicle is detected. Figure 16This is a diagram showing subsequent vehicles before and after the detected inserted vehicle. Figure 15 In the flowchart shown, with Figure 4 The difference in the flowchart shown is that steps S40 to S44 are added, and the processes after step S4 are executed again after step S43.

[0152] In step S40, the vehicle control device 300 can determine whether the following vehicle is following the preceding vehicle. If it is following the preceding vehicle (step S40: yes), in step S41, the vehicle control device 300 can determine whether an intervening vehicle has been detected.

[0153] When an inserted vehicle is detected (step S41: Yes), the vehicle control device 300 may update it as the preceding vehicle in step S42, and in step S43 determine whether the inter-vehicle distance from the inserted vehicle (updated preceding vehicle) to the subsequent vehicle exceeds, for example, twice the safe inter-vehicle distance (corresponding inter-vehicle distance).

[0154] When the distance between the vehicles is less than twice the safe distance between the vehicles (corresponding to the vehicle distance) (step S43: No), the vehicle control device 300 may correct the first target torque in step S44. Specifically, the vehicle control device 300 may calculate the first target torque in a manner that moves the subsequent vehicle away from the inserting vehicle (the updated preceding vehicle).

[0155] When the vehicle-to-vehicle distance exceeds twice the safe vehicle-to-vehicle distance (corresponding vehicle-to-vehicle distance) (step S43: Yes), the vehicle control device 300 can execute the processing after step 4 again. That is, the vehicle control device 300 can calculate the first target torque that changes the vehicle-to-vehicle distance, i.e., the first target torque that shortens the vehicle-to-vehicle distance, in a way that allows the following vehicle to approach the preceding vehicle. At this time, the vehicle control device 300 can record the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance. Then, the vehicle control device 300 can set the corresponding vehicle-to-vehicle distance as the vehicle-to-vehicle distance corresponding to the value within a specific range including the minimum value of the recorded actual torque.

[0156] Therefore, the energy consumption of subsequent vehicles following the inserted vehicle can be minimized.

[0157] (Function, effect)

[0158] The vehicle control device 300 of this disclosure calculates a first target torque that causes the vehicle-to-vehicle distance to change from the preceding vehicle to the following vehicle, records the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance, and sets the corresponding vehicle-to-vehicle distance to the value of the recorded actual torque within a specific range including the minimum value.

[0159] Therefore, it is possible to maintain a vehicle-to-vehicle distance (a specific vehicle-to-vehicle distance) that minimizes the torque generated when following vehicles travel. Thus, following vehicles can travel at a vehicle-to-vehicle distance that minimizes or nearly minimizes the air resistance generated during travel, thereby suppressing the energy consumption of following vehicles.

[0160] Alternatively, the vehicle disclosed herein may also be a vehicle equipped with an internal combustion engine in addition to the electric motor 103.

[0161] Furthermore, the vehicle control device 300 of this disclosure can also record the actual torque when adjusting the lateral offset of the following vehicle, and set the corresponding inter-vehicle distance as the inter-vehicle distance using the minimum value of the recorded actual torque, etc. Specifically, the vehicle control device 300 can, for example, adjust the steering amount so that the lateral offset of the following vehicle converges within the aforementioned specific range when the following vehicle maintains a certain inter-vehicle distance from the preceding vehicle and travels at the same speed as the preceding vehicle. The vehicle control device 300 can record the actual torque detected at this time, and set the corresponding inter-vehicle distance as the inter-vehicle distance using the recorded minimum value, etc.

[0162] Furthermore, the vehicle control device 300 of this disclosure can also record the actual torque when a subsequent vehicle is moving away from the preceding vehicle (moving away), and set the corresponding inter-vehicle distance as the inter-vehicle distance using the minimum value of the recorded actual torque, etc. Specifically, the vehicle control device 300 can calculate a target torque that causes the subsequent vehicle to approach the preceding vehicle until the inter-vehicle distance reaches a specific distance shorter than a safe inter-vehicle distance (a specific inter-vehicle distance). When the subsequent vehicle reaches this specific distance, the vehicle control device 300 can calculate a first target torque in a manner that causes the subsequent vehicle to gradually move away from the preceding vehicle (moving away). The vehicle control device 300 can record the actual torque generated based on the first target torque, for example, until the inter-vehicle distance reaches a distance equivalent to twice the safe inter-vehicle distance. Then, the vehicle control device 300 can set the corresponding inter-vehicle distance as the inter-vehicle distance using the minimum value of the recorded actual torque, etc.

[0163] The control unit and methods described in this disclosure can also be implemented using a dedicated computer that constitutes a processor, the processor being programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described in this disclosure can also be implemented using a dedicated computer that constitutes a processor via dedicated hardware logic circuitry. Alternatively, the apparatus and methods described in this disclosure can also be implemented using more than one dedicated computer, the dedicated computer being composed of a processor executing a computer program and a combination of more than one hardware logic circuit. Furthermore, the computer program can also be stored on a computer-readable, non-transitory tangible recording medium as instructions to be executed by a computer.

[0164] <Postscript>

[0165] The features of this invention are as follows.

[0166] (Note 1)

[0167] A vehicle control device, comprising: The target torque calculation unit calculates a first target torque that causes the change in the inter-vehicle distance from the leading vehicle to the following vehicle. A torque recording unit records the actual torque generated based on the first target torque until the inter-vehicle distance reaches a specific inter-vehicle distance between the subsequent vehicle and the preceding vehicle; and The distance setting unit sets the corresponding workshop distance to the value within a specific range that includes the minimum value in the recorded actual torque.

[0168] (Note 2)

[0169] According to the vehicle control device described in Appendix 1, wherein... When the actual torque changes from decreasing to increasing and the value is one, the distance setting unit uses that value as the value within the specific range and sets the corresponding workshop distance.

[0170] (Note 3)

[0171] According to the vehicle control device described in Appendix 1 or 2, wherein, When there are multiple values ​​for the actual torque as it changes from decreasing to increasing, the distance setting unit selects one of the multiple values ​​as the value within the specific range and sets the corresponding workshop distance.

[0172] (Note 4)

[0173] According to the vehicle control device described in Appendix 3, wherein... The distance setting unit sets the corresponding workshop distance by taking the lowest value among the multiple values ​​as the value within the specific range.

[0174] (Note 5)

[0175] According to the vehicle control device described in Appendix 3, wherein... When multiple values ​​are equal, the distance setting unit selects the value among the multiple values ​​that corresponds to the position of the subsequent vehicle being furthest from the preceding vehicle as the value within the specific range, and sets the corresponding inter-vehicle distance.

[0176] (Note 6)

[0177] The vehicle control device according to any one of Appendices 1 to 5, wherein, The distance setting unit compares the actual torque at a first time point with the actual torque at a second time point earlier than the first time point, and sets the corresponding workshop distance based on the comparison result, using the actual torque with the smaller value as the value within the specific range.

[0178] (Note 7)

[0179] The vehicle control device according to any one of Appendices 1 to 6, wherein, The target torque calculation unit calculates a second target torque for maintaining the corresponding workshop distance. The second target torque is then output to replace the first target torque.

[0180] (Postscript 8)

[0181] The vehicle control device according to any one of Appendices 1 to 7, wherein, The distance setting unit sets the corresponding workshop distance corresponding to the minimum value.

[0182] (Note 9)

[0183] The vehicle control device according to any one of Appendices 1 to 8, wherein, The torque recording unit records the actual torque after correcting the actual torque based on at least one of the following: the vehicle speed of the following vehicle, the slope as the tilt of the following vehicle, and the steering angle of the following vehicle.

[0184] (Postscript 10)

[0185] The vehicle control device according to any one of Appendices 1 to 9, wherein... The system includes a lateral offset correction unit that adjusts the steering of the following vehicle based on camera information captured by the camera unit, including the preceding vehicle, so that the relative offset of the following vehicle with respect to the preceding vehicle in the lateral direction converges within a specific range. When the offset converges within the specific range, the distance setting unit sets the corresponding workshop distance as the workshop distance.

[0186] (Postscript 11)

[0187] The vehicle control device according to any one of Appendices 1 to 10, wherein, The distance setting unit determines the distance between vehicles when the specified vehicle-to-vehicle distance is a safe distance that increases the likelihood of the following vehicle colliding with the preceding vehicle. When the corresponding workshop distance is shorter than the safe workshop distance, the safe workshop distance is used instead of the corresponding workshop distance for setting. When the corresponding workshop distance is longer than the safe workshop distance, the corresponding workshop distance is used instead of the safe workshop distance for setting.

[0188] (Postscript 12)

[0189] According to the vehicle control device described in Appendix 11, wherein, The torque recording unit further records the actual torque generated based on the first target torque when the subsequent vehicle approaches the leading vehicle, until the workshop distance reaches a specific distance shorter than the safe workshop distance.

[0190] (Postscript 13)

[0191] According to the vehicle control device described in Appendix 11, wherein, The system includes a safe vehicle distance calculation unit, which calculates the safe vehicle distance based on at least one of the following vehicle's speed, the estimated vehicle weight at the time of the following vehicle's start, and the coefficient of friction of the road surface on which the following vehicle is traveling.

[0192] (Postscript 14)

[0193] The vehicle control device according to any one of Appendices 1 to 13, wherein, While maintaining the corresponding vehicle-to-vehicle distance and controlling the subsequent vehicle to follow the preceding vehicle, the target torque calculation unit, upon detecting that a specific vehicle has inserted itself between the preceding and following vehicles, resulting in the corresponding vehicle-to-vehicle distance being shorter than the specific vehicle-to-vehicle distance, calculates a first target torque that would make the corresponding vehicle-to-vehicle distance longer than the specific vehicle-to-vehicle distance. The torque recording unit records the actual torque generated based on the first target torque until the workshop distance reaches the specific workshop distance that is available between the subsequent vehicle and the specific vehicle. The distance setting unit sets the corresponding workshop distance, which corresponds to the value within a specific range including the minimum value in the recorded actual torque, as the workshop distance.

[0194] (Postscript 15)

[0195] According to the vehicle control device described in Appendix 1, wherein... The distance setting unit sets the corresponding workshop distance during the execution of a specific function.

[0196] (Postscript 16)

[0197] A vehicle control program that causes at least one processor to perform processing including the following: Calculate a first target torque that causes the change in inter-vehicle distance from the leading vehicle to the following vehicle; The actual torque generated based on the first target torque is recorded until the workshop distance reaches a specific workshop distance between the subsequent vehicle and the preceding vehicle; The corresponding workshop distance is set as the value within a specific range that includes the minimum value of the recorded actual torque.

[0198] (Postscript 17)

[0199] A vehicle control method, wherein at least one processor performs processing including the following: Calculate a first target torque that causes the change in inter-vehicle distance from the leading vehicle to the following vehicle; The actual torque generated based on the first target torque is recorded until the workshop distance reaches a specific workshop distance between the subsequent vehicle and the preceding vehicle; The corresponding workshop distance is set as the value within a specific range that includes the minimum value of the recorded actual torque.

[0200] The present invention has been described above as one embodiment, but the present invention is not limited to the above. In addition to the above, various modifications can be made without departing from its spirit.

Claims

1. A vehicle control device (300), comprising: The target torque calculation unit (16) calculates a first target torque that causes the change in the inter-vehicle distance from the leading vehicle to the following vehicle; A torque recording unit (10) records the actual torque generated based on the first target torque until the inter-vehicle distance reaches a specific inter-vehicle distance between the subsequent vehicle and the preceding vehicle; and The distance setting unit (11) sets the corresponding workshop distance to the value in the recorded actual torque that is within a specific range including the minimum value.

2. The vehicle control device according to claim 1, characterized in that, When the value of the actual torque when it changes from decreasing to increasing is one, the distance setting unit uses that value as the value within the specific range and sets the corresponding workshop distance as the workshop distance.

3. The vehicle control device according to claim 1, characterized in that, When there are multiple values ​​for the actual torque as it changes from decreasing to increasing, the distance setting unit selects one of the multiple values ​​as the value within the specific range and sets the corresponding workshop distance as the workshop distance.

4. The vehicle control device according to claim 3, characterized in that, The distance setting unit sets the lowest value among the plurality of values ​​as the value within the specific range, and sets the corresponding workshop distance as the workshop distance.

5. The vehicle control device according to claim 3, characterized in that, When multiple values ​​are equal, the distance setting unit selects the value among the multiple values ​​that corresponds to the position of the subsequent vehicle being furthest from the preceding vehicle as the value within the specific range, and sets the corresponding vehicle-to-vehicle distance as the vehicle-to-vehicle distance.

6. The vehicle control device according to claim 1, characterized in that, The distance setting unit compares the actual torque at the first time point with the actual torque at a second time point earlier than the first time point, and based on the comparison result, takes the actual torque with the smaller value as the value within the specific range, and sets the corresponding workshop distance as the workshop distance.

7. The vehicle control device according to claim 1, characterized in that, The target torque calculation unit calculates a second target torque for maintaining the corresponding workshop distance. The second target torque is then output to replace the first target torque.

8. The vehicle control device according to claim 1, characterized in that, The distance setting unit sets the corresponding workshop distance, which corresponds to the minimum value, as the workshop distance.

9. The vehicle control device according to claim 1, characterized in that, The torque recording unit records the actual torque after correcting the actual torque based on at least one of the following: the vehicle speed of the following vehicle, the slope as the tilt of the following vehicle, and the steering angle of the following vehicle.

10. The vehicle control device according to claim 1, characterized in that, The system includes a lateral offset correction unit (12), which adjusts the steering of the following vehicle based on camera information captured by the camera unit, including the preceding vehicle, so that the relative offset of the following vehicle with respect to the preceding vehicle in the lateral direction converges within a specific range. When the offset converges within the specific range, the distance setting unit sets the corresponding workshop distance as the workshop distance.

11. The vehicle control device according to claim 1, characterized in that, The distance setting unit determines the distance between vehicles when the specified vehicle-to-vehicle distance is a safe distance that increases the likelihood of the following vehicle colliding with the preceding vehicle. When the corresponding workshop distance is shorter than the safe workshop distance, the safe workshop distance is used instead of the corresponding workshop distance and set as the workshop distance. When the corresponding workshop distance is longer than the safe workshop distance, the corresponding workshop distance is used instead of the safe workshop distance and set as the workshop distance.

12. The vehicle control device according to claim 11, characterized in that, The torque recording unit further records the actual torque generated based on the first target torque when the subsequent vehicle approaches the leading vehicle, until the workshop distance reaches a specific distance shorter than the safe workshop distance.

13. The vehicle control device according to claim 11, characterized in that, The system includes a safe vehicle distance calculation unit (14), which calculates the safe vehicle distance based on at least one of the following vehicle's speed, the estimated vehicle weight when the following vehicle starts, and the friction coefficient of the road surface on which the following vehicle travels.

14. The vehicle control device according to claim 1, characterized in that, While maintaining the corresponding vehicle-to-vehicle distance and controlling the subsequent vehicle to follow the preceding vehicle, the target torque calculation unit, upon detecting that a specific vehicle has inserted itself between the preceding and following vehicles, resulting in the corresponding vehicle-to-vehicle distance being shorter than the specific vehicle-to-vehicle distance, calculates a first target torque that would make the corresponding vehicle-to-vehicle distance longer than the specific vehicle-to-vehicle distance. The torque recording unit records the actual torque generated based on the first target torque until the workshop distance reaches the specific workshop distance that is available between the subsequent vehicle and the specific vehicle. The distance setting unit sets the corresponding workshop distance, which corresponds to the value within a specific range including the minimum value in the recorded actual torque, as the workshop distance.

15. The vehicle control device according to claim 1, characterized in that, The distance setting unit sets the corresponding workshop distance to the workshop distance during the execution of a specific function.

16. A vehicle control program, The vehicle control program (2a) causes at least one processor (3) to perform processing including the following: Calculate a first target torque that causes the change in inter-vehicle distance from the leading vehicle to the following vehicle; The actual torque generated based on the first target torque is recorded until the workshop distance reaches a specific workshop distance between the subsequent vehicle and the preceding vehicle; The corresponding workshop distance is set as the value within a specific range that includes the minimum value of the recorded actual torque.

17. A vehicle control method, At least one processor performs processing that includes the following: Calculate a first target torque that causes the change in inter-vehicle distance from the leading vehicle to the following vehicle; The actual torque generated based on the first target torque is recorded until the workshop distance reaches a specific workshop distance between the subsequent vehicle and the preceding vehicle; The corresponding workshop distance is set as the value within a specific range that includes the minimum value of the recorded actual torque.

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