Follow-up driving support device and follow-up driving support method

Abstract

To prevent execution of follow-up travel targeting a vehicle that does not desire to be followed by another vehicle.SOLUTION: A follow-up traveling support device comprises: a communication unit that can communicate with a plurality of vehicles 2; a storage unit that stores a list of follow-up-permitted vehicles which are permitted to be followed by another vehicle; an information receiving unit 15 that receives predetermined information from a follow-up execution vehicle which executes a follow-up travel via the communication unit; a preceding vehicle selection unit 16 that selects a preceding vehicle suitable as a target vehicle to be followed by the follow-up execution vehicle from among the follow-up-permitted vehicles based on the predetermined information; and an information transmitting unit 17 that transmits information regarding the preceding vehicle to the follow-up execution vehicle via the communication unit.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a follow-up driving support device and a follow-up driving support method. [Background technology]

[0002] Patent Document 1 describes that when there is a preceding vehicle ahead of the host vehicle, following travel control is performed to follow the preceding vehicle while maintaining a set inter-vehicle distance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2004-034917 A Summary of the Invention [Problem to be solved by the invention]

[0004] In following driving, the windshield effect of the preceding vehicle reduces the air resistance acting on the vehicle traveling behind the preceding vehicle, and the fuel consumption or power consumption of the following vehicle is reduced. However, the preceding vehicle that is the subject of following cannot enjoy such an effect. In addition, the driver of the preceding vehicle may feel uncomfortable being followed by another vehicle.

[0005] In view of the above problem, an object of the present invention is to prevent following-up driving in which a vehicle that does not wish to be followed by another vehicle is the following target. [Means for solving the problem]

[0006] The gist of the present disclosure is as follows.

[0007] (1) A follow-up driving support device comprising: a communication unit capable of communicating with a plurality of vehicles; a memory unit storing a list of follow-permitted vehicles that are permitted to be followed by other vehicles; an information receiving unit receiving specified information from a follow-up execution vehicle performing follow-up driving via the communication unit; a preceding vehicle selection unit selecting a preceding vehicle from the follow-permitted vehicles that is suitable as a follow-up target for the follow-up execution vehicle based on the specified information; and an information transmitting unit transmitting information regarding the preceding vehicle to the follow-up execution vehicle via the communication unit.

[0008] (2) The following driving support device described in (1) above, wherein the information receiving unit receives a surrounding image acquired by the following execution vehicle as the specified information, and the preceding vehicle selection unit performs image recognition of the surrounding image and selects the following-permitted vehicle included in the surrounding image as the preceding vehicle.

[0009] (3) The following driving support device according to (1) above, wherein the information receiving unit receives position information of the following execution vehicle as the predetermined information.

[0010] (4) The following driving support device according to (1) above, wherein the information receiving unit receives, as the predetermined information, surrounding vehicle information acquired by the following execution vehicle via vehicle-to-vehicle communication.

[0011] (5) A following driving support device described in any one of (1) to (4) above, wherein the preceding vehicle selection unit selects the preceding vehicle from among the following-permitted vehicles based on the specified information and the driving plan of the following-permitted vehicle.

[0012] (6) The following driving support device according to (5) above, wherein the driving plan of the following-permitted vehicle is a driving route preset in the following-permitted vehicle.

[0013] (7) The following driving support device according to (5) above, wherein the preceding vehicle selection unit estimates a driving plan of the following-permitted vehicle based on a driving history of the following-permitted vehicle.

[0014] (8) The adaptive cruise control device according to any one of (1) to (7) above, wherein the information about the preceding vehicle includes information about the license plate of the preceding vehicle.

[0015] (9) The following driving support device according to any one of (1) to (8) above, wherein the information transmission unit notifies the preceding vehicle via the communication unit that it has been selected as a vehicle to be followed.

[0016] (10) A method of supporting following driving executed by a computer, comprising: storing a list of following-permitted vehicles that are permitted to be followed by other vehicles; receiving specified information from a following-execution vehicle that is performing following driving; selecting a preceding vehicle from the following-permitted vehicles that is suitable as a following target for the following-execution vehicle based on the specified information; and transmitting information regarding the preceding vehicle to the following-execution vehicle. Effect of the Invention

[0017] According to the present invention, it is possible to prevent following-up driving in which a vehicle that does not wish to be followed by another vehicle is the following target. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic configuration diagram of a follow-up cruise support system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating a schematic configuration of the server. [Diagram 3] FIG. 3 is a diagram illustrating an example of a configuration of a vehicle. [Figure 4] FIG. 4 is a functional block diagram of the processor of the server. [Diagram 5] FIG. 5 is a diagram showing an example of a database including a list of following-permitted vehicles. [Figure 6] FIG. 6 is a flowchart showing a control routine executed in the vehicle in the first embodiment. [Figure 7]FIG. 7 is a flowchart showing a control routine executed in the server in the first embodiment. [Figure 8] FIG. 8 is a flowchart showing a control routine executed in the server in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

[0020] First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

[0021] Fig. 1 is a schematic configuration diagram of a following driving support system 100 according to a first embodiment of the present invention. As shown in Fig. 1, the following driving support system 100 includes a server 1 and a plurality of vehicles 2. The server 1 is capable of communicating with each of the plurality of vehicles 2 via a communication network 3 such as the Internet network and a wireless base station 4 connected to the communication network 3. Communication between the vehicles 2 and the wireless base station 4 is performed by a known wireless communication technology (e.g., 3G, LTE, 4G, 5G, etc.).

[0022] Fig. 2 is a diagram showing a schematic configuration of the server 1. As shown in Fig. 2, the server 1 includes a communication interface 11, a storage device 12, a memory 13, and a processor 14. The communication interface 11, the storage device 12, and the memory 13 are connected to the processor 14 via signal lines. The server 1 may further include input devices such as a keyboard and a mouse, and an output device such as a display. The server 1 may also be composed of multiple computers.

[0023] The communication interface 11 has an interface circuit for connecting the server 1 to the communication network 3. The server 1 communicates with the outside of the server 1 (e.g., a plurality of vehicles 2) via the communication interface 11 and the communication network 3. The communication interface 11 is an example of a communication unit of the server 1.

[0024] The storage device 12 includes, for example, a hard disk drive (HDD), a solid state drive (SDD), or an optical recording medium and an access device therefor. The storage device 12 stores various data, for example, map information, information on the multiple vehicles 2 (identification information, position information, etc.), computer programs for the processor 14 to execute various processes, etc. The storage device 12 is an example of a storage unit of the server 1.

[0025] The memory 13 includes a non-volatile semiconductor memory (e.g., RAM). The memory 13 temporarily stores various data and the like used when various processes are executed by the processor 14. The memory 13 is another example of a storage unit of the server 1.

[0026] The processor 14 has one or more CPUs and their peripheral circuits, and executes various processes. The processor 14 may further include other arithmetic circuits, such as a logic unit, a numerical calculation unit, or a graphics processing unit.

[0027] 3 is a diagram showing an example of the configuration of the vehicle 2. The vehicle 2 includes a surrounding information detection device 21, a Global Navigation Satellite System (GNSS) receiver 22, a map database 23, a navigation device 24, a vehicle behavior detection device 25, an actuator 26, a human machine interface (HMI) 27, a communication device 28, and an electronic control unit (Electronic Control Unit (ECU)) 30. The surrounding information detection device 21, the GNSS receiver 22, the map database 23, the navigation device 24, the vehicle behavior detection device 25, the actuator 26, the HMI 27, and the communication device 28 are electrically connected to the ECU 30 via an in-vehicle network or the like that complies with a standard such as a Controller Area Network (CAN).

[0028] The surrounding information detection device 21 acquires data (images, point cloud data, etc.) of the surroundings of the vehicle 2 and detects surrounding information (e.g., surrounding vehicles, lanes, etc.) of the vehicle 2. For example, the surrounding information detection device 21 includes a camera, a millimeter wave radar, a LIDAR (Laser Imaging Detection And Ranging), an ultrasonic sensor (sonar), etc. The output of the surrounding information detection device 21, i.e., the surrounding information of the vehicle 2 detected by the surrounding information detection device 21, is transmitted to the ECU 30.

[0029] The GNSS receiver 22 detects the current position of the vehicle 2 (e.g., the latitude and longitude of the vehicle 2) based on positioning information obtained from a plurality of (e.g., three or more) positioning satellites. Specifically, the GNSS receiver 22 captures a plurality of positioning satellites and receives radio waves transmitted from the positioning satellites. The GNSS receiver 22 then calculates the distance to the positioning satellite based on the difference between the transmission time and reception time of the radio waves, and detects the current position of the vehicle 2 based on the distance to the positioning satellite and the position (orbit information) of the positioning satellite. The output of the GNSS receiver 22, i.e., the current position of the vehicle 2 detected by the GNSS receiver 22, is transmitted to the ECU 30. A GPS receiver is an example of a GNSS receiver.

[0030] The map database 23 stores map information. The ECU 30 acquires the map information from the map database 23. Note that the map database may be provided outside the vehicle 2 (for example, the server 1, etc.), and the ECU 30 may acquire the map information from outside the vehicle 2.

[0031] The navigation device 24 sets a driving route for the vehicle 2 to the destination based on the current position of the vehicle 2 detected by the GNSS receiver 22, map information in the map database 23, input by an occupant (e.g., a driver) of the vehicle 2, etc. The driving route set by the navigation device 24 is transmitted to the ECU 30.

[0032] The vehicle behavior detection device 25 detects parameters indicating the behavior of the vehicle 2. The vehicle behavior detection device 25 includes, for example, a vehicle speed sensor that detects the speed of the vehicle 2, a yaw rate sensor that detects the yaw rate of the vehicle 2, etc. The output of the vehicle behavior detection device 25, i.e., the parameters detected by the vehicle behavior detection device 25, is transmitted to the ECU 30.

[0033] The actuators 26 operate the vehicle. For example, the actuators 26 include a drive device (e.g., at least one of an internal combustion engine and an electric motor) for accelerating the vehicle 2, a brake actuator for braking the vehicle 2, a steering actuator for steering the vehicle 2, etc. The ECU 30 controls the actuators 26 to control the behavior of the vehicle 2.

[0034] For example, the ECU 30 realizes a predetermined driving assistance function by controlling the actuator 26. The predetermined driving assistance function includes, for example, an adaptive cruise control (ACC) that automatically controls the speed of the vehicle depending on the presence or absence of a preceding vehicle, a lane keeping assist (LKA) that automatically controls the steering of the vehicle so that the vehicle is kept within the lane, or a lane tracing assist (LTA).

[0035] The HMI 27 transmits and receives information between the vehicle 2 and an occupant (e.g., a driver) of the vehicle 2. The HMI 27 has an output unit (e.g., a display, a speaker, a vibration unit, etc.) that provides information to the occupant of the vehicle 2, and an input unit (e.g., a touch panel, an operation button, an operation switch, a microphone, etc.) to which information is input by the occupant of the vehicle 2. The output of the ECU 30 is notified to the occupant of the vehicle 2 via the HMI 27, and the input from the occupant of the vehicle 2 is transmitted to the ECU 30 via the HMI 27. The HMI 27 is an example of an input device, an output device, or an input / output device. Note that a mobile terminal (smartphone, tablet terminal, etc.) of the occupant of the vehicle 2 may be communicably connected to the ECU 30 by wire or wirelessly, and function as the HMI 27. The HMI 27 may be integrated with the navigation device 24.

[0036] The communication device 28 is capable of communicating with the outside of the vehicle 2, and enables communication between the vehicle 2 and the outside of the vehicle 2 (e.g., the server 1). For example, the communication device 28 includes a wide-area wireless communication device (e.g., a data communication module (DCM)) that enables wide-area communication between the vehicle 2 and the outside of the vehicle 2, and a vehicle-to-vehicle communication device that enables vehicle-to-vehicle communication between the vehicle 2 and surrounding vehicles using a predetermined frequency band.

[0037] The ECU 30 executes various controls of the vehicle. As shown in Fig. 2, the ECU 30 includes a communication interface 31, a memory 32, and a processor 33. The communication interface 31 and the memory 32 are connected to the processor 33 via a signal line. Note that, although one ECU 30 is provided in this embodiment, multiple ECUs may be provided for each function.

[0038] The communication interface 31 has an interface circuit for connecting the ECU 30 to an in-vehicle network. The ECU 30 is connected to other in-vehicle devices via the communication interface 31.

[0039] The memory 32 includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 32 stores programs, data, etc. that are used when the processor 33 executes various processes.

[0040] The processor 33 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 33 may further include an arithmetic circuit such as a logic arithmetic unit or a numerical arithmetic unit.

[0041] 3 is merely one example of the configuration of the vehicle 2. As long as the vehicles 2 are capable of communicating with the server 1, they may each have a different configuration.

[0042] In order to reduce the amount of fuel or electricity required for a vehicle to run, it is effective to reduce the air resistance during running. One method for reducing the air resistance during running is "follow-up running," in which a vehicle follows a preceding vehicle. Platoon running, in which multiple vehicles run in a convoy, is one example of following-up running.

[0043] In following a vehicle, the windshield effect of the preceding vehicle reduces the air resistance acting on the vehicle following behind the preceding vehicle. However, the preceding vehicle that is the subject of following cannot enjoy this effect. In addition, the driver of the preceding vehicle may feel uncomfortable being followed by another vehicle.

[0044] Therefore, in this embodiment, the server 1 functions as a following driving support device that supports the following driving of the vehicle 2, and selects a preceding vehicle in following driving. FIG. 4 is a functional block diagram of the processor 14 of the server 1. In this embodiment, the processor 14 has an information receiving unit 15, a preceding vehicle selecting unit 16, and an information transmitting unit 17. The information receiving unit 15, the preceding vehicle selecting unit 16, and the information transmitting unit 17 are functional modules that are realized by the processor 14 of the server 1 executing a computer program stored in the storage device 12 of the server 1. Note that these functional modules may be realized by a dedicated arithmetic circuit provided in the processor 14.

[0045] In order to avoid unnecessary troubles caused by following driving, it is desirable to know in advance whether a candidate vehicle to be followed has permitted to be a following target of other vehicles. For this reason, in this embodiment, the storage device 12 of the server 1 stores a list of following-permitted vehicles that are permitted to be a following target of other vehicles. This list is created based on a prior declaration by the owner of the vehicle 2 or the like. For example, the owner of the vehicle 2 inputs whether or not to permit his / her vehicle to be a following target of other vehicles on an information input application or website using the HMI 27 of the vehicle 2 or a mobile terminal, and this input information is registered in the storage device 12 of the server 1 as a list together with the identification information of the vehicle 2 (for example, a vehicle ID). Note that the result of the prior declaration by the owner of the vehicle 2 may be input to the server 1 by an operator of the server 1. In addition, an incentive may be given to the owner of the vehicle 2 who has made the prior declaration.

[0046] Fig. 5 is a diagram showing an example of a database including a list of vehicles permitted to be followed. The database shown in Fig. 5 has, for each of a plurality of vehicles 2, a vehicle ID, information on whether or not to permit the vehicle to be a subject to be followed by other vehicles (permission information), and license plate information. Note that, in the example of Fig. 5, information on vehicles that are not permitted to be a subject to be followed by other vehicles is also registered, but the column for permission information may be deleted and only information on vehicles permitted to be followed may be registered. Furthermore, character information other than numbers may also be registered as license plate information.

[0047] The processor 14 of the server 1 uses the list of follow-permitted vehicles to select a preceding vehicle as follows. First, the information receiving unit 15 receives predetermined information from the following vehicle that is to perform the following driving via the communication interface 11. Then, the preceding vehicle selecting unit 16 selects a preceding vehicle suitable as a following target for the following vehicle from among the following-permitted vehicles based on the predetermined information. Furthermore, the information transmitting unit 17 transmits information about the preceding vehicle to the following vehicle via the communication interface 11. In this way, by proposing to the following vehicle a preceding vehicle selected from among the following-permitted vehicles registered in advance, it is possible to prevent following driving in which a vehicle that does not wish to be a following target of another vehicle is set as a following target.

[0048] The preceding vehicle must be selected from the vehicles located around the following vehicle. For this reason, for example, the information receiving unit 15 receives a surrounding image acquired by the following vehicle as the predetermined information. This makes it easier to match the vehicles around the following vehicle with the following-permitted vehicles. In this case, the preceding vehicle selecting unit 16 performs image recognition of the surrounding image and selects the following-permitted vehicle included in the surrounding image as the preceding vehicle.

[0049] The above-mentioned control process flow will be described in detail below with reference to Fig. 6 and Fig. 7. Fig. 6 is a flowchart showing a control routine executed in the vehicle 2 in the first embodiment. This control routine is repeatedly executed at a predetermined execution interval by the processor 33 of the ECU 30 in each of the multiple vehicles 2 that can communicate with the server 1.

[0050] First, in step S101, processor 33 determines whether or not a condition for starting following travel is satisfied. The condition for starting following travel is determined in advance, and is satisfied, for example, when an occupant of vehicle 2 requests ACC operation via HMI 27. Note that the condition for starting following travel may be that vehicle 2 is traveling on a motorway at a speed equal to or greater than a predetermined value. If it is determined in step S101 that the condition for starting following travel is not satisfied, this control routine ends.

[0051] On the other hand, if it is determined in step S101 that the conditions for starting following traveling are satisfied, this control routine proceeds to step S102. In step S102, the processor 33 uses the camera of the surrounding information detection device 21 to obtain a surrounding image.

[0052] Next, in step S103, the processor 33 requests the server 1 to designate a preceding vehicle in following driving. For example, the processor 33 transmits a request signal requesting designation of a preceding vehicle together with the surrounding image to the server 1. After step S103, this control routine ends.

[0053] 7 is a flowchart showing a control routine executed in the server 1 in the first embodiment. This control routine is repeatedly executed by the processor 14 of the server 1 at a predetermined execution interval.

[0054] First, in step S201, the preceding vehicle selection unit 16 determines whether or not a request for designation of a preceding vehicle has been made by the vehicle 2. If a request signal has not been transmitted from the vehicle 2 to the server 1, it is determined that designation of a preceding vehicle has not been requested by the vehicle 2, and this control routine ends. On the other hand, if a request signal has been transmitted from the vehicle 2 to the server 1, it is determined that designation of a preceding vehicle has been requested by the vehicle 2, and this control routine proceeds to step S202. In this case, the preceding vehicle selection unit 16 recognizes the vehicle 2 that has requested designation of a preceding vehicle as a follow-up execution vehicle.

[0055] In step S202, the preceding vehicle selection unit 16 selects a preceding vehicle from among the following-permitted vehicles stored as a list in the storage device 12, based on the surrounding image transmitted from the following vehicle. Specifically, the preceding vehicle selection unit 16 performs image recognition of the surrounding image acquired by the following vehicle, and selects the following-permitted vehicle included in the surrounding image as the preceding vehicle. For example, the preceding vehicle selection unit 16 detects information (e.g., license plate information) of a vehicle traveling in the same direction as the following vehicle from the surrounding image using an image recognition technique, and extracts the following-permitted vehicle by comparing this information with information on the following-permitted vehicle. Such image recognition technique is, for example, a machine learning model such as a neural network, a support vector machine, or a random forest.

[0056] Next, in step S203, the information transmission unit 17 transmits information about the preceding vehicle selected by the preceding vehicle selection unit 16 to the following execution vehicle. As a result, in the following execution vehicle, the information about the preceding vehicle is notified to the driver of the following execution vehicle via the HMI 27. The information about the preceding vehicle includes, for example, license plate information (e.g., license plate numbers) of the preceding vehicle. By notifying the driver of the following execution vehicle of the license plate information of the preceding vehicle, it is possible to make it easier for the driver of the following execution vehicle to find the preceding vehicle.

[0057] The current position of vehicle 2 may be periodically transmitted from vehicle 2 to server 1, and the information regarding the preceding vehicle may include position information of the preceding vehicle (such as the relative position of the preceding vehicle with respect to the following execution vehicle). Also, appearance information (such as model and color) of the following-permitted vehicle may be stored in advance in a database, and the information regarding the preceding vehicle may include the appearance information of the preceding vehicle. After step S203, this control routine ends.

[0058] The information receiving unit 15 may receive, as the predetermined information, surrounding vehicle information acquired by the following vehicle via vehicle-to-vehicle communication, and the preceding vehicle selecting unit 16 may extract following-permitted vehicles around the following vehicle based on the surrounding vehicle information. This allows a vehicle that cannot be detected by a camera to be recognized as a following-permitted vehicle. In this case, the processor 33 of the ECU 30 acquires surrounding vehicle information (e.g., vehicle ID or license plate information of surrounding vehicles traveling in the same direction as the vehicle 2) by communicating with the surrounding vehicles of the vehicle 2 using the vehicle-to-vehicle communication device of the communication device 28 in step S102 of FIG. 6, and transmits the surrounding vehicle information to the server 1 together with a request signal in step S103 of FIG. 6. Meanwhile, the preceding vehicle selecting unit 16 of the server 1 collates the surrounding vehicle information with the following-permitted vehicle information in step S202 of FIG. 7, and selects the following-permitted vehicle included in the surrounding vehicles as a preceding vehicle.

[0059] Also, the information receiving unit 15 may receive the position information of the following vehicle as the predetermined information, and the preceding vehicle selecting unit 16 may extract the following-permitted vehicle around the following vehicle based on the position information of the following vehicle. In this way, even if the following vehicle does not have a camera and a vehicle-to-vehicle communication device, the following-permitted vehicle around the following vehicle can be extracted. In this case, the processor 33 of the ECU 30 acquires the current position of the vehicle 2 using the GNSS receiver 22 in step S102 of FIG. 6, and transmits the position information of the vehicle 2 (e.g., the current position and the traveling direction) together with the request signal to the server 1 in step S103 of FIG. 6. Meanwhile, the preceding vehicle selecting unit 16 of the server 1 compares the position information of the following vehicle with the position information of the following vehicle and the following-permitted vehicle in step S202 of FIG. 7, and selects the following-permitted vehicle that is located around the following vehicle and traveling in the same direction as the following vehicle as the preceding vehicle.

[0060] Furthermore, in addition to transmitting information about the preceding vehicle to the following vehicle, the information transmitting unit 17 may notify the preceding vehicle that it has been selected as a vehicle to be followed via the communication interface 11. This makes it possible to make the driver of the following-permitted vehicle selected as the preceding vehicle aware of the presence of the following vehicle, and thus allows the following vehicle to more smoothly start following the preceding vehicle.

[0061] Second Embodiment The configuration and control of the follow-up driving support device according to the second embodiment are basically the same as those of the follow-up driving support device according to the first embodiment, except for the points described below. Therefore, the second embodiment of the present invention will be described below, focusing on the differences from the first embodiment.

[0062] When there are multiple follow-permitted vehicles around the follow-up execution vehicle, it is possible to select the follow-permitted vehicle ahead of the follow-up execution vehicle or the follow-permitted vehicle closest to the follow-up execution vehicle as the preceding vehicle. However, the follow-permitted vehicle is not necessarily the most suitable vehicle to follow. For example, if the overlapping driving section between the follow-up execution vehicle and the follow-permitted vehicle is short, the follow-up driving time will be short, and the effect of follow-up driving will be reduced.

[0063] Therefore, in the second embodiment, the preceding vehicle selection unit 16 selects a preceding vehicle from among the following-permitted vehicles based on predetermined information (e.g., surrounding images) transmitted from the following execution vehicle and the driving plan of the following-permitted vehicle. For example, the preceding vehicle selection unit 16 extracts preceding vehicle candidates from among the following-permitted vehicles based on the predetermined information, and selects a preceding vehicle from among the preceding vehicle candidates based on the driving plan of the following-permitted vehicle extracted as the preceding vehicle candidate. This makes it possible to suggest to the following execution vehicle a preceding vehicle that can further enhance the effect of following driving.

[0064] In the second embodiment, the control routine of Fig. 6 is executed in the vehicle 2 as in the first embodiment, and the control routine of Fig. 8 is executed in the server 1 instead of the control routine of Fig. 7. Fig. 8 is a flowchart showing the control routine executed in the server 1 in the second embodiment. This control routine is repeatedly executed by the processor 14 of the server 1 at a predetermined execution interval.

[0065] First, in step S301, similar to step S201 in Fig. 7, the preceding vehicle selection unit 16 determines whether or not a request for designation of a preceding vehicle has been made from the vehicle 2. If a request signal has not been transmitted from the vehicle 2 to the server 1, it is determined that designation of a preceding vehicle has not been requested from the vehicle 2, and this control routine ends. On the other hand, if a request signal has been transmitted from the vehicle 2 to the server 1, it is determined that designation of a preceding vehicle has been requested from the vehicle 2, and this control routine proceeds to step S302. In this case, the preceding vehicle selection unit 16 recognizes the vehicle 2 that has requested designation of a preceding vehicle as a follow-up execution vehicle.

[0066] In step S302, the preceding vehicle selection unit 16 extracts a preceding vehicle candidate from among the following-permitted vehicles stored as a list in the storage device 12 based on the surrounding image transmitted from the following vehicle. Specifically, the preceding vehicle selection unit 16 performs image recognition of the surrounding image acquired by the following vehicle, and extracts the following-permitted vehicles included in the surrounding image as the preceding vehicle candidate. For example, the preceding vehicle selection unit 16 detects information (e.g., license plate information) of a vehicle traveling in the same direction as the following vehicle from the surrounding image using an image recognition technique, and extracts the following-permitted vehicles by collating this information with information on the following-permitted vehicles. Such image recognition techniques are, for example, machine learning models such as neural networks, support vector machines, and random forests.

[0067] Next, in step S303, the preceding vehicle selection unit 16 acquires a driving plan of the following permitted vehicle extracted as the preceding vehicle candidate. For example, the preceding vehicle selection unit 16 requests the following permitted vehicle to transmit a driving route, and receives from the following permitted vehicle a driving route that has been preset in the following permitted vehicle via the navigation device 24 or the like.

[0068] Next, in step S304, the preceding vehicle selection unit 16 selects a preceding vehicle from the preceding vehicle candidates based on the driving plan of the following-permitted vehicle. For example, the preceding vehicle selection unit 16 selects the following-permitted vehicle with the longest estimated following distance as the preceding vehicle. The estimated following distance is calculated, for example, as the distance from the current position of the following-permitted vehicle to the point where the following-permitted vehicle leaves the expressway.

[0069] Next, in step S305, the preceding vehicle selection unit 16 transmits information about the preceding vehicle selected by the preceding vehicle selection unit 16 to the following execution vehicle, similar to step S203 in Fig. 7. After step S305, this control routine ends.

[0070] As in the first embodiment, the information receiving unit 15 may receive, as the predetermined information, from the following execution vehicle, position information of the following execution vehicle or surrounding vehicle information acquired by the following execution vehicle via vehicle-to-vehicle communication. That is, the predetermined information used to extract the preceding vehicle candidate in step S302 may be the position information of the following execution vehicle or surrounding vehicle information acquired by the following execution vehicle via vehicle-to-vehicle communication.

[0071] Furthermore, in step S303, the preceding vehicle selection unit 16 may receive, in addition to the driving route, information on rest points (e.g., service areas (SA) or parking areas (PA)) on the driving route input in advance by the driver of the following-permitted vehicle via the HMI 27 from the following-permitted vehicle. In this case, if a rest point is set on the driving route of the following-permitted vehicle, the estimated followable distance is calculated as the distance from the current position of the following-permitted vehicle to the rest point. Furthermore, the driving route of the following execution vehicle may be transmitted from the following execution vehicle to the server 1, and the estimated followable distance may be calculated as the overlapping section of the driving route of the following execution vehicle and the driving route of the following permission vehicle.

[0072] Furthermore, the preceding vehicle selection unit 16 may estimate the driving plan of the following permitted vehicle based on the driving history of the following permitted vehicle instead of acquiring the driving route from the following permitted vehicle. This allows the preceding vehicle to be selected in consideration of the driving plan of the following permitted vehicle even if the driving route is not set in the following permitted vehicle. In this case, the driving history of the following permitted vehicle is stored in the storage device 12 of the server 1, and for example, the driving route that the following permitted vehicle has traveled most frequently in the past from the current position is adopted as the driving plan of the following permitted vehicle.

[0073] <Other embodiments> Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. For example, the preceding vehicle selection unit 16 may select multiple following-permitted vehicles as preceding vehicles.

[0074] The following vehicle may be a manually driven vehicle that does not have a driving assistance function. The following vehicle may be a fully automated vehicle in which the acceleration, steering, and deceleration (braking) of the vehicle are all performed automatically. In this case, when information about the preceding vehicle is transmitted to the following vehicle, the ECU of the following vehicle controls the actuator to automatically start following the preceding vehicle. [Explanation of symbols]

[0075] 1 Server 11 Communication Interface 12 Storage Devices 13. Memory 14 processors 15 Information Receiving Section 16 Leading vehicle selection section 17 Information transmission section 2 Vehicles

Claims

1. A communication unit capable of communicating with a plurality of vehicles; A storage unit that stores a list of vehicles permitted to be followed by other vehicles, the list being created based on a prior notification by an owner of the vehicle permitted to be followed; an information receiving unit that receives, via the communication unit, predetermined information from a following vehicle that is performing following travel; a preceding vehicle selection unit that selects a preceding vehicle suitable as a follow-up target of the follow-up execution vehicle from among the following-permitted vehicles based on the predetermined information; an information transmission unit that transmits information about the preceding vehicle to the following execution vehicle via the communication unit; A following driving support device comprising:

2. The following driving support device according to claim 1, wherein the information receiving unit receives a surrounding image acquired by the following execution vehicle as the specified information, and the preceding vehicle selection unit performs image recognition of the surrounding image and selects the following-permitted vehicle included in the surrounding image as the preceding vehicle.

3. The following driving support device according to claim 1 , wherein the information receiving unit receives position information of the following vehicle as the predetermined information.

4. The following driving support device according to claim 1 , wherein the information receiving unit receives, as the predetermined information, surrounding vehicle information acquired by the following vehicle via vehicle-to-vehicle communication.

5. 5. The following driving support device according to claim 1, wherein the preceding vehicle selection unit selects the preceding vehicle from among the following-permitted vehicles based on the predetermined information and a driving plan of the following-permitted vehicle.

6. 6. The following driving support device according to claim 5, wherein the driving plan of the following-permitted vehicle is a driving route preset in the following-permitted vehicle.

7. 6. The following driving support device according to claim 5, wherein the preceding vehicle selection unit estimates a driving plan of the following-permitted vehicle based on a driving history of the following-permitted vehicle.

8. 5. The following cruise assist device according to claim 1, wherein the information about the preceding vehicle includes information about a license plate of the preceding vehicle.

9. The following driving support device according to claim 1 , wherein the information transmission unit notifies the preceding vehicle that the preceding vehicle has been selected as a vehicle to be followed via the communication unit.

10. A method for assisting following vehicles, the method comprising: storing a list of vehicles permitted to be followed by other vehicles, the list being created based on advance notification by the owners of the vehicles permitted to be followed; Receiving predetermined information from a following vehicle that is performing following travel; selecting a preceding vehicle suitable as a follow-up target of the follow-up execution vehicle from among the follow-up permitted vehicles based on the predetermined information; transmitting information about the preceding vehicle to the following execution vehicle; The following driving support method includes:

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