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

Abstract

To provide a vehicle travel control device which allows an own vehicle to follow a target vehicle, and which is capable of changing a driving state of the own vehicle as needed.SOLUTION: A vehicle travel control system S implements driving control of an own vehicle V on the basis of environmental information around the own vehicle and positional information of the own vehicle. When driving control is executed in a state where a first driving control mode is set for implementing autonomous driving control of causing the own vehicle to travel autonomously, the system detects a target vehicle that is a follow-up target on a planned travel route of the own vehicle, receives target vehicle information containing positional information of the detected target vehicle, and changes between the first driving control mode and a second driving control mode for implementing relative driving control of causing the own vehicle to travel relative to the target vehicle. The system executes the relative driving control of the own vehicle on the basis of the environmental information and the target vehicle information, in response to a change from the first driving control mode to the second driving control mode.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving control device. 、 Vehicle driving control method and vehicle driving control programs Regarding. [Background technology]

[0002] In recent years, vehicles equipped with ADAS (Advanced Driver Assistance Systems) have become known that enable autonomous driving by grasping information about the external environment around the vehicle itself and controlling the vehicle's driving on behalf of the driver in order to ensure safety and comfort for the driver. Additionally, in order to reduce the burden on the driver when driving long distances on a highway, for example, adaptive cruise control technology is known in which the vehicle recognizes a vehicle ahead of the vehicle and follows the vehicle ahead while maintaining a safe distance from the vehicle ahead (see, for example, Patent Document 1).

[0003] The driving assistance device described in Patent Document 1 is capable of switching between an "autonomous driving mode" in which the vehicle autonomously drives itself, and a "following driving mode" in which the vehicle follows a specified vehicle ahead. Specifically, the driving assistance device receives the planned driving route of the vehicle in front, determines whether there is a route in the planned driving route of the vehicle in front that matches the planned driving route of the vehicle itself, and based on the determination result, can switch between an "autonomous driving mode" in which the vehicle autonomously drives automatically according to the planned driving route of the vehicle itself, and a "following driving mode" in which the vehicle follows the vehicle in front. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-124932 Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, a driving assistance device such as that disclosed in Patent Document 1 receives a planned driving route from a vehicle ahead, and executes a "follow-up driving mode" on a route where the planned driving route of the vehicle ahead and the planned driving route of the vehicle itself match. When the two routes no longer match, the device switches from the "follow-up driving mode" to an "autonomous driving mode" and controls the driving of the vehicle itself so that the vehicle moves away from the vehicle ahead and drives autonomously. In this situation, there was a demand for technology that could flexibly switch between "following driving" and "autonomous driving" as needed. For example, there was a demand for technology that could switch between "follow-up driving" and "autonomous driving" depending on the behavior (changes in driving conditions) of the vehicle in front.

[0006] The present invention has been made in view of the above problems, and an object of the present invention is to 、 The vehicle can follow the target vehicle and travel as needed. hand Vehicle driving control device capable of changing the driving state of a vehicle 、 Vehicle driving control method and vehicle driving control programs The purpose is to provide [Means for solving the problem]

[0007] The object of the present invention is to provide a vehicle driving control device that controls driving of a vehicle, the vehicle driving control device comprising: an environmental information acquisition unit that acquires environmental information around the vehicle; before a position information acquisition unit that acquires position information of the vehicle; a driving control unit that performs driving control of the vehicle based on the environmental information and the position information of the vehicle; a vehicle detection unit that detects a target vehicle to be followed on a planned driving route of the vehicle when driving control by the driving control unit is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously; a communication unit that receives target vehicle information including at least position information of the detected target vehicle; and the first driving control mode. Based on the location information of the target vehicle, a mode change unit that changes the driving control mode between the first driving control mode and a second driving control mode that performs relative driving control to drive the vehicle relative to the target vehicle, The vehicle driving control device acquires vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle, the vehicle detection unit detects the target vehicle based on the vehicle identification information of the target vehicle obtained based on the identification mark, and the communication unit receives the target vehicle information including the vehicle identification information and location information of the detected target vehicle, The operation control unit beforeWhen the second driving control mode is set, the environmental information and the vehicle position information acquired by the position information acquisition unit, The vehicle identification information and location information of the target vehicle obtained based on the identification mark are included. The target vehicle information News and Based on 、 Facing the target vehicle Ta The relative driving control of the vehicle is performed. cormorant This is solved by: As described above, the vehicle driving control device can change the driving state of the vehicle by detecting the target vehicle, receiving the target vehicle information (position information of the target vehicle), and changing from the first driving control mode to the second driving control mode. Therefore, it is possible to realize a vehicle driving control device that enables the vehicle to drive following (relative to) the target vehicle and can flexibly change the driving state of the vehicle according to the position information of the target vehicle.

[0008] The problem is also solved by having a computer that controls the running of a vehicle acquire environmental information around the vehicle; before acquiring position information of the vehicle, performing driving control of the vehicle based on the environmental information and the position information of the vehicle, detecting a target vehicle to be followed on a planned driving route of the vehicle when driving control is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously, receiving target vehicle information including at least position information of the detected target vehicle, and the first driving control mode; Based on the location information of the target vehicle, a second driving control mode in which a relative driving control is performed to cause the vehicle to travel relative to the target vehicle; The computer further executes acquiring vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle, detecting the target vehicle includes detecting the target vehicle based on the vehicle identification information of the target vehicle obtained based on the identification mark, receiving the target vehicle information including the vehicle identification information and location information of the detected target vehicle, By controlling the operation of the vehicle, before When the second driving control mode is set, the environmental information, the acquired vehicle position information, and The vehicle identification information and location information of the target vehicle obtained based on the identification mark are included. The target vehicle information News and Based on 、 Facing the target vehicle Ta and performing relative driving control of the vehicle. nothing The above-mentioned problems are also solved by a vehicle driving control method. Furthermore, the object is to acquire environmental information around the vehicle to a computer that controls the running of the vehicle; before acquiring position information of the vehicle, performing driving control of the vehicle based on the environmental information and the position information of the vehicle, detecting a target vehicle to be followed on a planned driving route of the vehicle when driving control is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously, receiving target vehicle information including at least position information of the detected target vehicle, and the first driving control mode; Based on the location information of the target vehicle, a second driving control mode in which a relative driving control is performed to drive the vehicle relative to the target vehicle; The computer is further caused to acquire vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle, wherein detecting the target vehicle includes detecting the target vehicle based on the vehicle identification information of the target vehicle obtained based on the identification mark, and receiving the target vehicle information includes receiving the target vehicle information including the vehicle identification information and location information of the detected target vehicle, By controlling the operation of the vehicle, before When the second driving control mode is set, the environmental information, the acquired vehicle position information, and The vehicle identification information and location information of the target vehicle obtained based on the identification mark are included. The target vehicle information News and Based on 、 Facing the target vehicle Ta and performing relative driving control of the vehicle. nothing This problem can also be solved by a vehicle driving control program. [Effects of the Invention]

[0009] According to the vehicle driving control device and vehicle driving control method of the present invention, the host vehicle can drive following (relative to) a target vehicle, and the driving state of the host vehicle can be changed as needed. For example, by receiving the position information of the target vehicle, it becomes possible to switch between "autonomous driving control" and "relative driving control" depending on the behavior (changes in driving conditions) of the target vehicle. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating the overall configuration of a vehicle driving control system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating a hardware configuration of a vehicle driving control device. [Figure 3A]FIG. 2 is a diagram illustrating a hardware configuration of a vehicle information processing device. [Figure 3B] FIG. 10 is a diagram showing the positions of identification marks attached to a target vehicle. [Figure 3C] FIG. 10 is a diagram showing the positions of identification marks attached to a target vehicle. [Figure 4] FIG. 2 is a diagram illustrating a hardware configuration of the operation device. [Figure 5] FIG. 2 is a diagram illustrating functions of a vehicle driving control device, a vehicle information processing device, and an operation device. [Figure 6A] FIG. 2 is a diagram illustrating a state in which autonomous driving control is being performed. [Figure 6B] FIG. 10 is a diagram illustrating a state in which autonomous driving control is changed to relative driving control. [Figure 6C] 10A and 10B are diagrams illustrating a state in which the vehicle overtakes a target vehicle after switching from relative driving control to autonomous driving control. [Figure 7] FIG. 4 is a diagram showing inter-vehicle distance data. [Figure 8] FIG. 2 is a process flow diagram showing a vehicle driving control method according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. As shown in Figure 1, the vehicle driving control system S of this embodiment is a system that realizes "autonomous driving," which grasps the external environment of the vehicle V, plans a planned driving route for the vehicle V on behalf of the driver, and controls the vehicle V to drive along the planned driving route, and "following driving," which causes the vehicle V to follow a specified target vehicle FV and drive it, and is capable of performing "mode switching processing" to switch between the automatic driving control mode and the following driving control mode. It should be noted that the "follow-up operation (follow-up operation control)" may be referred to as "relative operation (relative operation control)." In the present embodiment, the "relative operation" will be referred to as "relative operation" below. In addition, in this embodiment, the "automatic driving control mode (first driving control mode)" will be simply referred to as the "automatic driving mode," and the "following driving control mode (second driving control mode)" will be simply referred to as the "relative driving mode."

[0012] "Autonomous driving (autonomous driving mode)" includes "autonomous driving (autonomous driving mode)," in which the vehicle V is controlled to drive autonomously, and "remote driving (remote driving mode)," in which an operator outside the vehicle V remotely controls (externally controls) the vehicle V to drive it. In other words, in this embodiment, "autonomous driving" and "remote driving" are collectively referred to as "autonomous driving." Basically, when referring to automatic driving, it is explained as meaning autonomous driving. In addition, in remote operation, the operator does not have to be a human, and may be, for example, an AI (artificial intelligence).

[0013] In addition to the above-mentioned "automatic driving" and "relative driving," there is also "manual driving (manual driving mode)," in which the driver actually drives the vehicle V. In the above-mentioned mode switching process, in addition to switching between the manual driving mode and the automatic driving mode, it is also possible to switch between the manual driving mode and the relative driving mode.

[0014] The "host vehicle V" is a vehicle equipped with a vehicle driving control device 1 described later, and has an automatic driving function and a relative driving function. The "target vehicle FV" is a vehicle that is equipped with a vehicle information transmission device 50 described below and is traveling in a state where it is capable of transmitting vehicle information (specifically, vehicle identification information, current location information, and information on the planned route) via communication via a network. The target vehicle FV is not limited to a leading vehicle traveling ahead of the host vehicle V, but may also be a vehicle traveling alongside the host vehicle V. Alternatively, the target vehicle FV may also be a trailing vehicle traveling behind the host vehicle. The target vehicle FV may be, for example, a bus, taxi, truck, etc. that travels along a predetermined planned travel route, a circular bus that travels along a predetermined circular route, or any other general vehicle.

[0015] <Hardware configuration of vehicle driving control system> As shown in Figures 1 to 4, the vehicle driving control system S includes a vehicle driving control device 1 that is mounted on the vehicle V and comprehensively controls the driving of the vehicle V, an on-board sensor 10 that detects the external environment around the vehicle V, an on-board locator 20 that receives GNSS signals from an artificial satellite SA and a reference station ST and measures the current position of the vehicle V, an on-board ECU 30 that controls the steering, acceleration, deceleration, etc. of the vehicle V, and an on-board communication device 40 that communicates with external devices. The vehicle driving control system S also includes a vehicle information transmission device 50 that is mounted on the target vehicle FV, connected to the vehicle driving control device 1 via a network, and transmits target vehicle information including location information of the target vehicle FV via communication via the network, and an identification mark 60 that is attached to the target vehicle FV and has vehicle identification information of the target vehicle FV embedded therein. Note that the subject vehicle V may further include the vehicle information transmission device 50 and identification mark 60 provided in the target vehicle FV, and the target vehicle FV may further include the on-board sensor 10, on-board locator 20, on-board ECU 30, and on-board communication device 40 provided in the subject vehicle V. In other words, the subject vehicle V and the target vehicle EV may have the same configuration, which allows the subject vehicle V and the target vehicle FV to be interchangeable, thereby configuring a vehicle driving control system S. Furthermore, the vehicle driving control system S includes a remote control device 70 that is installed outside the vehicle V and controls (remotely controls) the driving of the vehicle V by communicating with the vehicle driving control device 1 via a network. The vehicle driving control device 1, the vehicle information transmission device 50, and the remote control device 70 may communicate directly with each other.

[0016] As shown in FIG. 2, the vehicle driving control device 1 is a computer connected to an on-vehicle sensor 10, an on-vehicle locator 20, an on-vehicle ECU 30, and an on-vehicle communication device 40 via an on-vehicle network (CAN). Specifically, the vehicle driving control device 1 is a computer equipped with a CPU as a data calculation and control processing device, ROM, RAM and HDD (SSD) as storage devices, and a communication interface for sending and receiving information data via an in-vehicle network. The memory device of the vehicle driving control device 1 stores a vehicle driving control program in addition to a main program that performs the functions necessary for a computer, and the functions of the vehicle driving control device 1 are performed by executing these programs by the CPU. The in-vehicle ECU 30 (integrated ECU 31), the vehicle information transmission device 50, and the remote control device 70 are also computers having similar hardware configurations.

[0017] In order to perform "autonomous driving," the vehicle driving control device 1 controls the "autonomous driving" of the vehicle V by controlling the on-board ECU 30 (overall ECU 31) based on information on the external environment obtained from the on-board sensor 10, position information of the vehicle V obtained from the on-board locator 20, and vehicle information obtained from the on-board ECU 30. Furthermore, in order to perform "relative driving (following driving)", the vehicle driving control device 1 wirelessly communicates with the vehicle information transmission device 50 via the in-vehicle communication device 40 and receives target vehicle information including position information of a predetermined target vehicle FV. Then, the vehicle driving control device 1 controls the "relative driving (following driving)" of the subject vehicle V relative to the target vehicle FV by controlling the in-vehicle ECU 30 (overall ECU 31) based on information about the external environment, the position information of the subject vehicle V, and the target vehicle information including the position information of the target vehicle FV. Additionally, in order to perform "remote driving," the vehicle driving control device 1 communicates wirelessly with the remote operation device 70 via the in-vehicle communication device 40, and transmits information about the external environment, position information about the vehicle V, and vehicle information to the remote operation device 70. The remote operation device 70 receives this information, and displays content based on the information about the external environment and the position information about the vehicle V on the monitor 71 (navigation monitor 72), as well as notifying the user to the operator.

[0018] More specifically, the vehicle driving control device 1 is newly installed on a host vehicle V that is already equipped with an "autonomous driving function (on-board sensor 10, on-board locator 20, on-board ECU 30)," thereby improving the performance of the existing "autonomous driving function" and adding new "relative driving function" and "remote driving function."

[0019] The on-board sensor 10 detects the external environment around the vehicle V, such as moving objects (other vehicles, pedestrians, etc.), various structures, road shapes, etc., around the vehicle V, and specifically, is mainly composed of multiple imaging devices 11, multiple radars 12, and multiple lidars 13. The on-vehicle sensor 10 may further include detection sensors other than those described above.

[0020] The imaging device 11 is a small imaging camera (wide-angle camera) that captures external images around the vehicle V, and creates external image data and transmits the external image data to the vehicle driving control device 1 in order to perform a ``sensing function'' for driving control of the vehicle V and a ``monitoring function'' for the driver (operator). Multiple imaging devices 11 are mounted on the vehicle V, and include a first imaging device 11a, a second imaging device 11b, and a third imaging device 11c that are attached to the windshield of the vehicle V and capture images of the front, right side, and left side of the vehicle V, a fourth imaging device 11d that is attached to the back bumper of the vehicle V and captures images of the rear of the vehicle V, and a fifth imaging device 11e and a sixth imaging device 11f that are attached to the left and right mirrors of the vehicle V and capture images of the right rear and left rear diagonal areas of the vehicle V as main cameras. The imaging device 11 also includes sub-cameras, namely a seventh imaging device 11g that is attached to the front bumper of the vehicle V and captures images in front of the vehicle V, and an eighth imaging device 11h and a ninth imaging device 11i that are attached around the left and right backlights of the vehicle V and capture images diagonally rear to the right and left of the vehicle V. In this embodiment, a total of nine imaging devices 11 are attached to predetermined positions of the host vehicle V, but the number and attachment positions of the imaging devices 11 can be changed depending on the type and shape of the host vehicle V. The same applies to the radar 12 and the lidar 13. As another example of the sub-camera, the seventh imaging device 11g may be attached to the top of the back window (rear window) of the vehicle V, and may capture images of the area behind the vehicle V from that position. In that case, the eighth imaging device 11h may be attached to the front right A-pillar of the vehicle V, and the ninth imaging device 11i may be attached to the front left A-pillar.

[0021] The radar 12 is a millimeter-wave radar that detects a target object by transmitting radio waves while continuously changing the irradiation direction and receiving reflected waves from the target object (measuring the position and speed of the target object), thereby performing three-dimensional spatial imaging. Compared to the imaging device 11 and the lidar 13, the radar 12 can perform detection with high accuracy even in environmental conditions with poor visibility, such as at night or in bad weather. The radar 12 acquires the detection result data (detection signal) of the target object, and transmits the detection result data to the vehicle driving control device 1. Multiple radars 12 are mounted on the vehicle V, including a first radar 12a and a second radar 12b mounted around the left and right front lights of the vehicle V, and a third radar 12c and a fourth radar 12d mounted around the left and right back lights of the vehicle V. The radar 12 is not particularly limited to a millimeter wave radar, but may be a laser radar, an ultrasonic sensor, or other radar.

[0022] The lidar 13 is a remote sensor that measures the distance to a target object by emitting laser light and receiving the light reflected from the target object, thereby performing three-dimensional spatial imaging. Compared to the imaging device 11 and radar 12, the lidar 13 can measure the distance to surrounding target objects in units of a few centimeters. The lidar 13 acquires distance measurement data that measures the distance to the target object, and transmits the distance measurement data to the vehicle driving control device 1. Multiple riders 13 are mounted on the vehicle V, and include a first rider 13a and a second rider 13b attached around the left and right front lights of the vehicle V, a third rider 13c attached to the back bumper of the vehicle V, and a fourth rider 13d and a fifth rider 13e attached around the left and right back lights of the vehicle V.

[0023] The vehicle-mounted locator 20 measures the current position of the vehicle V using a satellite positioning system that uses artificial satellites SA and reference stations ST, and also measures the acceleration and angular velocity of the vehicle V to improve the accuracy of measuring the current position. Specifically, the on-board locator 20 includes a GNSS receiver 21 that receives GNSS radio waves (GPS radio waves) from multiple artificial satellites SA, and an inertial measurement unit 22 that measures the acceleration and angular velocity of the host vehicle V.

[0024] The GNSS receiver 21 is specifically an RTK-GNSS receiver that receives GNSS radio waves from multiple (specifically, four) satellites SA, generates "GNSS information" necessary for point positioning, and also receives "GNSS correction information" necessary for relative positioning from an external reference station ST. The reference station ST is a fixed reference station set at a known point, receives GNSS radio waves from a plurality of artificial satellites SA, generates “GNSS correction information”, and transmits it to the GNSS receiver 21. The "GNSS information" is information about the distances between the multiple artificial satellites SA and the GNSS receiver 21. "GNSS correction information" is distance information in which the measurement error of the "GNSS information" is corrected by the reference station ST located at a known point receiving GNSS radio waves and communication between the reference station ST and the GNSS receiver 21.

[0025] The inertial measurement unit 22, also known as an IMU, is equipped with a three-axis gyro sensor (angular velocity sensor) and a three-axis acceleration sensor (accelerometer), measures the three-dimensional angular velocity and acceleration of the host vehicle V, and transmits information on the acceleration and angular velocity of the host vehicle V to the vehicle driving control device 1. The vehicle driving control device 1 can measure the current position of the vehicle V with a smaller error range by combining GNSS information (GNSS correction information) received from the GNSS receiver 21 with angular velocity and acceleration information of the vehicle V received from the inertial measurement device 22.

[0026] The in-vehicle ECU 30 is, for example, an ECU for ADAS, and is connected to the vehicle driving control device 1 and includes an upper-level comprehensive ECU 31 that transmits and receives various data, and a lower-level steering ECU 32, accelerator ECU 33, and brake ECU 34 that are each connected to this upper-level comprehensive ECU 31 and perform detailed control of the steering, acceleration, deceleration, etc. of the vehicle V, forming a hierarchical structure. The steering wheel ECU 32 is also called a driving support computer, and the accelerator ECU 33 and the brake ECU 34 are also called power management control units. The number and functions of the individual ECUs connected to the integrated ECU 31 are not particularly limited to the three ECUs 32 to 34, and other ECUs may be further provided at the same level as these ECUs.

[0027] The steering ECU 32 controls the electric power steering V1 of the host vehicle V in response to instructions from the integrated ECU 31, and mainly controls the traveling direction of the host vehicle V. The electric power steering V1 includes a steering mechanism for steering the front wheels of the host vehicle V. For example, in manual driving mode, the front wheels of the host vehicle V are steered by the driver operating the steering wheel V1a.

[0028] The accelerator ECU 33 controls the electric throttle V2 of the host vehicle V in response to instructions from the integrated ECU 31, and mainly controls the acceleration and deceleration of the host vehicle V. The electric throttle V2 includes a drive mechanism that outputs a driving force to rotate the drive wheels of the host vehicle V. For example, in manual driving mode, the engine output is adjusted in response to the driver's operation of the accelerator pedal V2a.

[0029] The brake ECU 34 controls the electromagnetic brake device V3 of the host vehicle V in response to instructions from the integrated ECU 31, and mainly controls the deceleration and stopping of the host vehicle V. The electromagnetic brake device V3 is attached to each wheel of the host vehicle V and has a mechanism for applying resistance to the rotation of the wheels to slow down or stop the host vehicle V. For example, in manual driving mode, the operation of the electromagnetic brake device V3 is adjusted in response to the driver's braking operation of the brake pedal V3a.

[0030] The in-vehicle communication device 40 is a device that communicates information with a vehicle information transmission device 50 mounted on the target vehicle FV, an externally installed remote control device 70, and an external server (not shown) via a network. Specifically, the in-vehicle communication device 40 receives target vehicle information including position information of the target vehicle FV acquired by the vehicle information transmission device 50 as information necessary for “relative driving” and transmits it to the vehicle driving control device 1. The in-vehicle communication device 40 also transmits information on the external video images acquired by the vehicle driving control device 1 as information necessary for "remote driving" and information on the current location to the remote operation device 70. The in-vehicle communication device 40 also receives driving operation information for the vehicle V from the remote operation device 70, which has accepted user input from the operator, and transmits the information to the vehicle driving control device 1. In addition, the in-vehicle communication device 40 can communicate with an external server (not shown) to receive, for example, the latest traffic information, weather information, and the like from the external server.

[0031] As shown in Figures 1 and 3A, the vehicle information transmission device 50 is a computer mounted on the target vehicle FV, which acquires target vehicle information including the current location information of the target vehicle FV and transmits the target vehicle information to the vehicle V. Its specific hardware configuration includes an on-board locator 51 and an on-board communication device 52. The "target vehicle information" includes the location information (real-time location information) of the target vehicle FV, information on the planned driving route, and vehicle identification information, and is stored in the memory unit 500 of the vehicle information transmission device 50. "Vehicle identification information" refers to a vehicle ID that identifies the target vehicle FV, and information such as the vehicle model name, model type, and chassis number is associated with each vehicle ID and stored in the storage unit 500. In addition to being stored in the storage unit 500, the vehicle identification information is also embedded in an identification mark 60 attached to the target vehicle FV.

[0032] Similar to the above-mentioned vehicle-mounted locator 20, the vehicle-mounted locator 51 has a GNSS receiver 51a that receives GNSS radio waves (GPS radio waves) from multiple artificial satellites SA, and an inertial measurement unit 51b that measures the acceleration and angular velocity of the target vehicle FV. The in-vehicle communication device 52 is a device that communicates information with the vehicle driving control device 1 mounted on the host vehicle V via a network. Specifically, the in-vehicle communication device 52 transmits the target vehicle information as information necessary for the "relative driving" of the host vehicle V to the vehicle driving control device 1 (in-vehicle communication device 40) all the time or as needed. More specifically, the in-vehicle communication device 52 can transmit the position information of the target vehicle FV, which is part of the target vehicle information, in real time. "Transmitting in real time" includes not only transmitting location information at the same time as changes in the location information of the target vehicle FV, but also transmitting location information with a slight time lag.

[0033] 3A-C, the identification mark 60 is a two-dimensional barcode in which vehicle identification information for identifying the target vehicle FV is embedded (stored), and multiple identification marks 60 are attached to the exterior surface of the target vehicle FV. Note that the identification mark 60 may also have embedded therein information that can identify the planned driving route of the target vehicle FV. The identification mark 60 is recognized by the imaging device 11 of the vehicle V. More specifically, when the imaging device 11 recognizes an identification mark 60 in an image captured by the imaging device 11, it acquires, as recognition results, the vehicle identification information of the target vehicle FV embedded in the identification mark 60, information that can identify the planned driving route, etc. Then, the vehicle driving control device 1 can acquire the vehicle identification information of the target vehicle FV from the imaging device 11 via network communication in a predetermined communication method or an in-vehicle network (CAN). In the above embodiment, the vehicle identification information can be acquired from the vehicle information transmission device 50 and the identification mark 60, but it is sufficient if it can be acquired from at least one of them.

[0034] The identification mark 60 includes a first identification mark 60a, a second identification mark 60b, and a third identification mark 60c, which are attached to the center, left end, and right end of the rear surface of the target vehicle FV in the vehicle width direction, respectively, and a fourth identification mark 60d, a fifth identification mark 60e, and a sixth identification mark 60f, which are attached to the center, left end, and right end of the front surface of the target vehicle FV, respectively. The identification mark 60 also includes a seventh identification mark 60g, an eighth identification mark 60h, and a ninth identification mark 60i, which are attached to the center, front end, and rear end of the left side of the target vehicle FV in the fore-and-aft direction of the vehicle, respectively, and a tenth identification mark 60j, an eleventh identification mark 60k, and a twelfth identification mark 60l, which are attached to the center, front end, and rear end of the right side of the target vehicle FV, respectively. The first identification mark 60a, the fourth identification mark 60d, the seventh identification mark 60g, and the tenth identification mark 60j, which are arranged in the center of the rear, front, and both sides of the target vehicle FV, are formed somewhat larger than the other identification marks. This makes it easier for the imaging device 11 to recognize the identification marks 60 when the host vehicle V is traveling around the target vehicle FV. In other words, it makes it easier for the vehicle driving control device 1 to detect the presence of the target vehicle FV.

[0035] The identification marks 60a to 60l each have embedded therein vehicle identification information of the target vehicle FV, as well as mark position information indicating the position (vehicle body position) where each identification mark 60 is attached on the target vehicle FV. Therefore, when any one of the identification marks 60a to 60l is recognized by the imaging device 11 of the host vehicle V, the vehicle driving control device 1 can acquire the vehicle identification information of the target vehicle FV and detect the target vehicle FV. Furthermore, by recognizing, for example, the identification mark 60a and the identification mark 60c among the identification marks 60a to 60l, or by recognizing only the identification mark 60c, the vehicle driving control device 1 can detect that the host vehicle V is located behind the target vehicle FV, and further, to the right of the target vehicle FV, based on the above mark position information. In particular, the vehicle driving control device 1 can accurately grasp the position (relative position) of the target vehicle FV relative to the host vehicle V based on environmental information around the host vehicle V, position information of the host vehicle V, position information of the target vehicle FV, and mark position information obtained by the identification mark 60.

[0036] As shown in Figures 1 and 4, the remote control device 70 is a computer operated by an operator to perform "remote driving" of the vehicle V, and its specific hardware configuration includes multiple monitors 71, a navigation monitor 72, a steering wheel 73, an accelerator pedal 74, a brake pedal 75, and multiple operating switches 76. The remote control device 70 may further include components such as a speaker, a microphone, and a shift lever.

[0037] The monitor 71 and the navigation monitor 72 are display units that output visual information for performing "remote driving," and the monitor 71 displays a composite video (composite image) that is created by combining external images of the vehicle V captured by multiple imaging devices 11a to 11i based on predetermined layout information. The predetermined layout information is, for example, a display mode of a layout that does not create blind spots for the operator and is easy for the operator to operate. In this case, it is preferable that a plurality of pieces of layout information including the predetermined layout information are associated with each other by layout IDs (layout identification information) and stored in the storage unit 100 of the vehicle driving control device 1. In this case, when an operation to change the predetermined layout information is performed using the operation switch 76 or the like, the changed layout ID is transmitted from the remote control device 70 to the vehicle driving control device 1. Then, the vehicle driving control device 1 generates a composite image by combining the external image based on the layout information for the changed layout ID, and displays the composite image to the remote control device 70. By doing so, the composite image is displayed on the monitor 71 in a modified form.

[0038] The handle 73 is an operating unit that is operated by an operator and is used to adjust the steering angle (steering amount) of the host vehicle V. The accelerator pedal 74 and the brake pedal 75 are operating parts that are operated by the operator and are used to adjust the drive of the electric throttle V2 of the host vehicle V and the operation of the electromagnetic brake device V3, respectively. The multiple operation switches 76 are used, for example, for the user to input setting information for performing "remote driving." For example, by the operator appropriately operating the operation switches 76, it is possible to switch the external image (composite image) of the vehicle V to a predetermined layout display, or to switch the driving mode between an autonomous driving mode, a relative driving mode, and a remote driving mode.

[0039] <Vehicle driving control system functions> As shown in FIG. 5, from a functional standpoint, the vehicle driving control device 1 has, as its main components, a memory unit 100 that stores various programs and various data, an environmental information acquisition unit 101, a position information acquisition unit 102, a driving control unit 103, a vehicle detection unit 104, a communication unit 105, a mode change unit 106, a driving speed acquisition unit 107, and an image processing unit 108. These are composed of a CPU, ROM, RAM, HDD, communication interface, various programs, etc. The storage unit 100 stores vehicle identification information of the vehicle V, information on the planned travel route of the vehicle V, "inter-vehicle distance data" shown in FIG.

[0040] Regarding the vehicle information transmission device 50 from a functional perspective, its main components are a memory unit 500 that stores various programs and various data, a location information acquisition unit 501 that acquires the "current location information" of the target vehicle FV, and a communication unit 502 that transmits and receives various data to and from the vehicle driving control device 1. The storage unit 500 stores "target vehicle information" including the current position information of the target vehicle FV, information on the planned driving route, and vehicle identification information. The location information acquisition unit 501 acquires the "current location information" of the target vehicle FV in real time using the in-vehicle locator 51. Then, by storing the acquired "current location information" in the memory unit 500, it becomes possible to record the driving trajectory (past driving route) of the target vehicle FV equipped with the vehicle information transmission device 50, and the driving trajectory of the target vehicle FV is stored in the memory unit 500. The communication unit 502 transmits the "target vehicle information" to the vehicle driving control device 1 (the on-vehicle communication device 40) using the on-vehicle communication device 52. The communication unit 502 also transmits the "current location information" of the target vehicle FV, which is included in the target vehicle information, in real time.

[0041] Explaining the remote control device 70 from a functional perspective, its main components are a memory unit 700 that stores various programs and various data, a communication unit 701 that sends and receives various data to and from the vehicle driving control device 1, a screen display unit 702 that displays external images and vehicle information of the vehicle V on the monitor 71 and also displays content based on information about the current location of the vehicle V (e.g., vehicle navigation) on the navigation monitor 72, an operation data creation unit 703 that accepts user operation input and creates operation data, and a user notification unit 704 that notifies the user to the operator.

[0042] The functions of the vehicle driving control device 1 will be described in detail below. <<External environment information and location information of the vehicle>> The environmental information acquisition unit 101 acquires “environmental information (strictly speaking, detected information of the external environment)” around the host vehicle V from the on-board sensor 10. In more detail, as "environmental information," external image data of the surroundings of the vehicle V is acquired from the imaging device 11, detection result data of target objects around the vehicle V is acquired from the radar 12, and distance measurement data measuring the distance between the vehicle V and the target object is acquired from the lidar 13. Specifically, "environmental information" refers to detected information on moving objects (other vehicles, pedestrians, etc.) around the vehicle V, various structures, road shapes, etc., and is also referred to as driving environment information, and includes traffic environment information, road environment information, etc.

[0043] The environmental information acquisition unit 101 can acquire information on the traveling state of the target vehicle FV from the on-board sensor 10 in real time as "environmental information." "Information regarding the driving state" is information regarding the target vehicle FV's constant speed driving, acceleration, deceleration, stopping, left turn, right turn, reversing, etc., in other words, behavior information (information based on behavior) of the target vehicle FV. By having the environmental information acquisition unit 101 acquire information regarding the driving state of the target vehicle FV in real time, the vehicle driving control device 1 can detect, for example, that a driving target vehicle FV has stopped, that a stopped target vehicle FV has started driving, or that the target vehicle FV has started driving on a route different from the planned driving route of the host vehicle V, based on changes in information regarding the driving state of the target vehicle FV (changes in behavior information). At this time, whether or not the target vehicle FV has started traveling on a route different from the planned traveling route of the host vehicle V (the planned traveling route of the target vehicle FV no longer matches the planned traveling route of the host vehicle V) is determined based on the "traveling trajectory of the target vehicle FV" stored in the memory unit 500 of the target vehicle FV and the "traveling trajectory of the host vehicle V" described below, and by determining whether or not the traveling trajectory of the host vehicle V is on the planned traveling route of the host vehicle V.

[0044] The environmental information acquisition unit 101 may further acquire "vehicle information" of the host vehicle V from the in-vehicle ECU 30. Examples of the "vehicle information" include "steering angle information" obtained from the steering wheel ECU 32, "throttle opening information" obtained from the accelerator ECU 33, and "brake depression amount information" obtained from the brake ECU 34.

[0045] The position information acquisition unit 102 acquires the “current position information” of the host vehicle V from the vehicle-mounted locator 20 . In detail, the position information acquisition unit 102 acquires GNSS information (GNSS correction information) from the GNSS receiver 21, acquires angular velocity and acceleration information of the vehicle V from the inertial measurement unit 22, and determines the current position of the vehicle V based on this GNSS information (GNSS correction information), angular velocity, and acceleration information. By storing the acquired "current position information" in the memory unit 100, it becomes possible to record the travel trajectory (past travel route) of the host vehicle V equipped with the vehicle travel control device 1, and the travel trajectory of the host vehicle V is stored in the memory unit 100. This travel trajectory of the host vehicle V is used to determine whether or not the host vehicle V is on a planned travel route, and, if necessary, to set a new planned travel route that will lead the host vehicle V onto the planned travel route.

[0046] The "current position information" may be an "absolute position" calculated by single positioning, a "relative position" calculated by relative positioning, or a "corrected absolute position" or "corrected relative position" corrected based on the above-mentioned "angular velocity and acceleration information" of the host vehicle V. The positional accuracy of "absolute position" is said to be about ±10m, while that of "relative position" is about ±40cm. Also, the positional accuracy of "corrected absolute position" is higher than that of absolute position, and the positional accuracy of "corrected relative position" is about ±5cm, which is the highest positional accuracy. The methods for calculating the "absolute position," "relative position," "corrected absolute position," and "corrected relative position" will be described in detail below.

[0047] The absolute position calculation unit 102a acquires the above-mentioned "GNSS information" required for stand-alone positioning through the GNSS receiver 21, and calculates the "absolute position" of the host vehicle V by stand-alone positioning. The "absolute position" of the host vehicle V is the three-dimensional position of the host vehicle V obtained by receiving GNSS radio waves from multiple satellites SA, measuring the distance between the host vehicle V and each satellite SA located at a known point, and solving a three-dimensional equation to determine the unknown point from each measured distance (corresponding to GNSS information).

[0048] The relative position calculation unit 102b acquires the above-mentioned "GNSS correction information" necessary for relative positioning, corrects the "absolute position" by relative positioning, and calculates the "relative position" of the host vehicle V. The "relative position" of the vehicle V is the three-dimensional position of the vehicle V that is determined by receiving GNSS radio waves at a reference station ST located at a known point, obtaining the distance with the smaller measurement error from the reference station ST (the distance between each satellite SA and the vehicle V), and then using each measured distance (corresponding to the GNSS correction information). The "relative position" can be calculated using either the RTK positioning method (interferometric positioning method) or the DGPS positioning method (relative positioning method).

[0049] The corrected position calculation unit 102c acquires the above-mentioned "angular velocity and acceleration information" of the host vehicle V, and calculates a "corrected absolute position" by correcting the absolute position of the host vehicle V based on the "GNSS information" and the "acceleration and angular velocity information." The "corrected absolute position" of the host vehicle V is the three-dimensional position of the host vehicle V obtained by combining GNSS information with information on the angular velocity and acceleration of the host vehicle V (also called IMU information) to determine its position. In addition, the corrected position calculation unit 102c calculates a "corrected relative position" by correcting the relative position of the host vehicle V based on the "GNSS correction information" and the "acceleration and angular velocity information."

[0050] The reception determination unit 102d determines whether or not GNSS information can be received in real time, and if it determines that GNSS information can be received in real time, it subsequently determines whether or not GNSS correction information can be received in real time. Specifically, the reception determination unit 102d assumes a case where there is an obstacle around the vehicle V and radio waves cannot be received from the artificial satellite SA, or where data cannot be sent or received with the reference station ST, and determines whether radio waves can be received from the artificial satellite SA and whether data can be sent or received with the reference station ST.

[0051] When the reception determination unit 102d determines that GNSS information and GNSS information can be received in real time, the position information acquisition unit 102 determines the current position of the vehicle V using the "corrected relative position" with the highest position accuracy. In addition, if the location information acquisition unit 102 determines that it can receive GNSS information in real time but cannot receive GNSS correction information in real time, it determines the current location of the vehicle V using a ``corrected absolute position'' with high position accuracy. Furthermore, if the position information acquisition unit 102 determines that it cannot receive GNSS information and GNSS correction information in real time, it can also determine the current position of the vehicle V using an "estimated position" calculated based on the "GNSS information" received immediately before and the "acceleration and angular velocity information."

[0052] The position information acquisition unit 102 acquires the most accurate "corrected relative position" as the "position information" of the vehicle V. On the other hand, if data cannot be transmitted or received between the vehicle V and the reference station ST, the position information acquisition unit 102 acquires the "corrected absolute position." Alternatively, if there are obstacles around the vehicle V and the vehicle V cannot receive radio waves from the satellite SA, the position information acquisition unit 102 acquires the "estimated position." In addition, the actual driving route information of the vehicle V (also referred to as driving trajectory information or driving history information) is generated by compiling the position information from the driving start position to the driving end position of the vehicle V acquired by the position information acquisition unit 102. The generated driving route information (driving route data) of the vehicle V is stored in memory unit 100 in association with information regarding the driving date and time, driving time, information regarding the driving mode of the vehicle V (e.g., the number of times the driving mode is changed, the execution time of each driving mode), and vehicle information of the target vehicle FV that was the target to be followed during the relative driving mode.

[0053] <<Autonomous driving control>> The driving control unit 103 controls the integrated ECU 31 based on the "environmental information" obtained by the environmental information acquisition unit 101 and the "position information of the host vehicle V" obtained by the position information acquisition unit 102, and performs "autonomous driving control" of the host vehicle V (see Figure 6A). In addition, when performing "autonomous driving control" of the host vehicle V, the driving control unit 103 may acquire "vehicle information" of the host vehicle V from the on-board ECU 30 and further combine the "vehicle information" to control the overall ECU 31.

[0054] When the host vehicle V starts traveling along the planned traveling route of the host vehicle V, the driving control unit 103 performs "autonomous driving control" and starts autonomous driving of the host vehicle V. In more detail, when the host vehicle V starts to travel, the "autonomous driving mode" is set, and the driving control unit 103 performs autonomous driving control in the "autonomous driving mode" state. Thereafter, the mode change unit 106 changes the driving mode between the "autonomous driving mode" and the "relative driving mode," while the vehicle V travels toward the destination of the planned driving route. Note that, when the target vehicle FV to be followed has already been detected and the position information of the target vehicle FV is obtained in real time at the timing when the host vehicle V starts driving, the mode may be changed from "autonomous driving mode" to "relative driving mode" by the mode change unit 106. In that case, the driving control unit 103 performs relative driving control with the "relative driving mode" set, and starts driving the host vehicle V relative to the target vehicle FV. Alternatively, when the host vehicle V starts driving, the "remote driving mode" is set instead of the "autonomous driving mode", and the driving control unit 103 may perform remote driving control with the "remote driving mode" set.

[0055] The vehicle detection unit 104 detects that a predetermined leading vehicle traveling ahead of the host vehicle V is a target vehicle FV to be followed on the planned travel route of the host vehicle V (see FIG. 6B). "Target vehicles to be followed" include vehicles traveling on a planned route that at least partially matches the planned route of the subject vehicle V, as well as vehicles that will travel the same route as the planned route of the subject vehicle V over a certain driving distance (driving time). For example, this applies to vehicles traveling around the host vehicle V when traveling on a highway or general road where there are no branch points within a certain travel distance (travel time).

[0056] Specifically, the vehicle detection unit 104 detects that a predetermined vehicle in front is a target vehicle FV based on the recognition result of the identification mark 60 of the vehicle in front recognized by the imaging device 11. For example, when the first identification mark 60a of the target vehicle FV is recognized, the vehicle detection unit 104 detects that the target vehicle FV is located ahead of the host vehicle V. Alternatively, when the seventh identification mark 60g of the target vehicle FV is recognized, the vehicle detection unit 104 detects that the target vehicle FV is present to the right of the host vehicle V.

[0057] More specifically, the vehicle detection unit 104 acquires the recognition results of each identification mark 60a to 60l of the target vehicle FV from the imaging device 11 in real time, and can accurately detect the relative position of the target vehicle FV with respect to the host vehicle V in real time from the vehicle identification information of the target vehicle FV (shape and size of the target vehicle FV) and the mark position information embedded in each identification mark 60a to 60l. For example, the vehicle driving control device 1 can accurately detect that the target vehicle FV is traveling in a position slightly to the left and ahead of the host vehicle V, or that the target vehicle FV is traveling parallel to the host vehicle V and slightly ahead of the host vehicle V. In this case, the relative position of the target vehicle FV may be specified, for example, by a three-dimensional coordinate position with the host vehicle V as the center position. By doing so, the host vehicle V can be driven relatively while maintaining an appropriate inter-vehicle distance between the host vehicle V and the target vehicle FV, as shown in Fig. 6B. In addition, the host vehicle V can be driven autonomously so that the host vehicle V can appropriately overtake the target vehicle FV, as shown in Fig. 6C.

[0058] Although the vehicle detection unit 104 detects the target vehicle FV based on the recognition result of the identification mark 60, the target vehicle FV may be detected by other detection means. For example, the vehicle detection unit 104 may use the in-vehicle communication device 40 to wirelessly obtain vehicle identification information of the target vehicle FV from a vehicle information transmission device 50 mounted on the target vehicle FV, and detect the target vehicle FV based on the vehicle identification information. In other words, the target vehicle FV may be in a state where it can be detected by an identification mark 60 attached to the target vehicle FV, or it may be in a state where it can be detected by wireless communication with a vehicle information transmission device 50 mounted on the target vehicle FV.

[0059] The communication unit 105 receives target vehicle information including at least the position information of the target vehicle FV detected by the vehicle detection unit 104. More specifically, when the vehicle detection unit 104 detects the target vehicle FV, the communication unit 105 starts communication with the vehicle information transmission device 50 via the network. The communication unit 105 then receives the position information of the target vehicle FV and information about the planned driving route from the vehicle information transmission device 50 mounted on the target vehicle FV. The location information acquisition unit 501 of the vehicle information transmission device 50 acquires the "current location information" of the target vehicle FV in real time in the same manner as the location information acquisition unit 102 described above.

[0060] <<Mode change (autonomous driving ⇒ relative driving)>> The mode change unit 106 changes from the "autonomous operation mode (autonomous operation control)" to the "relative operation mode (relative operation control)" when a predetermined relative operation start condition is satisfied. Specifically, when autonomous driving control is being performed with the "autonomous driving mode" set as shown in Figure 6A, when the vehicle detection unit 104 detects a target vehicle FV and the communication unit 105 receives target vehicle information, the mode change unit 106 changes from the "autonomous driving mode" to the "relative driving mode" as shown in Figure 6B. More specifically, when the vehicle detection unit 104 detects a vehicle ahead as a "predetermined relative driving start condition," it determines whether the vehicle ahead is a target vehicle FV, and if it determines that the vehicle ahead is a target vehicle FV, it recognizes the vehicle ahead as a target vehicle FV. Then, the mode change unit 106 changes from the "autonomous driving mode" to the "relative driving mode." In addition, if it is determined that the preceding vehicle is not the target vehicle FV, even if the preceding vehicle is detected, the mode change unit 106 will not change the mode because the ``specified relative driving start condition'' is not met. Here, the "target vehicle FV" is a vehicle that has a vehicle ID pre-registered by the vehicle driving control device 1 (memory unit 100) installed in the subject vehicle V and is identified by that vehicle ID. If that vehicle ID is set for the preceding vehicle, the "predetermined relative driving start condition" is met, and if that vehicle ID is not set, the condition is not met.

[0061] More specifically, when the target vehicle FV is detected while autonomous driving control is being performed with the "autonomous driving mode" set, the mode change unit 106 sets the "relative driving mode" while the "autonomous driving mode" is set. In other words, while the "autonomous driving mode" is enabled, the "relative driving mode" is changed from an disabled state to an enabled state. At this time, the mode change unit 106 prioritizes and continues the "autonomous driving mode" with both modes set. In other words, the driving control unit 103 continues to perform autonomous driving control. Then, when target vehicle information of the target vehicle FV is obtained while autonomous driving control is continuing with both modes set, the mode change unit 106 prioritizes execution of the "relative driving mode" with both modes set. In other words, the driving control unit 103 newly performs relative driving control. In addition, if target vehicle information of the target vehicle FV cannot be obtained while autonomous driving control is continuing with both modes set, i.e., if wireless communication with the vehicle information transmission device 50 mounted on the target vehicle FV cannot be established, the mode change unit 106 returns the "relative driving mode" that was once set to an unset state. In other words, the "relative driving mode" is returned from an enabled state to an disabled state. At this time, since the "autonomous driving mode" remains set (enabled state), the driving control unit 103 continues to perform autonomous driving control.

[0062] <<Relative operation control>> The driving control unit 103 controls the overall ECU 31 based on "environmental information," "position information of the host vehicle V," and "target vehicle information of the target vehicle FV," and performs "relative driving control" of the host vehicle V relative to the target vehicle FV (see Figure 6B). In addition, when performing the "relative driving control," the driving control unit 103 controls the overall ECU 31 by further combining the "vehicle identification information of the target vehicle FV" obtained from the recognition results of the identification mark 60, thereby enabling appropriate relative driving to be performed according to the vehicle type (shape, size, driving performance, fuel efficiency, displacement, etc.) of the target vehicle FV.

[0063] Furthermore, the "relative driving control" performed by the driving control unit 103 is a control process that determines the position information of the host vehicle V on a driving trajectory (past driving route) drawn based on the position information of the target vehicle FV, based on the "position information of the target vehicle FV" included in the target vehicle information acquired from the target vehicle FV. In this relative driving control, control is performed to drive the host vehicle V at a predetermined position information with a set inter-vehicle distance according to the driving speed of the host vehicle V on the driving trajectory, in order to ensure an appropriate inter-vehicle distance between the host vehicle V and the target vehicle FV. Specifically, the running speed acquisition unit 107 acquires "angular velocity and acceleration information" of the vehicle V from the inertial measurement device 22, and acquires the "running speed" of the vehicle V in real time by integrating the acceleration and angular velocity. Then, the driving control unit 103 refers to the "inter-vehicle distance data" shown in Figure 7 stored in the memory unit 100, identifies the position information of the host vehicle based on the position information of the target vehicle FV, and performs relative driving control to drive the host vehicle V relative to the target vehicle FV based on the position information of the host vehicle and environmental information. In this relative driving control, a process is performed to correct and correct the trajectory based on the "position information of the subject vehicle V" so that the subject vehicle V actually travels according to the position information determined based on the position information of the target vehicle FV. In other words, this is a process to correct and correct the trajectory of the deviation (error) between the position information determined based on the position information of the target vehicle FV at which the subject vehicle is traveling and the position information at which the subject vehicle is actually traveling. As a result, the storage unit 100 stores the actual travel path of the vehicle V (the travel path based on the position information of the vehicle V).

[0064] The "inter-vehicle distance data" shown in FIG. 7 is a data table showing the correspondence between the traveling speed of the host vehicle V and the set inter-vehicle distance. For example, when the running speed (average running speed) of the host vehicle V is "80 km / h", the set inter-vehicle distance between the host vehicle V and the target vehicle FV is set to "40 to 70 m". In addition, the "inter-vehicle distance data" may be graph data in which the traveling speed of the vehicle V is on the X-axis and the set inter-vehicle distance is on the Y-axis, and the set inter-vehicle distance increases in proportion to the traveling speed (increases quadratically). In addition to setting the inter-vehicle distance from the target vehicle FV as described above, a time interval may be set so that the target vehicle FV travels to a position where it traveled a predetermined time ago (for example, a few seconds ago). In this case, it is advisable to set the inter-vehicle distance so that the minimum inter-vehicle distance is maintained so that the host vehicle V does not collide with the target vehicle FV from the rear.

[0065] The traveling speed acquisition unit 107 may calculate the "traveling speed" of the host vehicle V by processing the "GNSS information (GNSS correction information)" and the "acceleration and angular velocity information" using a Kalman filter. In this way, the "traveling speed" can be calculated with higher accuracy. In addition, when obtaining "speed information" of the host vehicle V, a wheel speed sensor may be newly installed in the host vehicle V, and the "speed information" may be obtained through the wheel speed sensor.

[0066] The driving control unit 103 performs relative driving control by maintaining a set inter-vehicle distance according to the driving speed of the vehicle V, but it may also perform relative driving control of the vehicle V with respect to the target vehicle FV based on the synchronization state between the vehicle V and the target vehicle FV (for example, when the target vehicle FV travels "1 m", the vehicle V also travels "1 m"). In the synchronized state, the driving control unit 103 acquires environmental information around the vehicle V, position information of the vehicle V, and target vehicle information including position information of the target vehicle FV in real time, and combines this information to perform relative driving control.

[0067] <<Mode change (relative driving ⇒ autonomous driving)>> (When the target vehicle stops) When relative driving control is being performed with the "relative driving mode" set as shown in Fig. 6B, if the "predetermined condition according to the driving state" of the target vehicle FV is satisfied, the mode change unit 106 changes from the relative driving mode to the "autonomous driving mode." Then, the driving control unit 103 performs autonomous driving control in the "autonomous driving mode" as shown in Fig. 6C. "Specified conditions according to the driving conditions" refers to when the behavior of the target vehicle FV detects that the host vehicle V needs to overtake the target vehicle FV in order to drive efficiently, or that the host vehicle V needs to drive on a different route than the target vehicle FV. For example, this may be the case when the behavior of the target vehicle FV detects that the target vehicle FV has stopped or started to stop on the side of the road (shoulder strip) while traveling. Another example is when the behavior of the target vehicle FV detects that the target vehicle FV has started traveling on a route different from the planned route (specifically, a route toward a rest area). In other words, the "predetermined conditions according to the driving state" can also be rephrased as "relative driving cancellation conditions" for canceling the relative driving control of the host vehicle V. The following description will be given assuming that a target vehicle FV in motion stops at the side of the road as shown in FIG. 6C.

[0068] When relative driving control is being performed with the "relative driving mode" set as shown in Figure 6B, the environmental information acquisition unit 101 detects that the target vehicle FV has stopped (started stopping) on ​​the side of the road as detection information regarding the driving state of the target vehicle FV. The mode change unit 106 then determines that a predetermined condition corresponding to the driving state of the target vehicle FV has been met when it detects that the target vehicle FV has stopped on the side of the road based on the detection results from the environmental information acquisition unit 101. Then, the mode change unit 106 changes from the "relative driving mode" to the "autonomous driving mode." Then, the driving control unit 103 performs autonomous driving control in the "autonomous driving mode." Specifically, while grasping the driving environment information around the host vehicle V, the driving control unit 103 performs autonomous driving control of the host vehicle V so as to overtake the target vehicle FV as shown in FIG. 6C. Since the "autonomous driving mode" is always set (enabled), the driving control unit 103 can smoothly transition from relative driving control to autonomous driving control.

[0069] (When the target vehicles split at a junction) In addition to the above conditions, when relative driving control is being performed with the "relative driving mode" set, if a predetermined condition according to the planned driving route of the target vehicle FV is met, the mode change unit 106 changes from the relative driving mode to the "autonomous driving mode." Then, the driving control unit 103 performs autonomous driving control in the "autonomous driving mode." The "predetermined condition according to the planned driving route" is when it is detected that the planned driving route of the target vehicle FV and the planned driving route of the host vehicle V no longer match. For example, it is possible that the planned driving route of the target vehicle FV has been acquired in advance and that the planned driving route no longer matches, or that the planned driving route of the target vehicle FV has been changed and the changed planned driving route no longer matches. The following description will be given assuming that the target vehicle FV and the host vehicle V separate at a branch point.

[0070] The communication unit 105 receives, from the vehicle information transmission device 50, "target vehicle information" including the position information of the target vehicle FV and information about the planned driving route. 6B, when relative driving control is being performed with the "relative driving mode" set, if it is detected that the planned driving routes of both vehicles no longer match based on the target vehicle information obtained by the communication unit 105, the mode change unit 106 considers that the "predetermined condition according to the driving state" has been met, and then changes from the relative driving mode to the "autonomous driving mode." Then, the driving control unit 103 performs autonomous driving control in the "autonomous driving mode." Specifically, the vehicle separates from the target vehicle FV at a predetermined branch point and starts autonomous driving control of the host vehicle V.

[0071] The above configuration makes it possible to realize a vehicle driving control device 1 that enables the host vehicle V to drive relative to the target vehicle FV and that can change the driving state of the host vehicle V as needed. In addition, by using the vehicle driving control device 1, it is possible to receive position information of the target vehicle FV in real time and switch between "autonomous driving control" and "relative driving control" depending on the behavior (changes in driving conditions) of the target vehicle FV.

[0072] <<Remote operation control>> Next, the "remote operation control" will be described. The image processing unit 108 acquires external image data of the vehicle V from each of the plurality of image capturing devices 11a-11i, and creates a composite image (composite image data) by combining the respective external images based on predetermined layout information. By generating the above-described composite video and transmitting the generated composite video data to the remote control device 70, data communication costs can be reduced compared to when transmitting a plurality of external video data.

[0073] The communication unit 105 uses the in-vehicle communication device 40 to transmit and receive data between the vehicle driving control device 1 and the remote control device 70 . Specifically, the communication unit 105 transmits to the remote control device 70 the "environmental information" obtained by the environmental information acquisition unit 101 and the "current location information" obtained by the location information acquisition unit 102 as information necessary for "remote driving" of the vehicle V. Furthermore, the communication unit 105 receives "driving operation information" of the vehicle V from the remote control device 70 that has accepted a user input from an operator. The driving control unit 103 controls the integrated ECU 31 based on the "driving operation information" of the host vehicle V acquired from the remote control device 70, and executes "remote driving control" of the host vehicle V.

[0074] The above configuration makes it possible to realize a vehicle driving control device 1 that is also capable of performing "remote driving control" in which an operator remotely controls the vehicle V to drive it. Therefore, it is possible to switch between "remote driving control" and "relative driving control" depending on the behavior of the target vehicle FV. When switching from "remote driving control" to "relative driving control", the operator is freed from the task of remotely driving the host vehicle V.

[0075] <Vehicle driving control method> Next, an example of the processing of a vehicle driving control program (vehicle driving control method) executed by the vehicle driving control system S will be described with reference to FIG. The above program in this embodiment is a program for realizing the above-mentioned environmental information acquisition unit 101, location information acquisition unit 102, driving control unit 103, vehicle detection unit 104, communication unit 105, mode change unit 106, driving speed acquisition unit 107, and image processing unit 108 as functional components of a vehicle driving control device 1 equipped with a memory unit 100, and the CPU of the vehicle driving control device 1 executes this vehicle driving control program. The above program is executed upon receiving an operation instruction from a user (specifically, the driver of the vehicle V or an external operator).

[0076] In the vehicle driving control flow shown in Fig. 8, first, the vehicle driving control device 1 sets the "autonomous driving mode" when the host vehicle V starts to drive. The flow starts from step S1. The vehicle driving control device 1 may set a "remotely controlled driving mode" instead of the "autonomous driving mode." If the "remote control driving mode" is set, the driving control unit 103 will perform remote control driving control of the host vehicle V in step S3, which will be described later.

[0077] Next, in step S2, the environmental information acquisition unit 101 starts acquiring "environmental information" around the host vehicle V, and the position information acquisition unit 102 starts acquiring "position information of the host vehicle V." Then, in step S3, the driving control unit 103 controls the integrated ECU 31 based on the environmental information and the position information of the host vehicle V, and performs "autonomous driving control" of the host vehicle V (see FIG. 6A).

[0078] Next, in step S4, the vehicle detection unit 104 detects whether or not the predetermined preceding vehicle is a target vehicle FV to be followed on the planned travel route of the host vehicle V. Specifically, the vehicle detection unit 104 determines whether a predetermined preceding vehicle is a target vehicle FV based on the recognition result of the identification mark 60 of the predetermined preceding vehicle recognized by the imaging device 11, based on the above-mentioned predetermined relative driving start conditions. If the vehicle detection unit 104 determines that the vehicle is a target vehicle FV by satisfying the predetermined relative driving start conditions (step S4: Yes), the process proceeds to step S5. On the other hand, if the vehicle detection unit 104 does not satisfy the predetermined relative driving start conditions and does not determine that the vehicle is a target vehicle FV (step S4: No), the process returns to step S2. In other words, the autonomous driving control in "autonomous driving mode" is continued.

[0079] Next, in step S5, the mode change unit 106 sets the "relative driving mode" while the "autonomous driving mode" is set. In other words, the "relative driving mode" is changed from an invalid state to an valid state while the "autonomous driving mode" is set to an valid state.

[0080] Next, in step S6, the communication unit 105 attempts to receive “target vehicle information” including “position information of the target vehicle FV” detected by the vehicle detection unit 104. More specifically, the communication unit 105 starts communication with the vehicle information transmission device 50 mounted on the target vehicle FV via the network, and attempts to receive location information of the target vehicle FV from the vehicle information transmission device 50.

[0081] If the communication unit 105 receives location information of the target vehicle FV from the target vehicle FV (step S6: Yes), the process proceeds to step S7, and the driving control unit 103 controls the overall ECU 31 based on the ``environmental information,'' ``location information of the host vehicle V,'' and ``target vehicle information of the target vehicle FV,'' and performs ``relative driving control'' of the host vehicle V with respect to the target vehicle FV (see Figure 6B). On the other hand, if the communication unit 105 does not receive the location information of the target vehicle FV (step S6: No), proceed to step S8, and with the "autonomous driving mode" set, the mode change unit 106 changes the "relative driving mode" from an enabled state to an disabled state and cancels it, and then return to step S2.

[0082] Next, in step S9, the mode change unit 106 determines whether or not the target vehicle FV satisfies a "predetermined condition" when relative driving control is being performed with the "relative driving mode" set. Specifically, the mode change unit 106 determines whether the target vehicle FV satisfies "predetermined conditions according to the driving conditions" or whether the target vehicle FV satisfies "predetermined conditions according to the planned driving route." In addition, the mode change unit 106 determines that the above-mentioned "predetermined condition" is satisfied when it determines that either the "predetermined condition according to the driving state" or the "predetermined condition according to the planned driving route" of the target vehicle FV is satisfied.

[0083] If it is determined that the target vehicle FV satisfies the "predetermined conditions" (step S9: Yes), the process proceeds to step S10, where the mode change unit 106 changes the "relative driving mode" from an enabled state to an disabled state and cancels it. Then, in step S11, the driving control unit 103 performs autonomous driving control in the "autonomous driving mode" as shown in FIG. 6C. For example, if a "predetermined condition according to the driving state" is met by detecting that the target vehicle FV has stopped while driving, the mode change unit 106 will cancel the "relative driving mode," and the driving control unit 103 will switch from relative driving control to autonomous driving control. On the other hand, if it is determined that the target vehicle FV does not satisfy the "predetermined condition" (step S9: No), the process returns to step S7.

[0084] Finally, in step S12, if the vehicle driving control device 1 determines that the vehicle V has arrived at the destination or that autonomous driving control in autonomous driving mode should be terminated (step S12: Yes), the process of Figure 8 is terminated. On the other hand, if the vehicle driving control device 1 continues to control the driving of the host vehicle V (step S12: No), the process returns to step S2.

[0085] The above-described configuration of the vehicle driving control program enables the host vehicle V to drive relative to the target vehicle FV, and makes it possible to change the driving state of the host vehicle V as necessary. In addition, it is possible to receive the location information of the target vehicle FV in real time and switch between "autonomous driving control" and "relative driving control" depending on the behavior of the target vehicle FV.

[0086] <Other embodiments> In the above embodiment, as shown in FIG. 2, the vehicle driving control system S includes a vehicle driving control device 1 and an on-board ECU 30, and newly adds a "relative driving function and remote driving function (vehicle driving control device 1)" to the host vehicle V equipped with an "autonomous driving function (on-board ECU 30)", but this can be modified without any particular limitations. For example, the vehicle driving control device 1 may also have the function of the in-vehicle ECU 30. That is, the vehicle driving control system S may be configured with the vehicle driving control device 1 (including the function of the in-vehicle ECU 30), the in-vehicle sensor 10, the in-vehicle locator 20, the in-vehicle communication device 40, the vehicle information transmission device 50, the identification mark 60, and the remote operation device 70 (the in-vehicle ECU 30 may be excluded from the configuration).

[0087] In the above embodiment, as shown in FIG. 2, the vehicle driving control system S includes a vehicle driving control device 1, an in-vehicle locator 20, and an in-vehicle communication device 40, but is not particularly limited thereto, and the vehicle driving control device 1 may also have the functions of both the in-vehicle locator 20 and the in-vehicle communication device 40. That is, the vehicle driving control system S may be composed of the vehicle driving control device 1, the on-board sensor 10, the on-board ECU 30, the vehicle information transmission device 50, the identification mark 60, and the remote control device 70.

[0088] In the above embodiment, the driving control unit 103 performs relative driving control of the host vehicle V when the target vehicle FV is detected by the vehicle detection unit 104, the preceding vehicle information is received by the communication unit 105, and the mode change unit 106 changes from "autonomous driving mode" to "relative driving mode." Here, the driving control unit 103 is not limited to performing relative driving control when the target vehicle FV is detected, then leading vehicle information is received, and then the mode is changed to "relative driving mode." For example, when leading vehicle information is received, a target vehicle FV is then detected, and the mode is then changed to "relative driving mode," the driving control unit 103 may perform relative driving control. Alternatively, the driving control unit 103 may perform relative driving control when the target vehicle FV is detected, the mode is then changed to "relative driving mode", and then leading vehicle information is received.

[0089] In the above embodiment, a vehicle driving control program is stored in a recording medium readable by the vehicle driving control device 1, and processing is performed by the vehicle driving control device 1 reading and executing the program. Here, the recording medium readable by the vehicle driving control device 1 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Alternatively, dedicated software may be started using a terminal (mobile terminal) that serves as the vehicle driving control device 1, and the vehicle driving control program may be executed on a web browser.

[0090] In the above embodiment, the vehicle driving control device and the vehicle driving control method according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and does not limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention naturally includes equivalents thereof. [Explanation of symbols]

[0091] S Vehicle driving control system V Vehicle V1 Electric Power Steering V1a Handle V2 Electric Throttle V2a accelerator pedal V3 Electromagnetic Brake Device V3a brake pedal FV Target vehicle 1 Vehicle driving control device 10. In-vehicle sensors 11 Imaging device 11a to 11i: 1st imaging device to 9th imaging device 12 Radar (millimeter wave radar) 12a~12d 1st radar~4th radar 13 Rider 13a~13e 1st Rider~5th Rider 20 In-vehicle locator 21 GNSS receiver (RTK-GNSS receiver) 22 Inertial measurement unit (IMU) 30 Automotive ECU 31 Integrated ECU 32 Steering ECU 33 Accelerator ECU 34 Brake ECU 40 In-vehicle communication device 50 Vehicle information transmission device 51 In-vehicle locator 51a GNSS receiver 51b Inertial measurement device 52 In-vehicle communication device 60 Identification Mark 60a~60l 1st Identification Mark~12th Identification Mark 70 Remote Control Device 71 Display monitor 72 Display Navigation Monitor 73 Handle 74 Accelerator pedal 75 Brake pedal 76 Operation switch 100 Storage section 101 Environmental Information Acquisition Department 102 Location information acquisition unit 102a Absolute position calculation unit 102b Relative position calculation unit 102c Correction position calculation unit 102d Reception determination unit 103 Operation control unit 104 Vehicle detection unit 105 Communications Department 106 Mode change section 107 Traveling speed acquisition unit 108 Video Processing Unit 500 storage section 501 Location information acquisition unit 502 Communications Department (Second Communications Department) 700 Storage section 701 Communications Department (3rd Communications Department) 702 Screen display section 703 Operation Data Creation Department 704 User Notification Unit SA satellite ST reference station

Claims

1. A vehicle driving control device that controls driving of a vehicle, an environmental information acquisition unit that acquires environmental information around the vehicle; a location information acquisition unit that acquires location information of the vehicle; a driving control unit that controls driving of the vehicle based on the environmental information and position information of the vehicle; a vehicle detection unit that detects a target vehicle to be followed on a planned driving route of the vehicle when driving control by the driving control unit is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously; a communication unit that receives target vehicle information including at least position information of the detected target vehicle; a mode change unit that changes between the first driving control mode and a second driving control mode that performs relative driving control to cause the vehicle to travel relative to the target vehicle based on position information of the target vehicle, The vehicle driving control device acquires vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle, the vehicle detection unit detects the target vehicle based on vehicle identification information of the target vehicle obtained based on the identification mark; the communication unit receives the target vehicle information including vehicle identification information and location information of the detected target vehicle; A vehicle driving control device in which, when the second driving control mode is set, the driving control unit performs the relative driving control of the vehicle relative to the target vehicle based on the environmental information, the vehicle position information acquired by the position information acquisition unit, and the target vehicle information including vehicle identification information and position information of the target vehicle obtained based on the identification mark.

2. a traveling speed acquisition unit that acquires the traveling speed of the vehicle; a storage unit that stores information on a set inter-vehicle distance that is set according to the traveling speed of the vehicle, 2. The vehicle driving control device according to claim 1, wherein the driving control unit performs the relative driving control in the second driving control mode based on the environmental information, the target vehicle information, the vehicle position information, and information on a set inter-vehicle distance according to the vehicle's driving speed.

3. the communication unit receives the target vehicle information including information on a planned driving route of the target vehicle; 3. The vehicle driving control device according to claim 1, wherein the mode change unit changes from the second driving control mode to the first driving control mode when the second driving control mode is set and a predetermined condition according to a planned driving route of the target vehicle is satisfied.

4. The computer that controls the vehicle's operation acquiring environmental information about the surroundings of the vehicle; acquiring location information of the vehicle; performing driving control of the vehicle based on the environmental information and position information of the vehicle; When the driving control is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously, detecting a target vehicle to be followed on a planned driving route of the vehicle; receiving target vehicle information including at least location information of the detected target vehicle; and changing between the first driving control mode and a second driving control mode in which relative driving control is performed to cause the vehicle to travel relative to the target vehicle based on position information of the target vehicle; The computer further acquires vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle; In the detecting of the target vehicle, the target vehicle is detected based on vehicle identification information of the target vehicle obtained based on the identification mark; receiving the target vehicle information includes vehicle identification information and location information of the detected target vehicle; The vehicle driving control method includes, when the second driving control mode is set, performing relative driving control of the vehicle relative to the target vehicle based on the environmental information, the acquired vehicle position information, and the target vehicle information including vehicle identification information and position information of the target vehicle obtained based on the identification mark.

5. The computer that controls the vehicle's operation acquiring environmental information about the surroundings of the vehicle; acquiring location information of the vehicle; performing driving control of the vehicle based on the environmental information and position information of the vehicle; When the driving control is set in a first driving control mode that performs autonomous driving control to cause the vehicle to drive autonomously, a target vehicle to be followed is detected on a planned driving route of the vehicle. To do, receiving target vehicle information including at least location information of the detected target vehicle; and changing between the first driving control mode and a second driving control mode in which relative driving control is performed to cause the vehicle to travel relative to the target vehicle based on position information of the target vehicle; The computer is further caused to acquire vehicle identification information and location information of the target vehicle based on a predetermined identification mark provided on the target vehicle recognized through an imaging device mounted on the vehicle; In the detecting of the target vehicle, the target vehicle is detected based on vehicle identification information of the target vehicle obtained based on the identification mark; receiving the target vehicle information includes vehicle identification information and location information of the detected target vehicle; The vehicle driving control program includes, when the second driving control mode is set, performing relative driving control of the vehicle relative to the target vehicle based on the environmental information, the acquired vehicle position information, and the target vehicle information including vehicle identification information and position information of the target vehicle obtained based on the identification mark.

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