Support device, support method, and program

Abstract

To provide a support device capable of matching object vehicles of following travel without being affected by a communication range of an inter-vehicle communication and existence of a non-object vehicle of following travel.SOLUTION: A support device includes: a bubble generation section for generating a bubble where a vehicle is defined as a leader when a bubble registration request is received from the vehicle, and registering bubble information; a matching processing section for selecting a bubble which satisfies a predetermined matching condition as a matching candidate with respect to a request source bubble of a following travel request; an integration instruction section for instructing bubble integration to the request source bubble and the leader of each one of the matching candidates; and an updating processing section for integrating the bubble information of an integration bubble and bubble information of an integrated bubble to be integrated into the integration bubble, so as to update the information when receiving an integration completion report to report that one of the request source bubble and the matching candidate is defined as the integration bubble.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an assistance device, an assistance method, and a program. [Background technology]

[0002] Platooning, in which multiple vehicles travel in a convoy heading in the same direction or to the same destination (hereinafter also referred to as "following driving"), has the advantage of reducing the driver's burden and improving fuel efficiency through improved aerodynamic performance. Patent Document 1 describes a technology for supporting following driving, in which vehicles within the communication range of vehicle-to-vehicle communication that share the same route to the destination or desired vehicle type automatically request and grant permission for following driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-32673 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, it can be difficult to find a matching vehicle for following (a leading vehicle or a following vehicle) when there is no target vehicle for following within the communication range of vehicle-to-vehicle communication, or when there is a non-target vehicle for following between the target vehicles.

[0005] The object of the present disclosure is to provide an assistance device, assistance method, and program that can match target vehicles in a following driving situation without being affected by the communication range of vehicle-to-vehicle communication or the presence of non-target vehicles in the following driving situation. [Means for solving the problem]

[0006] According to one aspect of the present disclosure, an assistance device is an assistance device that assists a vehicle in following driving, and includes: a bubble generation unit that, when receiving a bubble registration request from the vehicle, generates a bubble that is a group of following vehicles with the vehicle as the leader, and registers bubble information that associates vehicle information of the vehicle with identification information of the generated bubble; a matching processing unit that, when receiving a following driving request from a vehicle included in the bubble, selects a bubble from among the multiple bubbles that satisfies predetermined matching conditions as a matching candidate for the bubble that requested the following driving request; an integration instruction unit that instructs the leaders of the requesting bubble and the matching candidate to merge bubbles; and an update processing unit that, when receiving an integration completion notification notifying that one of the requesting bubble and the matching candidate will be designated as the integrated bubble, integrates and updates the bubble information of the integrated bubble with the bubble information of the integrated bubble.

[0007] According to one aspect of the present disclosure, an assistance method is a method for assisting a vehicle in following driving, and includes the steps of: when a bubble registration request is received from the vehicle, generating a bubble that is a group of following vehicles with the vehicle as the leader, and registering bubble information that associates vehicle information of the vehicle with identification information of the generated bubble; when a following driving request is received from a vehicle included in the bubble, selecting a bubble from among the multiple bubbles that satisfies predetermined matching conditions as a matching candidate for the bubble that requested the following driving request; instructing the leaders of the requesting bubble and the matching candidate to merge bubbles; and when an integration completion notification is received notifying that one of the requesting bubble and the matching candidate will be designated as the integrated bubble, integrating and updating the bubble information of the integrated bubble with the bubble information of the integrated bubble.

[0008] According to one aspect of the present disclosure, the program causes an assistance device to perform the following steps when a bubble registration request is received from a vehicle: generating a bubble that is a group of vehicles that will follow the vehicle as the leader, and registering bubble information that associates the vehicle information with the identification information of the generated bubble; when a follow-up request is received from a vehicle included in the bubble, selecting a bubble from among the multiple bubbles that meets specified matching conditions as a matching candidate for the bubble that requested the follow-up request; instructing the leaders of the requesting bubble and the matching candidate to merge bubbles; and when an integration completion notification is received notifying that one of the requesting bubble and the matching candidate will be made the integrated bubble, integrating and updating the bubble information of the integrated bubble with the bubble information of the integrated bubble. [Effects of the Invention]

[0009] According to the above aspect, target vehicles in the following driving can be matched with each other without being affected by the communication range of vehicle-to-vehicle communication or the presence of non-target vehicles in the following driving. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing the overall configuration of a support system according to a first embodiment. [Figure 2] 1 is a block diagram showing the functional configuration of a support device according to a first embodiment. [Figure 3] FIG. 2 is a diagram illustrating a bubble according to the first embodiment. [Figure 4] FIG. 4 is a sequence diagram showing an example of a bubble generation process in the support system according to the first embodiment. [Figure 5] FIG. 3 is a diagram showing an example of vehicle information according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing an example of bubble information according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing an example of update information according to the first embodiment. [Figure 8]FIG. 4 is a sequence diagram showing an example of a bubble integration process in the support system according to the first embodiment. [Figure 9] 10 is a flowchart showing an example of a matching process in the support device according to the first embodiment. [Figure 10] 10 is a flowchart showing an example of a speed instruction process in the support device according to the first embodiment. [Figure 11] FIG. 10 is a first diagram showing an example of bubble information update processing according to the first embodiment. [Figure 12] FIG. 4 is a sequence diagram showing an example of information notification processing in the support system according to the first embodiment. [Figure 13] FIG. 4 is a sequence diagram showing an example of a bubble separation process in the support system according to the first embodiment. [Figure 14] FIG. 10 is a second diagram showing an example of the bubble information update process according to the first embodiment. [Figure 15] FIG. 4 is a sequence diagram showing an example of management of bubble information between different areas in the support system according to the first embodiment. [Figure 16] FIG. 3 is a diagram showing an example of a state transition of a target vehicle according to the first embodiment. [Figure 17] FIG. 2 is a diagram illustrating an example of a state transition of the support device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] First Embodiment (Overall configuration of the support system) Hereinafter, the embodiments will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram showing the overall configuration of a support system according to a first embodiment. As shown in FIG. 1, the assistance system 1 includes an assistance device 10, a target vehicle 20, a traffic information DB 41, and a weather information DB .

[0012] The assistance device 10 is installed in a road control center or the like that monitors the target road R, and provides a following driving assistance service that assists the target vehicle 20 in following driving on the target road R.

[0013] The target road R is, for example, a highway, on which target vehicles 20 and non-target vehicles 30 travel together.

[0014] The target vehicle 20 is a connected vehicle that uses a following driving assistance service, and transmits and receives various information, signals, and the like related to following driving via wireless communication with the assistance device 10 using a communication service provided by a mobile communication carrier. The target vehicle 20 also transmits and receives various information, signals, and the like related to following driving via wireless communication (vehicle-to-vehicle communication) with other target vehicles 20. When a user (a passenger such as a driver, or a user or manager of the vehicle in the case of an autonomous vehicle) wishes, the target vehicle 20 travels in a convoy with other target vehicles 20 (following driving) when traveling on the target road R. The target vehicle 20 may be a vehicle driven by a driver or an autonomous vehicle. Furthermore, during following driving, the following target vehicle 20 may be electronically towed by the leading target vehicle 20.

[0015] The non-target vehicle 30 is a non-connected vehicle that does not use the following driving support service.

[0016] The traffic information DB 41 records traffic information for the target road R. The traffic information includes, for example, events such as congestion, accidents, and road closures, the locations (points or sections) where the events occur, and the start and end times (estimated times) of the events.

[0017] The weather information DB 42 stores weather information for the target road R. The weather information includes, for example, information about the weather for each area (an area consisting of one or more sections) of the target road R and information about weather-related events (such as frozen road surfaces).

[0018] The assistance system 1 may further include a roadside device 50 installed on the roadside of the target road R. The roadside device 50 relays communication between the assistance device 10 and the target vehicle 20. The roadside device 50 transmits and receives various information, signals, etc. to and from the target vehicle 20 through wireless communication (road-to-vehicle communication). The roadside device 50 transmits and receives various information, signals, etc. to and from the assistance device 10 through wireless or wired communication using a communication service provided by a mobile communication carrier.

[0019] In this embodiment, a mode in which the assistance device 10 and the target vehicle 20 communicate directly without using the roadside equipment 50 will be described as an example.

[0020] (Functional configuration of the support device) FIG. 2 is a block diagram showing the functional configuration of the support device according to the first embodiment. As shown in FIG. 2, the support device 10 includes a processor 11, a memory 12, a storage 13, and a communication interface 14.

[0021] The memory 12 has a memory area necessary for the operation of the processor 11 .

[0022] The storage 13 is a so-called auxiliary storage device, such as a hard disk drive (HDD) or a solid state drive (SSD).

[0023] The communication interface 14 is an interface for transmitting and receiving various types of information to and from external devices (such as the target vehicle 20, the traffic information DB 41, the weather information DB 42, and the roadside device 50).

[0024] The processor 11 operates in accordance with a predetermined program to perform the functions of a bubble generation unit 110, a matching processing unit 111, an update information acquisition unit 112, an integration instruction unit 113, an update processing unit 114, a separation processing unit 115, and a notification unit 116.

[0025] When the bubble generation unit 110 receives a bubble registration request from the target vehicle 20, it generates a bubble, which is a group of vehicles following the target vehicle 20 as the leader, and registers bubble information that associates the vehicle information of the target vehicle 20 with the identification information of the generated bubble.

[0026] When the matching processing unit 111 receives a follow-up driving request from one bubble, it selects bubbles from among a plurality of bubbles that satisfy predetermined matching conditions as matching candidates for the bubble that has requested the follow-up driving request.

[0027] The update information acquisition unit 112 acquires update information including the running positions of each of the plurality of bubbles.

[0028] The integration instruction unit 113 instructs the leaders of the requesting bubble and the matching candidate to integrate the bubbles.

[0029] When an integration completion notification is received that indicates that one of the requesting bubble and the matching candidate is to be an integrating bubble and the other is to be an integrated bubble to be integrated into the integrating bubble, the update processing unit 114 integrates and updates the bubble information of the integrated bubble with the bubble information of the integrated bubble. Also, the update processing unit 114 deletes the bubble information of the integrated bubble.

[0030] When the separation processing unit 115 receives a separation request to cause a departing vehicle to leave a bubble, it deletes and updates the vehicle information of the departing vehicle from the bubble information of the bubble, generates a departing bubble with the departing vehicle as the leader, and registers bubble information that associates the vehicle information of the departing vehicle with the identification information of the generated departing bubble.

[0031] The notification unit 116 notifies the requesting bubble of update information about the matching candidate and also notifies the requesting bubble of update information about the matching candidate. Furthermore, when the notification unit 116 detects an abnormal event ahead in the bubble's traveling direction from the traffic information in the traffic information DB 41 or the weather information in the weather information DB 42, it notifies the bubble of abnormal information about the abnormal event. An abnormal event is, for example, an accident, a frozen road, or another event that may affect following driving.

[0032] The support device 10 may be configured by a single computer, or the configuration of the support device 10 may be divided among multiple computers, and the multiple computers may work together to function as the support device 10.

[0033] The predetermined program executed by the processor 11 of the support device 10 is stored in a computer-readable recording medium. Computer-readable recording media include magnetic disks, optical magnetic disks, CD-ROMs, DVD-ROMs, and semiconductor memories. The computer program may be distributed to a computer via a communication line, and the computer that receives the distribution may execute the program. The program may also be a program for implementing some of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that can realize the above-described functions in combination with a program already stored in the computer system.

[0034] (About bubbles) FIG. 3 is a diagram illustrating a bubble according to the first embodiment. The assistance device 10 according to this embodiment manages a group of vehicles traveling in a following manner on the target road R in units called "bubbles." The concept of bubbles will be described below with reference to FIG.

[0035] As shown in FIG. 3, each bubble includes at least one target vehicle 20. One of the target vehicles 20 included in each bubble is the leader. The leader is a vehicle that represents the communication between the assistance device 10 and the bubble. Because the leader vehicle has the function of disseminating and relaying information to the assistance device 10 and target vehicles 20 other than the leader, vehicles other than the leader do not need to communicate individually with the assistance device 10. The leader communicates between vehicles with other target vehicles 20 within the same bubble to transmit various information related to following driving, signals, and information notified from the assistance device 10.

[0036] 3A shows examples of individual bubbles B1 and B2 each containing only one target vehicle 20 (20A or 20B). The leaders of the individual bubbles B1 and B2 are the target vehicles 20A and 20B, respectively.

[0037] Bubbles can also be merged to form a single bubble containing multiple target vehicles 20. Figure 3(b) shows an example of an integrated bubble B1 formed by merging individual bubbles B1 and B2 and containing two target vehicles 20A and 20B. In the example of Figure 3(b), the individual bubble B1 absorbs the individual bubble B2 to become the integrated bubble B1, and the individual bubble B2 becomes the integrated bubble B2, which is absorbed into the integrated bubble B1 and disappears. The leader of the integrated bubble B1 is determined through coordination between the target vehicles 20A and 20B. In the example of Figure 3(b), the target vehicle 20A becomes the leader of the integrated bubble B1.

[0038] It is also possible to set a maximum number of target vehicles 20 included in one bubble in advance. In this case, a bubble that has reached the maximum number of vehicles cannot be merged with other bubbles. Also, bubbles that do not meet the maximum number of vehicles cannot be merged if merging would result in exceeding the maximum number of vehicles. Furthermore, a combined bubble may be merged with other individual bubbles or combined bubbles until the maximum number of vehicles is reached.

[0039] The driving formation (driving lane, driving order, etc.) of each target vehicle 20 included in the integrated bubble is arbitrary. As shown in the example of FIG. 3(b), the target vehicles 20A and 20B in the integrated bubble B1 may drive side by side in the same lane. In this case, the trailing target vehicle 20B may be electronically towed by the leading target vehicle 20A. The target vehicles 20A and 20B in the integrated bubble B1 may also drive in different lanes. Furthermore, to avoid danger, etc., the driver of each target vehicle 20A and 20B, or in the case of an autonomous vehicle, the built-in autonomous driving control device, may decide to temporarily change lanes. The leader vehicle does not necessarily have to drive in the lead. Changes in formation and lane are performed by mutual coordination between the target vehicles 20A and 20B via vehicle-to-vehicle communication.

[0040] Furthermore, an integrated bubble B1 containing multiple target vehicles 20 can be split into two bubbles. For example, as shown in FIG. 3(c), when one of the target vehicles 20A, 20B leaves the following driving at a branch or exit, the integrated bubble B1 splits into two bubbles B1, B3. In the example of FIG. 3(c), the integrated bubble B1 splits into a continuation bubble B1 that continues driving on the target road R, and a departure bubble B3 that exits the target road R. A new leader is set for each of the continuation bubble B1 and the departure bubble B3. In the example of FIG. 3(c), the leader of the continuation bubble B1 is the target vehicle 20A, and the leader of the departure bubble B3 is the target vehicle 20B. When each bubble contains multiple target vehicles 20, the leader is determined through coordination among the target vehicles 20 within the bubble.

[0041] (Support device process 1: bubble generation process) FIG. 4 is a sequence diagram showing an example of a bubble generation process in the support system according to the first embodiment. The flow of the bubble generation process will be described in detail below with reference to Fig. 4. Here, an example of generating a bubble for the target vehicle 20A shown in Fig. 3(a) will be described.

[0042] First, when target vehicle 20A determines to start the following driving support service (step S10), it transmits a bubble registration request to support device 10 (step S11).

[0043] For example, the target vehicle 20A determines to start the service when the user performs an operation to start the service. Alternatively, the target vehicle 20A may determine to start the service when it detects that the target vehicle 20A has entered the target road R using a known position detection technology using GNSS or the like. Alternatively, the start of the service may be triggered by communication with a road-to-vehicle communication device installed on the roadside.

[0044] FIG. 5 is a diagram illustrating an example of vehicle information according to the first embodiment. The bubble registration request sent by the target vehicle 20 to the assistance device 10 includes vehicle information D1 (FIG. 5). As shown in FIG. 5, the vehicle information D1 includes information such as the target vehicle 20's identification information (vehicle ID), vehicle attributes, destination, intermediate points, destination arrival deadline, accompanying vehicle information, and driving position. The vehicle attributes are information indicating a vehicle's classification based on its external characteristics and use, such as a large vehicle, an extra-large vehicle, or a bus. The destination and intermediate points are, for example, the exit interchanges of the target road R. The accompanying vehicle information includes the number of accompanying vehicles accompanying the target vehicle 20 and the identification information (vehicle IDs) of the accompanying vehicles. The accompanying vehicles are, for example, vehicles that have been following the target vehicle 20 before entering the target road R, or towed vehicles towed by the target vehicle 20 using electronic towing or the like. In the examples of FIGS. 3 and 5, the target vehicle 20B is a vehicle traveling alone, and the number of accompanying vehicles is zero.

[0045] Next, the bubble generation unit 110 of the assistance device 10 generates a new bubble based on the vehicle information D1 included in the bubble registration request (step S12). The bubble generation unit 110 also generates bubble information D2 (FIG. 6) for the newly generated bubble and records it in the storage 13.

[0046] FIG. 6 is a diagram illustrating an example of bubble information according to the first embodiment. As shown in FIG. 6, bubble information D2 includes information such as bubble identification information (bubble ID), leader, number of included vehicles, direction of travel, common destination, and individual vehicle information. The leader is the vehicle ID of the target vehicle 20 that is the leader of the bubble. The number of included vehicles is the total number of target vehicles 20 included in the bubble. The common destination is the common destination (exit IC) to which the target vehicles 20 included in the bubble are heading. The individual vehicle information is vehicle information D1 (FIG. 5) of each target vehicle 20 included in the bubble. Furthermore, bubble information D2 may include information on the final destination that indicates the farthest destination among the destinations of the target vehicles 20 included in the bubble.

[0047] In the examples of Figures 3, 5, and 6, the target vehicle 20A has no accompanying vehicles (accompanying vehicle information = 0). In this case, the bubble generation unit 110 generates a single bubble B1 that includes only the target vehicle 20A. The leader of this single bubble B1 is the target vehicle 20A, and the number of included vehicles is "1." The direction of travel and common destination are the direction of travel of the target vehicle 20A (uphill, downhill, toward XX, etc.) and the destination (exit IC). Only the vehicle information D1 of the target vehicle 20A is recorded in the individual vehicle information.

[0048] When a bubble registration request is received from a target vehicle 20 with an accompanying vehicle, the bubble generation unit 110 generates a bubble including the target vehicle 20 and multiple accompanying vehicles. At this time, the target vehicle 20 performs vehicle-to-vehicle communication with the accompanying vehicle to acquire vehicle information D1 of the accompanying vehicle. In addition, in step S11, the target vehicle 20 transmits vehicle information D1 of itself and the accompanying vehicle to the assistance device 10 along with the bubble registration request. The bubble generation unit 110 of the assistance device 10 generates bubble information D2 including vehicle information D1 of the target vehicle 20 and each of the accompanying vehicles. The total number of the target vehicle 20 and the accompanying vehicles is input as the number of included vehicles in the bubble information D2.

[0049] Furthermore, bubble generating unit 110 of assistance device 10 notifies target vehicle 20A, which is the sender of the bubble registration request, of the bubble ID by transmitting bubble information D2 of the generated bubble B1 (step S13).

[0050] Upon receiving bubble information D2 (bubble ID), target vehicle 20A transmits an ACK notification (step S14). The ACK notification also includes update information D3 (FIG. 7) of bubble B1 of target vehicle 20A.

[0051] FIG. 7 is a diagram illustrating an example of update information according to the first embodiment. 7, the update information D3 includes the bubble's identification information (bubble ID), the update time of the update information, the travel position, the bubble speed, etc. In the case of bubble B1 of the target vehicle 20A, the travel position and the bubble speed of the update information D3 are the position and the travel speed of the target vehicle 20A at the update time.

[0052] Next, if the user desires to follow another target vehicle 20 (match with another bubble), the target vehicle 20A transmits a follow-up request to the assistance device 10 (step S15). The target vehicle 20A transmits the follow-up request when, for example, the user performs an operation to search for a matching candidate for follow-up driving. Furthermore, the target vehicle 20A may transmit the follow-up request automatically if it has previously received a function setting from the user indicating that it desires follow-up driving. Furthermore, the follow-up request may include update information D3 to notify the current position and driving speed of the target vehicle 20A.

[0053] If a bubble contains multiple target vehicles 20 (or accompanying vehicles), the leader target vehicle 20 will send a follow-up request on behalf of the target vehicles. If the number of vehicles included in the bubble has already reached the upper limit, the target vehicle 20 will not send a follow-up request.

[0054] When the matching processing unit 111 of the support device 10 receives the follow-up running request from the bubble B1, it searches for matching candidates that can be integrated with the requesting bubble B1 from among other bubbles recorded in the storage 13 (step S16). The matching candidate search process will be described in detail later.

[0055] 4, a case will be described in which no matching candidate for the request source bubble B1 is found. When no matching candidate for the request source bubble B1 is found, the matching processing unit 111 transmits a "wait for matching candidate" instruction to the target vehicle 20A, which is the leader of the request source bubble B1 (step S17).

[0056] When the target vehicle 20A, which is the leader of the bubble B1, receives the "wait for matching candidate" instruction, it puts the following driving on hold. In addition, the target vehicle 20A thereafter transmits update information D3 to the support device 10 at predetermined time intervals (step S18). When the update information acquisition unit 112 of the support device 10 receives the update information D3 from the bubble B1 (target vehicle 20A), it records and accumulates it in the storage 13. This allows the support device 10 to know where on the target road R the requesting bubble B1 is traveling and at what speed.

[0057] (Support device processing 2: Bubble integration processing) FIG. 8 is a sequence diagram illustrating an example of a bubble integration process in the support system according to the first embodiment. The process flow for merging two bubbles will be described in detail below with reference to Fig. 8. Here, an example of merging bubbles B1 and B2 shown in Fig. 3(a) to (b) will be described. Also, it is assumed that bubble B1 has sent a follow-up running request in step S15 of Fig. 4 and is waiting for a matching candidate.

[0058] The leaders of each bubble B1, B2 (target vehicles 20A, 20B; hereinafter also referred to as leaders 20A, 20B) transmit update information D3 to the support device 10 at predetermined time intervals (step S20). When the update information acquisition unit 112 of the support device 10 receives update information D3 from each of bubbles B1, B2, it records and accumulates it in the storage 13. This process is the same as step S18 in FIG. 4.

[0059] The matching processing unit 111 of the support device 10 searches for a matching candidate to be integrated with the bubble B1 based on the update information D3 of each bubble recorded in the storage 13 (step S21).

[0060] FIG. 9 is a flowchart showing an example of the matching process in the support device according to the first embodiment. The flow of processing in which the support device 10 searches for matching candidates for bubble B1 will be described with reference to Fig. 9. Note that each process (steps S211 to S216) shown in Fig. 9 is common to step S16 in Fig. 4 and step S21 in Fig. 8.

[0061] First, the matching processing unit 111 extracts bubbles within the range of the ODD (Operational Design Domain) related to following driving, based on the update information D3 of each bubble (step S211). For example, the matching processing unit 111 extracts bubbles whose bubble speed is equal to or less than a predetermined following driving upper limit speed (e.g., 80 km / h) from among the multiple bubbles registered in the storage 13. The matching processing unit 111 excludes bubbles whose bubble speed exceeds the following driving upper limit speed as being ineligible for matching. The following driving upper limit speed is set to be equal to or greater than the minimum speed and equal to or less than the maximum speed specified for the target road R. Furthermore, a different following driving upper limit speed may be set for each vehicle attribute.

[0062] Next, the matching processing unit 111 determines whether there is a bubble that cannot be merged, i.e., a bubble in which the number of included vehicles has reached the upper limit, within a specified following driving restriction section (e.g., 1 km) before and after the driving position of the requesting bubble B1 (step S212).

[0063] If there is a bubble within the set section of the requesting bubble B1 in which the number of included vehicles has reached the upper limit (step S212; NO), the matching processing unit 111 determines that there are no matching candidates with which the requesting bubble B1 can be integrated (step S216). In this case, the matching processing unit 111 temporarily ends the search process for matching candidates and proceeds to step S17 in Fig. 4. This allows the matching processing unit 111 to maintain spacing between bubbles and prevent bubbles from getting too close to each other, causing problems with following travel.

[0064] Next, the matching processing unit 111 determines whether any bubble extracted in step S211 satisfies predetermined matching conditions within a search distance (e.g., 1 km) ahead in the traveling direction from the traveling position of the requesting bubble B1 (step S213). For example, the matching conditions are the following conditions (1) to (4).

[0065] (1) The direction of travel matches that of the requesting bubble B1.

[0066] (2) The vehicle attributes match those of the requesting bubble B1. Note that the vehicle attributes do not necessarily have to be identical. For example, combinations of vehicle attributes that can be combined may be set in advance in a table, and if the vehicle attributes of the requesting bubble B1 (e.g., a large vehicle) are combined with vehicle attributes (e.g., a large vehicle or a bus), it may be determined that the vehicle attributes match.

[0067] (3) The total number of vehicles included in the requesting bubble B1 and the extracted bubble is less than the upper limit (i.e., target vehicles included in the requesting bubble B1 can be added).

[0068] (4) At least a portion of the travel route to the common destination of the requesting bubble B1 and the travel route to the common destination of the extracted bubble is common, and the length of this common travel route is a predetermined distance (e.g., 40 km) or more. Alternatively, when the bubble speed is the following travel upper limit speed, the travel time of the common travel route is a predetermined time (e.g., 30 minutes) or more.

[0069] If there is a bubble ahead of the request source bubble B1 in the direction of travel that satisfies the above matching conditions (1) to (4) (step S213; YES), matching processing unit 111 selects this bubble as a matching candidate (step S215).

[0070] Furthermore, if there is no bubble that satisfies the matching conditions ahead of the requesting bubble B1 in the traveling direction (step S213; NO), the matching processing unit 111 searches for a matching candidate behind the requesting bubble B1 in the traveling direction. Specifically, the matching processing unit 111 determines whether there is a bubble that satisfies the above matching conditions (1) to (4) within a search distance (for example, 1 km) behind the traveling position of the requesting bubble B1 in the traveling direction (step S214).

[0071] If there is a bubble that satisfies the above matching conditions behind the request source bubble B1 in the traveling direction (step S214; YES), the matching processing unit 111 selects this bubble as a matching candidate (step S215). In the example of Figure 3, the matching processing unit 111 selects bubble B2, which is located behind the request source bubble B1 in the traveling direction, as a matching candidate.

[0072] On the other hand, if there is no bubble that satisfies the matching conditions behind the request source bubble B1 in the direction of travel (step S214; NO), the matching processing unit 111 determines that there is no matching candidate for the request source bubble B1 (step S216). In this case, the matching processing unit 111 temporarily ends the search process for a matching candidate and proceeds to step S17 in FIG. 4.

[0073] By limiting the search distance of the matching candidates as described above, the matching processing unit 111 can exclude bubbles that take a long time to merge (integrate) from the matching candidates.

[0074] Furthermore, even if there are no matching candidates (step S216), the matching processing unit 111 performs the series of processes of searching for matching candidates shown in Fig. 9 again each time update information D3 is received from the requesting bubble B1 or each time a predetermined search waiting time has elapsed. As a result, even if no matching candidates are found within the search distance, for example, if a new bubble is generated that later enters the target road R and this bubble satisfies the matching conditions, this new bubble can be selected as a matching candidate for the requesting bubble B1.

[0075] In addition, in each of the above processes, if there is a time difference between the update time of the update information D3 and the current time, the matching processing unit 111 may estimate the traveling position of each bubble at the current time based on this time difference and the bubble speed.

[0076] Next, returning to FIG. 8, the processing after the matching processing unit 111 of the support device 10 selects bubble B2 as a matching candidate for the requesting bubble B1 in step S21 will be described. The integration instruction unit 113 of the support device 10 sends an integration standby instruction to the leaders 20A and 20B of the requesting bubble B1 and the matching candidate bubble B2, respectively (step S22). The integration standby instruction includes the bubble IDs of the bubbles that will be matched with each other. For example, the bubble ID of the matching candidate bubble B2 is sent to the requesting bubble B1 along with the integration standby instruction. Furthermore, the bubble ID of the requesting bubble B1 is sent to the matching candidate bubble B2 along with the integration standby instruction.

[0077] Furthermore, upon receiving the integration standby instruction, leaders 20A and 20B of bubbles B1 and B2 to be integrated transmit an ACK notification (step S23). The ACK notification includes update information D3 of each of bubbles B1 and B2.

[0078] The integration instruction unit 113 of the support device 10 generates and transmits an integration instruction for each of the bubbles B1 and B2 to be integrated, based on the update information D3 for each of the bubbles B1 and B2 included in the ACK notification (step S24).

[0079] The integration instruction is, for example, an instruction to change the bubble speed. The integration instruction unit 113 instructs the bubble speed of each bubble so that, of bubbles B1 and B2 to be integrated, the following bubble (bubble B2 in the example of FIG. 3) traveling behind in the traveling direction catches up with the preceding bubble (bubble B1 in the example of FIG. 3) traveling ahead in the traveling direction, or so that the preceding bubble B1 is caught up with the following bubble B2.

[0080] FIG. 10 is a flowchart showing an example of a speed instruction process in the assistance device according to the first embodiment. With reference to FIG. 10, the process in which the support device 10 instructs the speed of the subsequent bubble B2 and the preceding bubble B1 will be described in detail.

[0081] First, if the current bubble speed of the subsequent bubble B2 is less than the upper limit speed (step S241; YES), the integration instruction unit 113 sets the speed instruction for the subsequent bubble B2 to "accelerate to the upper limit speed" (step S242).

[0082] For example, if the current bubble speed of the following bubble B2 is 70 km / h and the following speed limit is 80 km / h, the integrated instruction unit 113 sets the speed instruction for the following bubble B2 to "accelerate to the following speed limit of 80 km / h."

[0083] The integrated instruction unit 113 may also change the upper limit speed by referring to traffic information in the traffic information DB 41 and weather information in the weather information DB 42. For example, if there is a temporary speed limit on the target road R due to rain or the like, and the speed limit of the temporary speed limit is lower than the following traffic upper limit speed, the speed limit of the temporary speed limit is considered to be the upper limit speed. If the current bubble speed of the following bubble B2 is 70 km / h, the following traffic upper limit speed is 80 km / h, and the speed limit of the temporary speed limit is 75 km / h, the integrated instruction unit 113 sets the upper limit speed to the speed limit of the temporary speed limit of 75 km / h. In addition, at this time, the integrated instruction unit 113 sets the speed instruction for the following bubble B2 to "accelerate to the speed limit of the temporary speed limit of 75 km / h."

[0084] On the other hand, if the current bubble speed of the following bubble B2 is the same as the upper limit speed (the upper limit speed for following traffic or the speed limit in the temporary speed regulation) (step S241; NO), the integrated instruction unit 113 sets the speed instruction for the following bubble B2 to "maintain the current bubble speed" (step S243).

[0085] Next, the integration instruction unit 113 sets a speed instruction for the preceding bubble B1 based on the current bubble speed of the preceding bubble B1.

[0086] If the current bubble speed of the leading bubble B1 exceeds the predetermined speed (step S244; YES), the integrated instruction unit 113 sets the speed instruction of the leading bubble B1 to "slow down to the specified speed" (step S245). The specified speed is a value obtained by subtracting a predetermined margin α from the upper limit speed. For example, when the upper limit speed is 80 km / h and the predetermined margin α is 5 km / h, the specified speed is 75 km / h. The value of the predetermined margin α may be changed arbitrarily. The specified speed is, for example, a value obtained by subtracting the predetermined margin α from the upper limit speed. For example, when the current bubble speed of the leading bubble B1 is 80 km / h, the integrated instruction unit 113 sets the speed instruction of the leading bubble B1 to "slow down to 75 km / h." If the distance between the leading bubble B1 and the following bubble B2 is 1 km and the speed difference between each bubble B1 and B2 after the instruction is 5 km / h, the following bubble B2 can catch up with (join) the leading bubble B1 in about 12 minutes (after traveling about 16 km).

[0087] Furthermore, if the current bubble speed of the preceding bubble B1 is equal to or lower than a predetermined speed (step S244; YES), the integrated instruction unit 113 sets the speed instruction for the preceding bubble B1 to "maintain the current bubble speed" (step S245). For example, if the current bubble speed of the preceding bubble B1 is 75 km / h, the integrated instruction unit 113 instructs the preceding bubble B1 to maintain this speed.

[0088] Furthermore, once the integrated instruction unit 113 determines the speed instruction for each bubble, it transmits the speed instruction to the following bubble B2 and the preceding bubble B1 (step S247). Then, the leaders 20A and 20B of each bubble B1 and B2 travel according to the received speed instruction. If each bubble B1 and B2 consists of two or more target vehicles 20, the leaders 20A and 20B transmit the speed instruction to the other target vehicles 20 (non-leaders) via vehicle-to-vehicle communication. The other target vehicles 20 (non-leaders) travel according to the speed instruction transmitted from the leaders 20A and 20B. If each target vehicle 20 is a manned vehicle, the target vehicle 20 presents the speed instruction to the driver, and the driver drives according to the speed instruction presented to the target vehicle 20. If the target vehicle 20 has a cruise control device or is an autonomous vehicle, the cruise control device or the autonomous driving control device may automatically control acceleration and deceleration according to the speed instruction.

[0089] 8, the process after the integration instruction unit 113 of the support device 10 transmits an integration instruction (speed instruction) to the bubbles B1 and B2 to be integrated in step S24 will be described. Each bubble B1 and B2 transmits update information D3 to the support device 10 at predetermined time intervals from when it receives the integration instruction until the integration is completed (step S25).

[0090] When the notification unit 116 of the support device 10 receives the update information D3 from the bubbles B1 and B2, it notifies (transfers) the update information D3 to each of the matching partners (step S26). That is, the notification unit 116 notifies the bubble B2 of the update information D3 received from the bubble B1, and notifies the bubble B1 of the update information D3 received from the bubble B2. The target vehicles 20A and 20B of the bubbles B1 and B2 may present the matching partner's driving position, the distance to the matching partner, etc. to the user based on the update information D3 of the matching partner, or may use it as information for automatic driving control.

[0091] Next, when the leaders 20A and 20B of bubbles B1 and B2 approach close enough to enable vehicle-to-vehicle communication, they send and receive bubble IDs to confirm that they are matched with each other, and then perform integration processing of bubbles B1 and B2 (step S27).

[0092] In the integration process, which target vehicle 20 will be the leader of the integrated bubble is determined through coordination between bubbles B1 and B2. In the example of Figure 3, target vehicle 20A is the leader of integrated bubble B1. In this case, the preceding bubble B1 of target vehicle 20A integrates the following bubble B2 to become the integrated bubble B1, and the following bubble B2 becomes the integrated bubble B1 that is integrated into the preceding bubble B1. In addition, each target vehicle 20 in the integrated bubble B1 acquires each other's vehicle information D1 via vehicle-to-vehicle communication. This allows each target vehicle 20 to share information such as the final destination of the integrated bubble B1 (the farthest destination among the destinations of the target vehicle 20) and the common destination (the nearest destination among the destinations of the target vehicle 20).

[0093] Furthermore, in the integration process, each target vehicle 20 in bubbles B1 and B2 checks each other's position and the presence or absence of non-target vehicles 30 in the vicinity using sensors such as cameras, and changes formation as necessary so that they can communicate directly via vehicle-to-vehicle communication or indirectly via other target vehicles 20. The specific formation to be used depends on the judgment of the driver of each target vehicle 20 or the automatic driving control device. The integration process is completed when the target vehicles 20 in both bubbles B1 and B2 transition to a state where they can travel while communicating, i.e., can travel in a following manner.

[0094] When the integration process is complete, the leader 20B of the integrated bubble B1 and the leader 20A of the integrating bubble B1 each send an integration completion notification to the assistance device 10 (step S28). In the integration completion notification, the leader 20B of the integrated bubble B1 notifies both its own bubble ID (the integrated bubble B2) and the bubble ID of the integrated bubble B1 with which it will be integrated. In addition, the leader 20A of the integrated bubble B1 notifies its own bubble ID (the integrated bubble B1) and vehicle information D1 of each target vehicle 20 (leader 20A and non-leader 20B) in the integrated bubble B1 in the integration completion notification. From then on, the target vehicle 20A acts as the leader of the integrated bubble B1, and the target vehicle 20B acts as a non-leader of the integrated bubble B1, and they follow each other while communicating with each other between their vehicles.

[0095] Furthermore, update processing unit 114 of support device 10 updates bubble information D2 based on the integration completion notification received from integrated bubble B1 and integrating bubble B1 (step S29).

[0096] FIG. 11 is a first diagram illustrating an example of the bubble information update process according to the first embodiment. As shown in FIG. 11, the update processing unit 114 updates the bubble information D2 of the integrated bubble B1 by adding the bubble information D2 of the integrated bubble B2 to the bubble information D2 of the integrated bubble B1 based on the integration completion notification of the integrated bubble B1 and the integrated bubble B2. The bubble ID of the integrated bubble B1 remains unchanged because it inherits the bubble ID of the bubble B2 before the integration. The leader of the integrated bubble B1 becomes the vehicle ID of the new leader after adjustment between bubbles B1 and B2. In the example of FIG. 11, the leader of the integrated bubble B1 is the target vehicle 20A. The number of included vehicles is the total number of target vehicles 20 (and accompanying vehicles) included in bubbles B1 and B2. The common destination is a destination reached by both bubbles B1 and B2, and the closer of the common destinations of bubbles B1 and B2 is recorded. The individual vehicle information records the vehicle information D1 of each of all target vehicles 20A and 20B included in the integrated bubble B1.

[0097] Furthermore, update processing unit 114 deletes bubble information D2 of integrated bubble B1.

[0098] (Support device process 3: Information notification process) FIG. 12 is a sequence diagram illustrating an example of information notification processing in the support system according to the first embodiment. Hereinafter, with reference to FIG. 12, a process flow in which the support device 10 notifies each bubble of various pieces of information will be described.

[0099] First, the leader 20A of the integrated bubble B1 transmits update information D3 of the integrated bubble B1 to the support device 10 at predetermined time intervals (step S30).

[0100] The notification unit 116 of the assistance device 10 refers to the traffic information DB 41 and the weather information DB 42 to check whether there is any abnormal event or regulation information that will affect the following driving ahead in the direction of travel of the vehicle ahead of the driving position included in the update information D3 of the integrated bubble B1. If an abnormal event or regulation information that will affect the following driving is detected (step S31), the notification unit 116 transmits abnormal event information or a speed instruction according to the detected content to the reader 20A of the integrated bubble B1 (step S32).

[0101] For example, suppose that the notification unit 116 detects an abnormal event in a certain section ahead in the direction of travel of the integrated bubble B1 based on the traffic information in the traffic information DB 41 or the weather information in the weather information DB 42. The abnormal event may be, for example, a frozen road or an accident. In this case, the notification unit 116 generates abnormality information including the details of the abnormal event (frozen road) and the section where the abnormal event occurred (or is expected to occur), and transmits this information to the reader 20A of the integrated bubble B1 (step S32). Furthermore, if the traffic information or weather information includes a predicted end time of the abnormal event, or if the predicted end time can be estimated from the abnormal event, the abnormality information may include the predicted end time of the abnormal event.

[0102] Also, for example, it is assumed that the notification unit 116 detects from the traffic information in the traffic information DB 41 that a temporary speed limit has been set in a certain section ahead in the direction of travel of the integrated bubble B1. In this case, the notification unit 116 generates a speed instruction to reduce the bubble speed of the integrated bubble B1 to the speed limit of the temporary speed limit, and transmits the speed instruction to the reader 20A of the integrated bubble B1 (step S32).

[0103] If both an abnormal event and regulation information are detected, the notification unit may transmit both the abnormality information and a speed instruction to the reader 20A of the integrated bubble B1.

[0104] Next, when the leader 20A of the integrated bubble B1 receives abnormality information or a speed instruction from the assistance device 10, it transmits this abnormality information or speed instruction to other target vehicles 20 (non-leader 20B) in the integrated bubble B1 via vehicle-to-vehicle communication (step S33).

[0105] Furthermore, the leader 20A and the non-leader 20B each perform processing according to the abnormality information or speed instruction. The processing according to the abnormality information depends on the judgment of the driver of the leader 20A or the non-leader 20B or the automatic driving control device. Furthermore, the leader 20A and the non-leader 20B travel according to the received speed instruction. The speed is controlled by the driver, the cruise control device, or the automatic driving control device.

[0106] In this way, when the assistance device 10 detects an abnormal event or regulatory information, the assistance device 10 does not need to communicate with each of the multiple target vehicles 20A, 20B individually, but only needs to communicate with the leader 20A of the integrated bubble B1, thereby reducing the amount of communication between the assistance device 10 and the target vehicles 20. Also, since it is only necessary to monitor the driving position of each bubble, rather than the driving position of each individual target vehicle 20A, 20B, the processing load and resources required for monitoring can be reduced. Regarding the communication of abnormal events and regulatory information via the leader vehicle shown here, individual transmission is also possible if the communication processing between the assistance device 10 and each target vehicle is acceptable in terms of processing load and resources.

[0107] (Support device process 3: Bubble separation process) FIG. 13 is a sequence diagram showing an example of a bubble separation process in the support system according to the first embodiment. The process flow for splitting a bubble into two will be described in detail below with reference to Figure 13. Here, an example will be described in which the integrated bubble B1 shown in Figures 3(b) to 3(c) is split into bubbles B2 and B3. In the examples of Figures 3 and 13, an example will be described in which the non-leader 20B leaves the integrated bubble B1, but the leader 20A may also leave the integrated bubble B1.

[0108] First, when target vehicle 20B in integrated bubble B1 needs to leave integrated bubble B1 at a branch or exit, it transmits a leaving notification to other target vehicles 20A via vehicle-to-vehicle communication (step S40). For example, when target vehicle 20B's destination (exit IC) is closer to the final destination of integrated bubble B1 (the destination of other target vehicles 20A) and the target vehicle 20B reaches a position a predetermined distance (e.g., 5 km) before its own destination, target vehicle 20B transmits a leaving notification to other target vehicles 20A.

[0109] Next, each target vehicle 20 in the integrated bubble B1 performs vehicle-to-vehicle communication to perform a departure arbitration process (step S41). In the departure arbitration process, for example, the leader 20A acquires the vehicle ID and departure location (exit IC) from the target vehicle 20B (hereinafter also referred to as the leaving vehicle 20B) that sent the departure notification. Furthermore, coordination is performed among the target vehicles 20 remaining in the continuation bubble B1 (integrated bubble B1) that continue traveling on the target road R, and a target vehicle that will become the new leader of the continuation bubble B1 is determined. In the examples of FIGS. 3 and 13, only the target vehicle 20A remains in the continuation bubble B1, so the target vehicle 20A continues to serve as the leader. Note that if there are two or more target vehicles 20 remaining in the continuation bubble B1, the target vehicle 20A may continue to serve as the leader, or may alternate as the leader with another target vehicle 20. Note that if there are multiple leaving vehicles, the leader of the bubble to separate from the integrated bubble B1 is determined from among the leaving vehicles. In the examples of FIGS. 3 and 13, the only departing vehicle is the target vehicle 20B, and therefore the target vehicle 20B becomes the leader of the separating bubble.

[0110] Furthermore, when the departure arbitration process is completed, the leader 20A of the continuation bubble B1 transmits a departure bubble ID request to the support device 10 (step S42). The departure bubble ID request includes the bubble ID of the continuation bubble B1 (integrated bubble B1), the vehicle ID of the leaving vehicle 20B leaving the continuation bubble B1, and the like.

[0111] Next, the separation processing unit 115 of the support device 10 generates a new departing bubble B3 for the departing vehicle 20B (step S43).

[0112] FIG. 14 is a second diagram illustrating an example of the bubble information update process according to the first embodiment. 14, the separation processing unit 115 generates bubble information D2 for the newly generated leaving bubble B3 and records it in the storage 13. The vehicle information D1 for the leaving vehicle 20B for the leaving bubble B3 may be copied from the bubble information D2 for the integrated bubble B1 from which the leaving occurred, or may be obtained from the reader 20A of the continuing bubble B1. The separation processing unit 115 also performs update processing for the bubble information D2 for the continuing bubble B1, such as deleting the vehicle information D1 for the leaving vehicle 20B and subtracting the number of leaving vehicles from the number of included vehicles.

[0113] When the separation processing unit 115 of the support device 10 generates the departure bubble B3, it notifies the leader 20A of the continuation bubble B1 of the bubble ID of the departure bubble B3 and the vehicle ID of the departing vehicle 20B included in the departure bubble B3 (step S44).

[0114] When the leader of the continuation bubble B1 receives the bubble ID of the departure bubble B3, it notifies the leaving vehicle 20B of the bubble ID of the departure bubble B3 received from the support device 10 (step S45). Upon receiving this notification, the leaving vehicle 20B changes from a non-leader of the integrated bubble B1 to a leader of the departure bubble B3.

[0115] After the integrated bubble B1 is separated into the continuation bubble B1 and the departure bubble B3, the leader 20A of the continuation bubble B1 and the leader 20B of the departure bubble B3 each transmit update information D3 to the support device 10 at predetermined time intervals (step S46).

[0116] Next, when the leader 20B of the leaving bubble B3 determines to end the following travel service (step S47), the leader 20B transmits a service leaving notice to the assistance device 10 (step S48). The service leaving notice includes the bubble ID of the leaving bubble B3.

[0117] The leader 20B of the departure bubble B3 determines to end the service when, for example, the user performs an operation to end the service. The leader 20B may also determine to end the service when it detects that the leader 20B has exited the target road R. Alternatively, the determination to end may be triggered by communication with a road-to-vehicle communication device (roadside device 50) installed on the roadside.

[0118] Furthermore, when the update processing unit 114 of the assistance device 10 receives a service withdrawal notification from the withdrawal bubble B3, it deletes the bubble information D2 of the withdrawal bubble B3 from the storage 13 (step S49). As a result, the assistance device 10 ends the processes of managing, monitoring, etc. the bubble that has ended the following driving assistance service.

[0119] (Support device processing 4: Managing bubble information between different areas) FIG. 15 is a sequence diagram showing an example of management of bubble information between different areas in the support system according to the first embodiment. FIG. 1 shows an example in which the assistance system 1 includes one assistance device 10, but the present invention is not limited to this. When the target road R spans multiple areas, the assistance system 1 may include multiple assistance devices 10, one for each area. Furthermore, different road operators may operate the target road R in each area, and the assistance device 10 in each area may be operated by each road operator. Here, as shown in FIG. 15, an example will be described in which the target road R has two areas A and B, and two assistance devices are provided: an assistance device 10A in area A and an assistance device 10B in area B.

[0120] First, in area A, the support device 10A executes the bubble generation process for the target vehicle 20A (steps S10 to S17 in FIG. 4), and a bubble B1 is registered with the target vehicle 20A as the leader. Furthermore, while traveling in area A, the leader 20A of bubble B1 transmits update information to the support device 10A in area A at predetermined time intervals (step S50).

[0121] When the update information acquisition unit 112 of the support device 10A receives the update information D3 from the bubble B1, it checks whether the bubble ID (bubble information D2) of this bubble B1 has been registered (step S51). If the bubble information D2 of the bubble B1 has already been registered in the support device 10A, the update information acquisition unit 112 of the support device 10A records the update information D3 in the storage 13 as information for management such as the running position of the bubble B1 (step S52).

[0122] Also, suppose that bubble B1 moves from area A to area B. After moving to area B, leader 20A of bubble B1 transmits update information D3 to support device 10B at predetermined time intervals (step S50).

[0123] When the update information acquisition unit 112 of the support device 10B receives the update information D3 from the bubble B1, it checks whether the bubble ID (bubble information D2) of this bubble B1 is registered (step S51). The bubble information D2 of the bubble B1 was registered in area A, and therefore is not registered in the support device 10B in area B. Therefore, the update information acquisition unit 112 of the support device 10A requests the bubble B1 to transmit the bubble information D2 (step S53).

[0124] Upon receiving the request to send bubble information D2, leader 20A of bubble B1 sends bubble information D2 received together with the bubble ID from support device 10A (step S13 in FIG. 3) to support device 10B (step S54).

[0125] Update information acquisition unit 112 of support device 10B records bubble information D2 received from bubble B1 in storage 13 (step S55).

[0126] Furthermore, while traveling in area B, leader 20A of bubble B1 transmits update information D3 to support device 10B at predetermined time intervals (step S50).

[0127] When the update information acquisition unit 112 of the support device 10B receives the update information D3 from the bubble B1, the update information acquisition unit 112 checks whether the bubble ID of this bubble B1 has been registered (step S51). As a result of the processing of steps S53 to S55, the bubble information D2 of the bubble B1 has been registered in the support device 10B, so the update information acquisition unit 112 of the support device 10B records the update information D3 in the storage 13 as information for management such as the running position of the bubble B1 (step S52).

[0128] In this way, the support device 10B can take over management of the bubble B1 from the support device 10A in area A by acquiring the bubble information D2 of the bubble B1 generated by the support device 10A via the bubble B1. Here, the processing in the case where the support device 10A and the support device 10B do not share information about the bubble is shown, but multiple support devices 10 may share and process the bubble information.

[0129] (State transition of the target vehicle) FIG. 16 is a diagram illustrating an example of a state transition of a target vehicle according to the first embodiment. With reference to FIG. 16, how the state and role (leader or non-leader) of the target vehicle 20 changes will be described using the target vehicle 20A of FIG. 3 as an example.

[0130] "V11: Waiting to start" is a state in which the target vehicle 20A has not yet started the following cruise assist service using bubbles.

[0131] "V12: Waiting for bubble ID issuance" is a state in which the target vehicle 20A is waiting for a bubble ID notification from the assistance device 10 after starting the following driving assistance service (C101).

[0132] "V13: Single Bubble (Leader)" is a state in which the target vehicle 20A has been issued a bubble ID for the single bubble B1 by the assistance device 10 (C102). After transitioning to this state, the target vehicle 20A transmits update information D3 to the assistance device 10. Since the single bubble B1 does not contain any other target vehicles, the target vehicle 20A is the leader of the single bubble B1.

[0133] "V14: Waiting for matching candidate (leader)" is a state in which a "follow-up driving request" has been made to the support device 10 (C103) and the leader is waiting for notification of the selection of a matching candidate by the support device 10. In this state, the matching can also be canceled (C105). In this case, the leader returns to the state from which the transition began (V13).

[0134] "V15: Negotiation state (leader)" is a state in which the bubble is being integrated or separated. The state during bubble integration processing is the state from when the bubble ID of the matching candidate is notified from the support device 10 (C106) until the integration processing between the bubbles is completed (steps S21 to S28 in FIG. 8). The leader is selected by coordination between the target vehicles 20. If the matching is stopped (cancelled) (C107), the state returns to the transition source state (V13). The state in which the bubble separation process is in progress is the state from when the leader of the integrated bubble requests a departure until the separation of the bubbles is completed (steps S40 to S45 in FIG. 13). There are two cases: when the target vehicle 20A itself is the leader and requests a departure (C114), and when the target vehicle 20A is a non-leader and is promoted to leader in place of the leader who is leaving (C115).

[0135] "V16: Integration completed (leader)" is the state when the target vehicle 20A can maintain its position as the leader of the integrated bubble B1 as a result of the integration process between the bubbles (C109). If there are no vacant seats in the integrated bubble B1 (number of included vehicles = upper limit number) (C112), the target vehicle 20A continues traveling in this state. The target vehicle 20A transitions to "V13: Single Bubble (Leader)" if there is an empty seat in the integrated bubble B1 (number of included vehicles < maximum number) or if an empty seat occurs due to the departure of another vehicle (non-leader) (C113). Furthermore, if the target vehicle 20A, which is the leader, wishes to leave the integrated bubble B1 or to be demoted from leader to non-leader (C114), it transitions to "V15: Negotiation State (Leader)." At that time, the target vehicle 20A, which is the leader, instructs the other target vehicles 20 within the integrated bubble B1 to perform readjustments (withdrawal mediation), such as selecting a new leader.

[0136] "V17: Integration completed (non-leader)" is the state when the target vehicle 20A does not become the leader of the integrated bubble (is demoted) as a result of the integration process between bubbles (C110). If the non-leader target vehicle 20A wishes to exit the target road R or proceed to an SA / PA, it can leave the integrated bubble by making a request to leave to the leader of the integrated bubble (C116). In addition, if the leader requests to leave or if the leader wishes to be demoted to non-leader, the target vehicle 20A will accept a readjustment instruction from the leader. If inter-vehicle communication with the leader is lost during readjustment, the target vehicle 20A will determine that the leader has disappeared (C117) and will transition to the "V18: Waiting for Leave" state. This will cause the target vehicle 20A to reset its state and redo processes such as bubble generation and integration. If the node becomes the leader after readjustment, it will transition to "V15: Negotiation State (Leader)".

[0137] "V18: Waiting to leave" is the state after the target vehicle 20A (non-leader) sends a leave request to the leader of the integrated bubble (C116). If a response (leaving bubble ID notification) is received from the leader in response to the leave request, the vehicle travels as a single bubble (leaving bubble), and after determining that the service has ended (C118), it transitions to the "V19: End" state. The target vehicle 20A determines that the service has ended, for example, when it detects an end operation by the user or an exit from the target road R, or after a predetermined timeout period has elapsed since transitioning to this state. The target vehicle 20A may also transition to this state if its withdrawal request to the leader is not received (no response).

[0138] "V19: End" is the state after the target vehicle 20A has ended the following driving support service using bubbles (C104, C118).

[0139] (Support device state transition) FIG. 17 is a diagram illustrating an example of a state transition of the support device according to the first embodiment. With reference to FIG. 17, a description will be given of changes in the management state when the assistance device 10 manages the bubble B1 of the target vehicle 20A.

[0140] "V21: Waiting for bubble ID request" is the initial state of the assistance device 10, and is a state in which the assistance device 10 waits for a bubble registration request (a bubble ID issuance request) from the target vehicle 20A.

[0141] "V22: Waiting for bubble service request" is a state in which, after issuing a bubble ID in response to a bubble registration request from the target vehicle 20A (C201), the support device 10 waits for a follow-up request (matching request) from the bubble B1 of this target vehicle 20A. Furthermore, when the support device 10 receives update information D3 for bubble B1 (C202), it continues this state and performs processing such as monitoring the position and speed of bubble B1.

[0142] "V23: Waiting for matching candidate determination" is a state in which the support device 10 receives a matching request from the bubble B1 (C203) and is selecting a matching candidate for this requesting bubble B1. When the support device 10 receives update information D3 from the requesting bubble B1 (C204), it continues this state and reselects a matching candidate. If the requesting bubble B1 cancels the matching request (C205), the support device 10 returns to "V22: Wait for bubble service request." When the request source bubble B1 ends (cancels) the service (C206), the support device 10 enters the state of "V26: bubble management end" for this request source bubble B1.

[0143] "V24: Waiting for bubble integration completion" is a state in which the support device 10 waits for an integration completion notification from the requesting bubble B1 and the matching candidate after selecting a matching candidate for the requesting bubble B1 (C207). When the support device 10 receives update information D3 from the requesting bubble B1 (C208), it continues this state and performs processing such as monitoring the position and speed of the requesting bubble B1 and transferring the update information D3 of the requesting bubble B1 to the matching candidate.

[0144] "V25: Waiting for bubble integration update" is a state in which, when an integration completion notification indicating that the requesting bubble B1 will remain as the integrated bubble B1 is received (C209), the assistance device 10 waits for update information D3 from the integrated bubble B1, assuming that each target vehicle continues to follow this integrated bubble B1. When the assistance device 10 receives update information D3 from the integrated bubble B1 (C210), it continues this state and performs processing such as monitoring the position and speed of the integrated bubble B1.

[0145] "V26: End of bubble management" is a state in which support services for bubble B1 are no longer required and management of this bubble B1 has ended. When the support device 10 receives an integration completion notification indicating that the requesting bubble B1 that desires matching will disappear as a non-integrated bubble B1 (C211), or when the bubble is no longer needed due to the end of the service (such as the leaving bubble exiting the target road R) (C212, C213), it transitions to this state and ends management of the bubble B1. Furthermore, when the support device 10 receives a bubble separation request (withdrawal bubble ID request) from the integrated bubble B1 (C214), it separates the integrated bubble B1 into two bubbles: a continuation bubble and a withdrawal bubble. At this time, the support device 10 transitions to "V21: Waiting for bubble ID request" to issue an ID for the withdrawal bubble, and after issuing the withdrawal bubble ID (after transitioning to "V22: Waiting for matching request"), when it receives a notification of service termination from the withdrawal bubble (C215), it returns to "V26: End bubble management" again and ends management of the withdrawal bubble.

[0146] (Action, effect) As described above, the assistance device 10 of this embodiment includes a bubble generation unit 110 that, when receiving a bubble registration request from a target vehicle 20, generates a bubble, which is a group of vehicles that will follow the target vehicle 20 as the leader, and registers bubble information D2 that associates the vehicle information D1 of the target vehicle 20 with the bubble ID (identification information) of the generated bubble; a matching processing unit 111 that, when receiving a follow-up request from a bubble, selects a bubble that satisfies specified matching conditions as a matching candidate for the bubble that requested the follow-up request; an integration instruction unit 113 that instructs the leaders of the requesting bubble and the matching candidate to merge bubbles; and an update processing unit 114 that, when receiving an integration completion notification notifying that one of the requesting bubble and the matching candidate will be made the integrated bubble, integrates and updates the bubble information D2 of the integrated bubble with the bubble information D2 of the integrated bubble.

[0147] In this way, the assistance device 10 can start the process of searching for matching candidates for following driving without relying on interconnection between target vehicles 20 through vehicle-to-vehicle communication, thereby preventing the search process for matching candidates from being hindered by factors such as the communication range of vehicle-to-vehicle communication or the presence of other non-target vehicles 30. Furthermore, the assistance device 10 collectively manages a group of vehicles (plurality of target vehicles 20) that will perform following driving in units called bubbles, and sends and receives instructions to merge bubbles with the leader of each bubble, thereby reducing management resources and communication volume compared to managing each target vehicle 20 individually.

[0148] In addition, the matching processing unit 111 selects as matching candidates bubbles that have a driving route that is at least partially common with the driving route to the destination of the requesting bubble, and where the length of the common driving route is equal to or greater than a predetermined distance, or the driving time of the common driving route is equal to or greater than a predetermined time.

[0149] If the distance or time of following-up driving is short, the effects obtained by following-up driving (such as reduced driving burden and improved fuel efficiency) will be small. However, the assistance device 10 according to this embodiment can prevent the distance or time of following-up driving from becoming too short and increase the effects of following-up driving by matching bubbles that can continue following-up driving for a predetermined distance or a predetermined time or more.

[0150] Furthermore, the matching processing unit 111 selects bubbles having vehicle attributes that match the vehicle attributes of the requesting bubble as matching candidates.

[0151] If the vehicle attributes (such as the size of the vehicle) differ significantly, the effect of following the vehicle, such as improved fuel efficiency due to improved aerodynamic performance, may be reduced. However, the assistance device 10 according to the present embodiment can prevent the effect of following the vehicle from being reduced by matching bubbles with the same vehicle attributes.

[0152] Furthermore, the matching processing unit 111 selects, as a matching candidate, a bubble whose total number of vehicles, including the number of vehicles included in the request source bubble, is equal to or less than the upper limit number.

[0153] In this way, the assistance device 10 can prevent the integrated bubble from becoming too large, making it difficult to follow the vehicle, or affecting the driving of other vehicles (non-target vehicles 30) in the vicinity.

[0154] The support device 10 further includes an update information acquisition unit 112 that acquires update information D3 including the running positions of each of the plurality of bubbles. Based on the update information D3, the matching processing unit 111 selects bubbles located within a predetermined search distance from the running position of the requesting bubble as matching candidates.

[0155] In this way, the assistance device 10 can exclude bubbles that take a long time to integrate from the matching candidates. This can prevent the distance or time for which following running is performed after integration from becoming shorter, thereby preventing a reduction in the effect obtained from following running.

[0156] Furthermore, for the two matched bubbles, the integration instruction unit 113 instructs at least one of decelerating the preceding bubble and accelerating the subsequent bubble so that the subsequent bubble catches up with the preceding bubble.

[0157] In this way, the assistance device 10 adjusts the speeds of the two matched bubbles, allowing these bubbles to merge more reliably. Also, the driver of each bubble does not need to determine acceleration or deceleration by himself or herself, taking into account the position and speed of the other bubble, thereby reducing the burden associated with driving.

[0158] In addition, the support device 10 further includes a separation processing unit 115 that, when it receives a separation request to cause a departing vehicle to leave a bubble, deletes and updates the vehicle information D1 of the departing vehicle from the bubble information D2 of the bubble, generates a departing bubble with the departing vehicle as the leader, and registers the bubble information D2 of the departing bubble.

[0159] In this way, the assistance device 10 can integrate and separate bubbles as needed, so that target vehicles 20 with different destinations can be combined and made to follow each other as a single bubble.

[0160] <Other embodiments> In the above embodiment, the matching processing unit 111 of the assistance device 10 has been described as selecting a bubble as a matching candidate when there is a bubble that satisfies the matching conditions within a search distance (e.g., 1 km) ahead or behind the bubble B1 that has requested following driving in the traveling direction. However, this is not limited to this. In other embodiments, the matching processing unit 111 may set a time limit for matching bubbles, and select bubbles that can be matched within this time limit as matching candidates.

[0161] The requesting bubble B1 for following travel accepts the user operation of the leader 20A and sets a time limit indicating until when it wants to complete the bubble integration with the matching candidate. Further, the requesting bubble B1 transmits the time limit set together with the following travel request (step S15 in FIG. 4) and the update information D3 to the support device 10 (step S15 in FIG. 4).

[0162] Also, in the matching candidate search process (step S21 in FIG. 8), the matching processing unit 111 of the support device 10 selects, as matching candidates, bubbles that satisfy the above-described matching conditions (1) to (4) and can merge with the requesting bubble B1 within the time limit.

[0163] Note that the matching processing unit 111 RT: Time limit DL: Distance between the position of the requesting bubble B1 in the latest update information D3 and the partner bubble DV: Bubble speed difference between the requesting bubble B1 and the partner bubble in the latest update information D3 When this is the case, a bubble that satisfies "DL÷DV < RT" is determined to be able to merge with the requesting bubble B1.

[0164] For example, assume that the time limit set by the requesting bubble B1 is 10 minutes and there are bubbles B2 and B3 that satisfy the matching conditions. When the distance between the requesting bubble B1 and the bubble B2 is 0.5 km and the speed difference is 5 km / h, it is "0.5 km÷5 km / h = 6 minutes". Then, since the time required to merge is less than the time limit, the matching processing unit 111 selects this bubble B2 as a matching candidate. On the other hand, when the distance between the requesting bubble B1 and the bubble B3 is 1 km and the speed difference is 5 km / h, it is "1 km÷5 km / h = 12 minutes". Then, since the time required to merge exceeds the time limit, the matching processing unit 111 excludes this bubble B3 from the matching candidates.

[0165] Furthermore, if there are multiple bubbles that satisfy the matching information and can be reunited within the time limit, the matching processing unit 111 selects the bubble that is closest to the requesting bubble B1 as a matching candidate. This allows the matching processing unit 111 to select the bubble that can be reunited in the shortest time as a matching candidate.

[0166] In this way, the assistance device 10 can shorten the time until the bubble integration is completed, thereby shortening the distance and time that the target vehicle 20 travels alone until it finds the bubble with which to integrate. This prevents the distance or time for which following travel is performed after integration from becoming shorter, thereby preventing a reduction in the effect obtained from following travel.

[0167] Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel.

[0168] <Additional Notes> The support device, support method, and program described in the above-described embodiments can be understood, for example, as follows.

[0169] (1) According to the first aspect, an assistance device 10 for assisting a vehicle in following driving includes a bubble generation unit 110 that, when receiving a bubble registration request from a vehicle, generates a bubble, which is a group of following vehicles with the vehicle as the leader, and registers bubble information D2 that associates vehicle information D1 of the vehicle with identification information of the generated bubble; a matching processing unit 111 that, when receiving a following driving request from a vehicle included in the bubble, selects a bubble from among multiple bubbles that satisfies predetermined matching conditions as a matching candidate for the bubble that requested the following driving request; an integration instruction unit 113 that instructs the leaders of the requesting bubble and the matching candidate to merge bubbles; and an update processing unit 114 that, when receiving an integration completion notification notifying that one of the requesting bubble and the matching candidate will be designated as the integrated bubble, integrates and updates the bubble information D2 of the integrated bubble with the bubble information D2 of the integrated bubble.

[0170] In this way, the assistance device 10 can start the process of searching for matching candidates for following driving without relying on interconnection between target vehicles 20 through vehicle-to-vehicle communication, thereby preventing the search process for matching candidates from being hindered by factors such as the communication range of vehicle-to-vehicle communication or the presence of other non-target vehicles 30. Furthermore, the assistance device 10 collectively manages a group of vehicles (plurality of target vehicles 20) that will perform following driving in units called bubbles, and sends and receives instructions to merge bubbles with the leader of each bubble, thereby reducing management resources and communication volume compared to managing each target vehicle 20 individually.

[0171] (2) According to the second aspect, in the assistance device 10 relating to the first aspect, the vehicle information D1 includes the vehicle's destination, and the matching processing unit 111 selects as a matching candidate a bubble that has a driving route that is at least partially common with the driving route to the destination of the requesting bubble, and the length of the common driving route is equal to or greater than a predetermined distance, or the driving time of the common driving route is equal to or greater than a predetermined time.

[0172] In this way, the support device 10 can prevent the distance or time for which the following-up traveling is performed from becoming too short, and can improve the effectiveness of the following-up traveling.

[0173] (3) According to the third aspect, in the assistance device 10 relating to the first or second aspect, the vehicle information D1 includes the vehicle attributes of the vehicle, and the matching processing unit 111 selects a bubble having vehicle attributes that match the vehicle attributes of the requesting bubble as a matching candidate.

[0174] In this way, the assistance device 10 can prevent the effect obtained by following up from being reduced due to a mismatch in vehicle attributes.

[0175] (4) According to the fourth aspect, in the support device 10 relating to any one of the first to third aspects, the matching processing unit 111 selects as a matching candidate a bubble whose total number of vehicles, including the number of vehicles included in the requesting bubble, is less than or equal to the upper limit number.

[0176] In this way, the assistance device 10 can prevent the integrated bubble from becoming too large, making it difficult to follow the vehicle, or affecting the driving of other vehicles in the vicinity.

[0177] (5) According to the fifth aspect, the support device 10 according to any one of the first to fourth aspects further includes an update information acquisition unit 112 that acquires update information D3 including the running positions of each of the plurality of bubbles, and the matching processing unit 111 selects bubbles located within a predetermined search distance from the running position of the requesting bubble as matching candidates based on the update information D3.

[0178] In this way, the assistance device 10 can exclude bubbles that take a long time to integrate from the matching candidates. This can prevent the distance or time for which following running is performed after integration from becoming shorter, thereby preventing a reduction in the effect obtained from following running.

[0179] (6) According to the sixth aspect, the support device 10 according to any one of the first to fourth aspects further includes an update information acquisition unit 112 that acquires update information D3 including the running position and bubble speed of each of the multiple bubbles, and the matching processing unit 111 selects bubbles that can meet within a set time specified by the requesting bubble as matching candidates based on the update information D3.

[0180] In this way, the assistance device 10 can shorten the time until the bubble integration is completed, thereby shortening the distance and time that the target vehicle 20 travels alone until it finds the bubble with which to integrate. This prevents the distance or time for which following travel is performed after integration from becoming shorter, thereby preventing a reduction in the effect obtained from following travel.

[0181] (7) According to the seventh aspect, in the support device 10 relating to any one of the first to sixth aspects, the integration instruction unit 113 instructs at least one of decelerating the leading bubble and accelerating the trailing bubble so that the trailing bubble, which is among the requesting bubble and the matching candidate, catches up with the leading bubble, which is in front.

[0182] In this way, the assistance device 10 adjusts the speeds of the two matched bubbles, allowing these bubbles to merge more reliably. Also, the driver of each bubble does not need to determine acceleration or deceleration by himself or herself, taking into account the position and speed of the other bubble, thereby reducing the burden associated with driving.

[0183] (8) According to the eighth aspect, the support device 10 relating to any one of the first to seventh aspects further includes a separation processing unit 115 that, when receiving a separation request to cause a departing vehicle to leave a bubble, deletes and updates the vehicle information D1 of the departing vehicle from the bubble information D2 of the bubble, generates a departing bubble with the departing vehicle as its leader, and registers bubble information D2 that associates the vehicle information D1 of the departing vehicle with the identification information of the generated departing bubble.

[0184] In this way, the assistance device 10 can integrate and separate bubbles as needed, so that target vehicles 20 with different destinations can be combined and made to follow each other as a single bubble.

[0185] (9) According to the ninth aspect, the assistance method is an assistance method for assisting a vehicle in following driving, and includes the steps of: when a bubble registration request is received from a vehicle, generating a bubble that is a group of following vehicles with the vehicle as the leader, and registering bubble information D2 that associates vehicle information D1 of the vehicle with identification information of the generated bubble; when a following driving request is received from a vehicle included in the bubble, selecting a bubble from among the multiple bubbles that satisfies predetermined matching conditions as a matching candidate for the bubble that requested the following driving request; instructing the leaders of the requesting bubble and the matching candidate to merge bubbles; and when an integration completion notification is received notifying that one of the requesting bubble and the matching candidate will be made the integrated bubble, integrating and updating the bubble information of the integrated bubble with the bubble information D2 of the bubble to be integrated into the integrated bubble.

[0186] (10) According to the tenth aspect, the program causes the assistance device to perform the following steps when a bubble registration request is received from a vehicle: generating a bubble that is a group of vehicles that will follow the vehicle as the leader, and registering bubble information D3 that associates vehicle information D1 of the vehicle with identification information of the generated bubble; when a follow-up request is received from a vehicle included in the bubble, selecting a bubble from among the multiple bubbles that meets specified matching conditions as a matching candidate for the bubble that requested the follow-up request; instructing the leaders of the requesting bubble and the matching candidate to merge bubbles; and when an integration completion notification is received notifying that one of the requesting bubble and the matching candidate will be made the integrated bubble, integrating and updating the bubble information D2 of the integrated bubble with the bubble information D2 of the integrated bubble. [Explanation of symbols]

[0187] 1. Support System 10,10A,10B Support device 11 processors 110 Bubble Generator 111 Matching processing unit 112 Update information acquisition unit 113 Integrated Instruction Department 114 Update processing section 115 Separation Processing Unit 116 Notification Department 12 Memory 13. Storage 14 Communication Interface 20, 20A, 20B applicable vehicles 30 Non-eligible vehicles 50 Roadside equipment

Claims

1. An assistance device that assists a vehicle in following a vehicle, a bubble generation unit that, when receiving a bubble registration request from the vehicle, generates a bubble that is a group of vehicles following the vehicle as a leader, and registers bubble information that associates vehicle information of the vehicle with identification information of the generated bubble and the number of vehicles included in the bubble; a matching processing unit that, when receiving a follow-up driving request from a vehicle included in the bubble, selects a bubble from among the plurality of bubbles that satisfies a predetermined matching condition as a matching candidate for the bubble that has requested the follow-up driving request; a merger instruction unit that instructs the leaders of the requesting bubble and the matching candidate to merge bubbles; an update processing unit that, when receiving an integration completion notification notifying that one of the requesting bubble and the matching candidate will be made into an integrated bubble, integrates and updates the bubble information of the integrated bubble into the bubble information of the integrated bubble; an update information acquisition unit that acquires update information periodically transmitted from the readers of each of the plurality of bubbles, the update information including the running position of each bubble; Equipped with When there is a bubble in which the number of included vehicles has reached the upper limit within a predetermined following-traveling restriction section before or after the travel position of the requesting bubble, the matching processing unit sends a matching candidate waiting instruction to the leader of the requesting bubble, indicating that no matching candidate has been found, and suspends the following-traveling of the requesting bubble. Support equipment.

2. the vehicle information includes a destination of the vehicle; the matching processing unit selects, as the matching candidate, a bubble having a travel route that is at least partially common with the travel route to the destination of the requesting bubble, where the length of the common travel route is equal to or greater than a predetermined distance, or the travel time of the common travel route is equal to or greater than a predetermined time; The support device according to claim 1 .

3. the vehicle information includes vehicle attributes of the vehicle; the matching processing unit selects a bubble having a vehicle attribute that matches a vehicle attribute of the request source bubble as the matching candidate; The support device according to claim 1 .

4. the matching processing unit selects, as the matching candidate, a bubble whose total number of vehicles, including the number of vehicles included in the request source bubble, is equal to or less than an upper limit number; The support device according to claim 1 .

5. The matching processing unit selects bubbles located within a predetermined search distance from the traveling position of the requesting bubble as the matching candidate based on the update information. The support device according to claim 1 .

6. The update information further includes a bubble velocity for each of the plurality of bubbles; The matching processing unit selects, as the matching candidate, bubbles that can meet the requesting bubble within a set time period designated by the requesting bubble, based on the updated information. The support device according to claim 1 .

7. the integration instruction unit instructs at least one of decelerating the preceding bubble and accelerating the subsequent bubble so that the subsequent bubble traveling behind the requesting bubble and the matching candidate catches up with the preceding bubble traveling ahead; The support device according to claim 1 .

8. The system further includes a separation processing unit that, when receiving a separation request to cause a departing vehicle to leave the bubble, deletes and updates the vehicle information of the departing vehicle from the bubble information of the bubble, generates a departing bubble with the departing vehicle as a leader, and registers bubble information that associates the vehicle information of the departing vehicle with identification information of the generated departing bubble.

8. An assistance device according to any one of claims 1 to 7.

9. A method for assisting a vehicle in following a vehicle, comprising: When the support device receives a bubble registration request from the vehicle, the support device generates a bubble, which is a group of vehicles following the vehicle as a leader, and registers bubble information that associates vehicle information of the vehicle with identification information of the generated bubble and the number of vehicles included in the bubble; a step in which, when the assistance device receives a follow-up driving request from a vehicle included in the bubble, the assistance device selects a bubble from the plurality of bubbles that satisfies a predetermined matching condition as a matching candidate for the bubble that has requested the follow-up driving request; The support device instructs the leaders of the requesting bubble and the matching candidate to merge bubbles; When the support device receives an integration completion notification notifying that one of the requesting bubble and the matching candidate will be made into an integrated bubble, the support device integrates and updates the bubble information of the integrated bubble with the bubble information of the integrated bubble; acquiring updated information periodically transmitted from the reader of each of the plurality of bubbles, the updated information including the running position of each bubble; and The step of selecting a matching candidate includes, when there is a bubble in which the number of included vehicles has reached the upper limit within a predetermined following-traveling restriction section before or after the traveling position of the requesting bubble, transmitting a matching candidate waiting instruction to the leader of the requesting bubble indicating that a matching candidate has not been found, and suspending the following-traveling of the requesting bubble. How to help.

10. a step of, when receiving a bubble registration request from a vehicle, generating a bubble which is a group of vehicles following the vehicle and having the vehicle as a leader, and registering bubble information which associates the vehicle information of the vehicle with the identification information of the generated bubble and the number of vehicles included in the bubble; a step of selecting, when a follow-up driving request is received from a vehicle included in the bubble, a bubble among the plurality of bubbles that satisfies a predetermined matching condition as a matching candidate for the bubble that has requested the follow-up driving request; a step of instructing each of the leaders of the requesting bubble and the matching candidate to merge bubbles; a step of updating the bubble information of the integrated bubble by integrating it with the bubble information of the integrated bubble when an integration completion notification is received notifying that one of the requesting bubble and the matching candidate will be made into an integrated bubble; acquiring updated information periodically transmitted from the reader of each of the plurality of bubbles, the updated information including the running position of each bubble; A program for causing a support device to execute the above, The step of selecting a matching candidate includes, when there is a bubble in which the number of included vehicles has reached the upper limit within a predetermined following-traveling restriction section before or after the traveling position of the requesting bubble, transmitting a matching candidate waiting instruction to the leader of the requesting bubble indicating that a matching candidate has not been found, and suspending the following-traveling of the requesting bubble. program.

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