Follow-me driving support system

Abstract

To provide a vehicle tracking and driving assistance system which reduces the psychological burden on a driver of a tracking vehicle following a preceding vehicle.SOLUTION: A vehicle tracking and driving assistance system of the present invention comprises preceding vehicle selection means for selecting a preceding vehicle for a tracking vehicle to follow from among surrounding vehicles in the surroundings of the tracking vehicle, and also includes image capturing means for capturing images of surrounding vehicles from behind. The preceding vehicle selection means is configured to exclude some surrounding vehicles from preceding vehicle candidates on the basis of preset temporal change information derived from temporal changes in multiple rear images of the surrounding vehicles captured by the image capturing means.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a following driving support system.

Background Art

[0002] Patent Document 1 discloses a technique for searching for a following target vehicle in consideration of characteristics related to the driving of a driver driving a vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique disclosed in Patent Document 1, since the risk due to the approach of the following execution vehicle to the preceding vehicle, which is the following target vehicle, is not considered, there is a risk that the psychological burden on the passengers of the following execution vehicle increases.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a following driving support system capable of reducing the psychological burden on passengers of a following execution vehicle following a preceding vehicle.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the following driving support system according to the present invention is a following driving support system having a preceding vehicle selection means for selecting a preceding vehicle to be followed by the following vehicle from among surrounding vehicles located around the following vehicle, the system having an imaging means for photographing the surrounding vehicle from the rear, and the preceding vehicle selection means is characterized in that it excludes the surrounding vehicle from the candidates for the preceding vehicle based on preset time change information obtained from the time-series changes of a plurality of rear images of the surrounding vehicle taken by the imaging means.

[0007] As a result, the adaptive cruise control system according to the present invention can reduce the psychological burden on the occupants of the vehicle performing the adaptive cruise control while following the preceding vehicle.

[0008] Furthermore, in the above, the rear image is an image showing a red flag attached to the portion of a long object mounted on the surrounding vehicle that protrudes from the rear of the vehicle, and the preceding vehicle selection means may exclude the surrounding vehicle in which the red flag was detected as time-change information from the candidates for the preceding vehicle.

[0009] This prevents follow-up driving where the following vehicle gets too close to the preceding vehicle and could collide with a long object, thereby ensuring the safety of the following vehicle and the comfort of its occupants.

[0010] Furthermore, in the above, the rear image is an image showing white smoke or black smoke as exhaust gas emitted from the surrounding vehicles, and the preceding vehicle selection means may exclude the surrounding vehicles in which the white smoke or black smoke is detected as time-varying information from the candidates for the preceding vehicle.

[0011] This makes it less likely that exhaust gases, such as white or black smoke, will be introduced into the cabin of the following vehicle during follow-up driving, where the following vehicle is driving in close proximity to the preceding vehicle.

[0012] Furthermore, in the above, if white smoke or black smoke is detected as time-varying information, the system may also include control means that controls the air conditioning system in the cabin of the following vehicle to switch to internal air circulation.

[0013] This prevents white or black smoke from exhaust gases emitted from surrounding vehicles traveling ahead of the following vehicle from being introduced into the following vehicle's cabin, thereby preventing the occupants of the following vehicle from becoming uncomfortable due to the smell of exhaust gases. [Effects of the Invention]

[0014] The adaptive cruise control system according to the present invention has the effect of reducing the psychological burden on the occupants of the vehicle performing the adaptive cruise control while following the vehicle ahead. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a diagram showing the schematic configuration of the follow-me driving support system according to the embodiment. [Figure 2] Figure 2 is a schematic diagram showing the server configuration. [Figure 3] Figure 3 shows an example of a vehicle configuration. [Figure 4] Figure 4 is a functional block diagram of the server's processor. [Figure 5] Figure 5 is a flowchart showing a first example of the selection control of a candidate preceding vehicle performed by the follow-me driving support system according to the embodiment. [Figure 6] Figure 6 is a flowchart showing a second example of the selection control of a candidate preceding vehicle performed by the follow-me driving support system according to the embodiment. [Modes for carrying out the invention]

[0016] The following describes an embodiment of the adaptive cruise control system according to the present invention. However, the present invention is not limited to this embodiment.

[0017] FIG. 1 is a schematic configuration diagram of a following driving support system 100 according to an embodiment. As shown in FIG. 1, the following driving support system 100 includes a server 1 and a plurality of vehicles 2. The server 1 can communicate with each of the plurality of vehicles 2 via a communication network 3 such as the Internet and a radio base station 4 connected to the communication network 3. Communication between the vehicle 2 and the radio base station 4 is performed by a known wireless communication technology (e.g., 3G, LTE, 4G, 5G, etc.).

[0018] The vehicle 2 is capable of automatic driving in which the driving operation of the vehicle 2 is automatically controlled to drive. The automatic driving defined in the embodiment is an automatic driving in which all driving operations such as recognition of the driving environment, monitoring of the surrounding situation, and starting / acceleration, steering, and braking / stopping are all performed by the control system of the vehicle 2. For example, it corresponds to "Level 4" in the automation level formulated by NHTSA (National Highway Traffic Safety Administration of the United States), or "Level 4" and "Level 5" in the automation level formulated by SAE (Society of Automotive Engineers) of the United States, which is highly automated driving or fully automated driving. Therefore, the vehicle 2 to be controlled in the embodiment can travel by automatic driving even in a situation where there are no passengers (drivers, passengers, and passengers, etc.) in the vehicle. That is, the vehicle 2 can perform manned automatic driving in which it travels by automatic driving with passengers in the vehicle and unmanned automatic driving in which it travels by automatic driving with no passengers in the vehicle. Note that the vehicle 2 may be configured to be able to select an automatic driving mode in which it travels by automatic driving and a manual driving mode in which the driver performs the driving operation of the vehicle 2, as defined in "Level 4" in the above SAE automation level, for example.

[0019] FIG. 2 is a diagram schematically showing the configuration of server 1. As shown in FIG. 2, server 1 includes a communication interface (communication I / F) 11, a storage device 12, a memory 13, and a processor 14. The communication interface 11, the storage device 12, and the memory 13 are connected to the processor 14 via signal lines. Note that server 1 may further include an input device such as a keyboard and a mouse, an output device such as a display, etc. Also, server 1 may be composed of a plurality of computers.

[0020] The communication interface 11 has an interface circuit for connecting server 1 to the communication network 3. Server 1 communicates with the outside of server 1 (for example, a plurality of vehicles 2) via the communication interface 11 and the communication network 3. The communication interface 11 is an example of the communication unit of server 1.

[0021] The storage device 12 has, for example, a hard disk drive (HDD), a solid state drive (SSD), or an optical recording medium, and an access device therefor. The storage device 12 stores various data, for example, map information, information of a plurality of vehicles 2 (identification information, position information, etc.), a computer program for the processor 14 to execute various processes, etc. The storage device 12 is an example of the storage unit of server 1.

[0022] The memory 13 has a non-volatile semiconductor memory (for example, RAM (Random Access Memory)). The memory 13 temporarily stores various data used when various processes are executed by the processor 14, for example. The memory 13 is another example of the storage unit of server 1.

[0023] The processor 14 has one or more CPUs and peripheral circuits thereof, and executes various processes. Note that the processor 14 may further have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphic processing unit.

[0024] Figure 3 shows an example of the configuration of vehicle 2. Vehicle 2 is equipped with a surrounding information detection device 21, a GNSS (Global Navigation Satellite System) receiver 22, a map database 23, a navigation device 24, a vehicle behavior detection device 25, an actuator 26, a human-machine interface (HMI) 27, a communication device 28, and an ECU (Electronic Control Unit) 30. The surrounding information detection device 21, GNSS receiver 22, map database 23, navigation device 24, vehicle behavior detection device 25, actuator 26, HMI 27, and communication device 28 are electrically connected to the ECU 30 via an in-vehicle network compliant with standards such as CAN (Controller Area Network).

[0025] The surrounding information detection device 21 acquires data (images, point cloud data, etc.) from around the vehicle 2 and detects surrounding information of the vehicle 2 (e.g., surrounding vehicles, lanes, etc.). For example, the surrounding information detection device 21 includes an on-board camera, radar, LiDAR (Laser Imaging Detection And Ranging), ultrasonic sensor (sonar), etc. The output of the surrounding information detection device 21, i.e., the surrounding information of the vehicle 2 detected by the surrounding information detection device 21, is transmitted to the ECU 30.

[0026] The on-board camera is installed, for example, inside the windshield of vehicle 2 and is configured to transmit imaging information about the external conditions of vehicle 2 to the ECU 30. The on-board camera may be a monocular camera or a stereo camera. The stereo camera has multiple imaging units arranged to reproduce binocular parallax. Based on the imaging information from the stereo camera, information in the depth direction in front of the vehicle can also be obtained.

[0027] The radar is configured to use radio waves such as millimeter waves and microwaves to detect other vehicles and obstacles outside of vehicle 2, and to transmit the detection data to the ECU 30. For example, it detects other vehicles and obstacles by radiating radio waves around vehicle 2, receiving and measuring the radio waves that are reflected after hitting other vehicles or obstacles.

[0028] The LiDAR system is configured to use laser light to detect other vehicles and obstacles outside of vehicle 2 and transmit the detection data to the ECU 30. For example, it detects other vehicles and obstacles by emitting laser light around vehicle 2, receiving and measuring the laser light that is reflected after hitting other vehicles or obstacles.

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

[0030] The map database 23 stores map information. The ECU 30 retrieves map information from the map database 23. Alternatively, the map database 23 may be located outside the vehicle 2 (for example, on a server 1), and the ECU 30 may retrieve map information from outside the vehicle 2.

[0031] The navigation device 24 sets the driving route for vehicle 2 to its destination based on the current position of vehicle 2 detected by the GNSS receiver 22, map information from the map database 23, input from the vehicle's occupants, etc. The driving route set by the navigation device 24 is transmitted to the ECU 30.

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

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

[0034] For example, the ECU 30 controls the actuator 26 to realize predetermined driving assistance functions. These predetermined driving assistance functions include, for example, adaptive cruise control (ACC), which automatically controls the vehicle's speed depending on the presence or absence of a preceding vehicle; lane keeping assist (LKA), which automatically controls the steering of the vehicle to keep it within its lane; and lane tracing assist (LTA).

[0035] The HMI 27 exchanges information between vehicle 2 and its occupants. The HMI 27 has an output unit (e.g., a display, speaker, and vibration unit) that provides information to the occupants of vehicle 2, and an input unit (e.g., a touch panel, operation buttons, operation switches, and microphone) that receives information from the occupants of vehicle 2. The output of the ECU 30 is notified to the occupants of vehicle 2 via the HMI 27, and the input from the occupants of vehicle 2 is transmitted to the ECU 30 via the HMI 27. The HMI 27 is an example of an input device, output device, or input / output device. Alternatively, the occupants' mobile terminals (smartphones, tablet devices, etc.) may be connected to the ECU 30 via wired or wireless connections and function as the HMI 27. Furthermore, the HMI 27 may be integrated with the navigation device 24.

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

[0037] Vehicle-to-vehicle communication (Vehicle-to-Vehicle communication) is a system that obtains information about surrounding vehicles (such as destination, location, speed, direction of travel, and vehicle control information) through wireless communication between vehicles, and provides safe driving assistance to the driver or passengers as needed. Furthermore, this vehicle-to-vehicle communication service is available through information exchange between vehicles equipped with onboard units of the ITS (Intelligent Transport Systems) safe driving assistance wireless system, and can be enjoyed in unspecified locations where infrastructure facilities are not in place. Therefore, the service can be received even in locations where it is difficult to install infrastructure facilities.

[0038] The ECU 30 performs various vehicle controls. As shown in Figure 2, the ECU 30 includes a communication interface 31, a memory 32, and a processor 33. The communication interface 31 and the memory 32 are connected to the processor 33 via signal lines. In this embodiment, one ECU 30 is provided, but multiple ECUs 30 may be provided for each function.

[0039] The communication interface 31 has an interface circuit for connecting the ECU 30 to the in-vehicle network. The ECU 30 is connected to other in-vehicle equipment via the communication interface 31.

[0040] The memory 32 includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. The memory 32 stores programs and data used when various processes are executed by the processor 33.

[0041] The processor 33 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 33 may also have additional arithmetic circuits, such as a logic unit or a numerical unit.

[0042] Note that the configuration shown in Figure 3 is merely one example of the configuration of vehicle 2. Multiple vehicles 2 may have different configurations, as long as they can communicate with server 1.

[0043] Incidentally, reducing air resistance during driving is an effective way to reduce the amount of fuel or electricity required for a vehicle to run. One method for reducing air resistance during driving is follow-the-lead driving, where a vehicle follows a preceding vehicle. Platoon driving, where multiple vehicles travel in a convoy, is one example of follow-the-lead driving. In follow-the-lead driving, the windbreak effect of the preceding vehicle reduces the air resistance acting on the vehicle traveling behind it.

[0044] In the adaptive cruise control (ACC) driving support system 100 according to this embodiment, when an adaptive cruise control (ACC) is performed during autonomous driving and no preceding vehicle is detected, and the following vehicle is driving alone in ACC mode, if a preceding vehicle with a high windbreak effect, such as a truck, is detected entering in front of the following vehicle, the following vehicle will follow that preceding vehicle and drive in a convoy. As a result, compared to when the following vehicle continues to drive alone during ACC driving, transitioning to convoy driving with the preceding vehicle reduces driving resistance (such as air resistance) due to the windbreak effect, thereby improving the fuel efficiency or electric efficiency of the following vehicle.

[0045] In the adaptive cruise control system 100 according to this embodiment, the server 1 functions as an adaptive cruise control device that assists the vehicle 2 in following a vehicle, and selects the preceding vehicle during the following drive. Figure 4 is a functional block diagram of the processor 14 of the server 1. In this embodiment, the processor 14 has an information receiving unit 15, a preceding vehicle selection unit 16, and an information transmitting unit 17. The preceding vehicle selection unit 16 is the preceding vehicle selection means of the present invention. The information receiving unit 15, the preceding vehicle selection unit 16, and the information transmitting unit 17 are functional modules realized by the execution of a computer program stored in the storage device 12 of the server 1 by the processor 14 of the server 1. These functional modules may also be realized by a dedicated arithmetic circuit provided in the processor 14.

[0046] The processor 14 of server 1 selects the preceding vehicle, for example, as follows: First, the information receiving unit 15 receives predetermined information from the following vehicle 2, which is the vehicle performing the follow-up driving, via the communication interface 11. Then, the preceding vehicle selection unit 16 selects a preceding vehicle 2, which is suitable as the target for the following vehicle, based on the predetermined information. Furthermore, the information transmission unit 17 transmits information about the preceding vehicle to the following vehicle via the communication interface 11.

[0047] The preceding vehicle must be selected from surrounding vehicles located around the vehicle performing the follow. For this reason, for example, the information receiving unit 15 receives surrounding images captured by the on-board camera included in the surrounding information detection device 21 of the vehicle performing the follow as predetermined information. The preceding vehicle selection unit 16 then performs image recognition of the surrounding images and selects the preceding vehicle from the surrounding vehicles included in the surrounding images.

[0048] The information receiving unit 15 acquires rear image information of surrounding vehicles located around the following vehicle as part of the predetermined information. For example, the information receiving unit 15 receives rear image information of surrounding vehicles, taken from behind by the following vehicle's onboard camera, from the following vehicle via the communication interface 11 as part of the predetermined information. The preceding vehicle selection unit 16 can, for example, execute control to exclude surrounding vehicles from the preceding vehicle candidates when the impact on the rear of the surrounding vehicles is significant, based on preset time change information obtained from the time-series changes of a plurality of the rear images received by the information receiving unit 15. In the following driving support system 100 according to this embodiment, the preceding vehicle selection unit 16 excludes, for example, surrounding vehicles carrying long objects on their cargo beds, or surrounding vehicles that have been confirmed to emit white or black smoke as exhaust gas, from the preceding vehicle candidates. The onboard camera included in the surrounding information detection device 21 of the following vehicle is included in the imaging means for photographing surrounding vehicles from the rear according to the present invention.

[0049] The rear view image of surrounding vehicles captured by the on-board camera of the following vehicle may, for example, show a red flag attached to the part of a long object, such as wire, that protrudes from the rear of the vehicle when the surrounding vehicle is loaded with a long object in its cargo bed. If the preceding vehicle is loaded with a long object in its cargo bed, the following vehicle may get too close to the preceding vehicle and collide with the object. Therefore, in the following driving support system 100 according to this embodiment, the preceding vehicle selection unit 16 controls the surrounding vehicle in which the red flag has been detected to be excluded from the preceding vehicle candidates. This suppresses following driving that could cause the following vehicle to get too close to the preceding vehicle and collide with a long object, thereby ensuring the safety of the following vehicle and the comfort of the occupant (driver) of the following vehicle. Thus, in the following driving support system 100 according to this embodiment, the psychological burden on the occupant of the following vehicle that is following the preceding vehicle can be reduced.

[0050] In the adaptive cruise control system 100 according to this embodiment, rear-view images of surrounding vehicles are captured in multiple consecutive shots at regular intervals by, for example, an on-board camera included in the surrounding information detection device 21. The system then acquires time-series changing image information captured in these multiple consecutively captured rear-view images, such as the image information of the red flag, whose position and shape differ at each capture timing due to wind, etc., as time-changing information. Because the red flag moves irregularly due to the movement of surrounding vehicles, it can be detected with characteristics different from stationary marks, etc. Based on the acquired time-changing information, the preceding vehicle selection unit 16 can determine whether a long object is loaded on the cargo bed of the surrounding vehicle. In contrast, if the determination is made using only time-unchanging information from a single rear-view image of the surrounding vehicle, it is difficult to accurately determine whether a long object is loaded on the surrounding vehicle, for example, because it is not possible to distinguish between the red flag and a red mark displayed on the vehicle.

[0051] Furthermore, in the follow-up driving support system 100 according to the embodiment, the rear image of the surrounding vehicle is, for example, an image taken by an on-board camera included in the surrounding information detection device 21, showing white or black smoke as exhaust gas emitted from the surrounding vehicle. If exhaust gas that produces white or black smoke is emitted from the preceding vehicle, the exhaust gas may be introduced into the cabin of the following vehicle, and the occupants of the following vehicle may find the smell of the exhaust gas unpleasant. Therefore, in the follow-up driving support system 100 according to the embodiment, the preceding vehicle selection unit 16 performs control to exclude surrounding vehicles in which white or black smoke has been detected as time-change information from the preceding vehicle candidates. This makes it difficult for exhaust gas that produces white or black smoke to be introduced into the cabin of the following vehicle during follow-up driving, where the following vehicle is driving in close proximity to the preceding vehicle. Thus, in the follow-up driving support system 100 according to the embodiment, it is possible to suppress the discomfort caused by the smell of exhaust gas to the occupants of the following vehicle and reduce their psychological burden.

[0052] In the following driving support system 100 according to this embodiment, image information of white or black smoke, whose position and shape differ depending on the timing of the capture due to wind and other factors, is acquired as time-change information. Features of white or black smoke can be extracted from changes in the color tone of the image. The phenomenon of exhaust gases appearing as white or black smoke is likely to occur under conditions such as when surrounding vehicles are accelerating or climbing a slope. Therefore, for example, the detection of white or black smoke from exhaust gases emitted from surrounding vehicles as time-change information may be limited to when surrounding vehicles are accelerating or climbing a slope. The acceleration and climbing of surrounding vehicles can be determined using, for example, the relative vehicle speed between the following vehicle and the surrounding vehicles, surrounding images captured by the on-board camera, and road gradient information from the navigation device 24 (map database 23).

[0053] Furthermore, if white smoke or black smoke is detected as time-varying information, the ECU 30 of the following vehicle executes a control to switch the air conditioner, which is the in-cabin air conditioning system of the following vehicle, to internal circulation, which circulates air inside the cabin without introducing air from outside the cabin. At this time, the ECU 30 of the following vehicle acquires the information that white smoke or black smoke has been detected as time-varying information from the server 1, for example, via the communication interface 11. This prevents exhaust gases that produce white or black smoke emitted from surrounding vehicles traveling ahead of the following vehicle from being introduced into the cabin of the following vehicle, thereby preventing the occupants of the following vehicle from becoming uncomfortable due to the smell of exhaust gases. Since white or black smoke is emitted from surrounding vehicles intermittently, it is preferable that the preceding vehicle selection unit 16 does not select surrounding vehicles that have been excluded from the preceding vehicle candidates due to the detection of white or black smoke as preceding vehicle candidates again.

[0054] Furthermore, in the follow-up driving support system 100 according to this embodiment, the rear image of the surrounding vehicle may be, for example, an image of animals (livestock) such as cows or pigs loaded on the cargo bed of the surrounding vehicle, taken by an on-board camera included in the surrounding information detection device 21. In the follow-up driving support system 100 according to this embodiment, the image information of the animals (livestock) is acquired as time-change information, as the position and posture of the animals (livestock) differ at each time the image is taken due to the animals' (livestock's) movement. If the system follows a preceding vehicle with animals (livestock) loaded on its cargo bed, the odor of animal (livestock) feces and urine may be introduced into the cabin of the following vehicle, potentially causing discomfort to the occupants of the following vehicle. For this reason, the preceding vehicle selection unit 16 performs control to exclude surrounding vehicles in which animals (livestock) have been detected as time-change information from the preceding vehicle candidates. This makes it less likely for odors such as animal (livestock) excrement to be introduced into the cabin of the following vehicle during follow-up driving, where the following vehicle is driving in close proximity to the preceding vehicle, thus preventing passengers in the following vehicle from becoming uncomfortable due to the odor.

[0055] Furthermore, in the follow-up driving support system 100 according to this embodiment, when an animal (livestock) is detected, the ECU 30 of the follow-up vehicle may execute a control to switch the air conditioner of the follow-up vehicle to internal circulation. This suppresses the introduction of odors such as animal (livestock) excrement and urine from the cargo bed of surrounding vehicles traveling in front of the follow-up vehicle into the cabin of the follow-up vehicle, thereby preventing the occupants of the follow-up vehicle from becoming uncomfortable due to the odor.

[0056] Figure 5 is a flowchart showing a first example of the selection control of a candidate preceding vehicle performed by the follow-me driving support system 100 according to the embodiment.

[0057] First, the ECU 30 of the follow-up vehicle determines whether the conditions for starting follow-up driving have been met (step S1). The conditions for starting follow-up driving are, for example, met when the occupant of the follow-up vehicle requests the operation of ACC via the HMI 27. The conditions for starting follow-up driving may also be met when the follow-up vehicle is traveling on an expressway at a speed of a predetermined value or higher. If the ECU 30 determines that the conditions for starting follow-up driving have not been met (No in step S1), it terminates the series of controls. On the other hand, if the ECU 30 determines that the conditions for starting follow-up driving have been met (Yes in step S1), it acquires surrounding information of the follow-up vehicle using the surrounding information detection device 21 (step S2). Next, the lead vehicle selection unit 16 of the server 1 selects a candidate lead vehicle for follow-up driving based on the surrounding information received by the information receiving unit 15 from the follow-up vehicle as part of the predetermined information via the communication interface 11 (step S3). Next, the lead vehicle selection unit 16 determines whether or not it has acquired time-varying information that has a significant impact on the rear of the surrounding vehicles selected as lead vehicle candidates (step S4). If the lead vehicle selection unit 16 determines that it has not acquired the time-varying information (No in step S4), it terminates the series of controls. On the other hand, if the lead vehicle selection unit 16 determines that it has acquired the time-varying information by having the information receiving unit 15 receive it from the following vehicle via the communication interface 11 as part of the predetermined information (Yes in step S4), it removes the surrounding vehicles selected as lead vehicle candidates from the list of lead vehicle candidates (step S5). After that, the series of controls terminates.

[0058] Figure 6 is a flowchart showing a second example of the selection control of a candidate preceding vehicle performed by the follow-me driving support system 100 according to the embodiment.

[0059] First, the ECU 30 of the follow-up vehicle determines whether the conditions for starting follow-up driving have been met (step S11). If the ECU 30 determines that the conditions for starting follow-up driving have not been met (No in step S11), it terminates the series of controls. On the other hand, if the ECU 30 determines that the conditions for starting follow-up driving have been met (Yes in step S11), it acquires surrounding information of the follow-up vehicle using the surrounding information detection device 21 (step S12). Next, the lead vehicle selection unit 16 of the server 1 selects a lead vehicle candidate for follow-up driving based on the surrounding information received by the information receiving unit 15 from the follow-up vehicle via the communication interface 11 as part of the predetermined information (step S13). Next, the lead vehicle selection unit 16 determines whether it has acquired time-change information of the surrounding vehicle selected as a lead vehicle candidate (step S14). If the lead vehicle selection unit 16 determines that it has not acquired the time-change information (No in step S14), it terminates the series of controls. On the other hand, if the information receiving unit 15 determines that it has received the time-varying information as part of the predetermined information from the following vehicle via the communication interface 11 and that it has acquired the time-varying information (Yes in step S14), the preceding vehicle selection unit 16 removes the surrounding vehicles selected as preceding vehicle candidates from the preceding vehicle candidates (step S15). Next, the preceding vehicle selection unit 16 determines whether or not it has detected white smoke or black smoke as the time-varying information (step S16). If the preceding vehicle selection unit 16 determines that it has not detected white smoke or black smoke as the time-varying information (No in step S16), it terminates the series of controls. On the other hand, if the preceding vehicle selection unit 16 determines that it has detected white smoke or black smoke as the time-varying information (Yes in step S16), it switches the air conditioner of the following vehicle to internal circulation (step S17). After that, the series of controls terminates.

[0060] In addition, in the adaptive cruise control system 100 according to this embodiment, if the adaptive cruise control vehicle is following the preceding vehicle and the onboard camera, acting as the surrounding information detection device 21, detects white or black smoke from the exhaust gas emitted from the preceding vehicle, the adaptive cruise control vehicle's air conditioner may be switched to internal circulation. This prevents the occupants of the adaptive cruise control vehicle from becoming uncomfortable due to the smell of exhaust gas, even if white or black smoke is detected from the preceding vehicle while following it. Furthermore, in this case, the ECU 30 of the adaptive cruise control vehicle may cancel the adaptive cruise control with the preceding vehicle that emitted the white or black smoke.

[0061] Furthermore, in the adaptive cruise control system 100 according to this embodiment, instead of the preceding vehicle selection unit 16 of the server 1, the ECU 30 of the vehicle performing the adaptive cruise control may function as the preceding vehicle selection means of the present invention to select a preceding vehicle from surrounding vehicles. The ECU 30 may then perform control to exclude, for example, surrounding vehicles in which white or black smoke is detected from the candidates for the preceding vehicle, based on time-varying information of the rear image of surrounding vehicles captured by the onboard camera of the vehicle performing the adaptive cruise control. [Explanation of Symbols]

[0062] 1 server 2 vehicles 3. Communication Network 4 Wireless base stations 11 Communication Interface 12 Storage devices 13 memory 14 processors 15 Information Receiving Unit 16. Preceding vehicle selection section 17 Information Transmission Section 21 Peripheral Information Detection Device 22 GNSS receivers 23 Map Database 24 Navigation System 25. Vehicle behavior detection device 26 Actuators 27 Human-Machine Interface 28 Communication equipment 30 ECU 31 Communication Interface 32 memory 33 processors 100 Adaptive Cruise Control System

Claims

1. A follow-up driving support system having a preceding vehicle selection means for selecting a preceding vehicle to be followed by the following vehicle from among surrounding vehicles located around the following vehicle, It has imaging means for photographing the surrounding vehicles from the rear, The preceding vehicle selection means excludes the surrounding vehicles from the candidates for the preceding vehicle based on preset time change information obtained from the time-series changes of a plurality of rear images of the surrounding vehicles captured by the imaging means. The aforementioned rear view image shows white or black smoke as exhaust gas emitted from the surrounding vehicles. The preceding vehicle selection means is characterized by excluding surrounding vehicles in which white smoke or black smoke is detected as time-varying information from the candidates for the preceding vehicle.

2. The follow-up driving support system according to claim 1, further comprising control means for switching the in-cabin air conditioning system of the follow-up vehicle to internal circulation when white smoke or black smoke is detected as the aforementioned time-varying information.

Images