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 load information acquisition means for acquiring information on loads carried by the surrounding vehicle. The preceding vehicle selection means is configured to exclude surrounding vehicles carrying objects as loads that can pose a risk when a preset tracking vehicle approaches the preceding vehicles from preceding vehicle candidates on the basis of the information on loads acquired by the load information acquisition 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 who drives 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 that follows 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, and having a loading information acquisition means for acquiring information on the loadings carried by the surrounding vehicles, wherein the preceding vehicle selection means excludes from the candidates for the preceding vehicle any surrounding vehicles that are carrying objects as loadings that could pose a risk when the following vehicle approaches the preceding vehicle, based on the loading information acquired by the loading information acquisition means.

[0007] As a result, the follow-up driving support system according to the present invention can reduce the psychological burden on the occupants of the following vehicle by excluding surrounding vehicles that carry objects that could pose a risk when the following vehicle approaches the preceding vehicle from the list of candidates for the preceding vehicle.

[0008] Furthermore, in the above, the means for acquiring information on the loaded object is an imaging means that photographs signs related to the loaded object displayed on surrounding vehicles to acquire information on the loaded object, and the means for selecting the preceding vehicle may exclude surrounding vehicles in which signs indicating the target object have been detected from the candidates for the preceding vehicle, based on the image information of the signs photographed by the imaging means.

[0009] This allows the imaging means to photograph signs related to the mounted object displayed on surrounding vehicles, thereby excluding surrounding vehicles carrying the object from the list of candidates for preceding vehicles.

[0010] Furthermore, in the above, the means for acquiring the information on the loaded object is a communication means that communicates with the following vehicle and the surrounding vehicle to acquire information on the loaded object carried by the surrounding vehicle, and the means for selecting the preceding vehicle may exclude the surrounding vehicle carrying the target object from the candidates for the preceding vehicle based on the information on the loaded object acquired by the communication means.

[0011] This allows surrounding vehicles carrying the target object to be excluded from the list of potential preceding vehicles based on information about the object obtained through communication means.

[0012] Furthermore, in the above, the means for acquiring the information of the loaded object is an imaging means that photographs the surrounding vehicles and acquires information about the loaded object, and the means for selecting the preceding vehicle may exclude the surrounding vehicles in which the object has been detected from the candidates for the preceding vehicle, based on the image information of the surrounding vehicles photographed by the imaging means.

[0013] This allows the imaging means to photograph the objects mounted on surrounding vehicles, thereby excluding surrounding vehicles carrying the objects from the list of candidates for preceding vehicles.

[0014] Furthermore, as stated above, the excluded items are hazardous materials.

[0015] This can deter following vehicles carrying hazardous materials, thereby reducing the psychological burden on the occupants of the following vehicle. [Effects of the Invention]

[0016] The adaptive cruise control system according to the present invention has the effect of reducing the psychological burden on the occupants of the following vehicle by excluding surrounding vehicles that carry objects that could pose a risk when the following vehicle approaches the preceding vehicle from the list of candidates for the preceding vehicle. [Brief explanation of the drawing]

[0017] [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]FIG. 5 is a flowchart showing an example of control for selecting a preceding vehicle candidate executed in the following vehicle running support system according to the embodiment.

Embodiment for Carrying Out the Invention

[0018] An embodiment of a following vehicle running support system according to the present invention will be described below. Note that the present invention is not limited by this embodiment.

[0019] FIG. 1 is a schematic configuration diagram of a following vehicle running support system 100 according to the embodiment. As shown in FIG. 1, the following vehicle running 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 (for example, 3G, LTE, 4G, 5G, etc.).

[0020] Vehicle 2 is capable of autonomous driving that automatically controls the driving operation of Vehicle 2 to make it travel. The autonomous driving defined in the embodiment is an autonomous driving in which all driving operations such as recognition of the driving environment, monitoring of the surrounding situation, and starting / accelerating, steering, and braking / stopping are all performed by the control system of Vehicle 2. For example, it is highly autonomous driving or fully autonomous driving corresponding 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. Therefore, Vehicle 2, which is the control target in the embodiment, can travel by autonomous driving even in a situation where there are no passengers (such as drivers, passengers, and riders) in the vehicle. That is, Vehicle 2 can perform manned autonomous driving in which it travels by autonomous driving with passengers in the vehicle and unmanned autonomous driving in which it travels by autonomous driving with no passengers in the vehicle. Incidentally, Vehicle 2 may be configured to be able to select an autonomous driving mode in which it travels by autonomous driving, as defined by, for example, "Level 4" in the above SAE automation level, and a manual driving mode in which the driver performs the driving operation of Vehicle 2.

[0021] 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. Incidentally, 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.

[0022] 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.

[0023] The storage device 12 includes, for example, a hard disk drive (HDD), a solid state drive (SDD), or an optical recording medium, as well as an access device thereof. The storage device 12 stores various types of data, such as map information, information on multiple vehicles 2 (identification information, location information, etc.), and computer programs for the processor 14 to perform various processes. The storage device 12 is an example of the storage unit of the server 1.

[0024] Memory 13 has non-volatile semiconductor memory (e.g., RAM (Random Access Memory)). Memory 13 temporarily stores various data used when various processes are executed by, for example, the processor 14. Memory 13 is another example of the storage unit of server 1.

[0025] The processor 14 has one or more CPUs and their peripheral circuits, and performs various processes. The processor 14 may also have other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit.

[0026] 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).

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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).

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] The information receiving unit 15 acquires information about the cargo carried by surrounding vehicles located around the following vehicle as part of the predetermined information. For example, the information receiving unit 15 receives information about the cargo carried by surrounding vehicles, captured 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, for example, based on the cargo information received by the information receiving unit 15, performs control to exclude surrounding vehicles that carry objects as cargo that could pose a risk when the following vehicle approaches the preceding vehicle from the list of preceding vehicle candidates. Examples of such objects include hazardous materials and objects that increase psychological anxiety. Examples of hazardous materials include petroleum, gas, explosives, poisons, and radioactive isotopes. The onboard camera included in the surrounding information detection device 21 of the following vehicle is included in the imaging means as a means for acquiring cargo information in the present invention.

[0051] The onboard camera of the following vehicle captures, for example, signs related to the cargo displayed on the rear of surrounding vehicles located around the following vehicle, and acquires information about the cargo carried by those surrounding vehicles. Examples of such signs include signs (marks) indicating hazardous materials such as "Danger," "Poison," "High Pressure Gas," and "Fire," as well as signs (marks) indicating things that increase psychological anxiety, such as radioactive materials and medical waste. Based on the image information of the signs captured by the onboard camera of the following vehicle, the preceding vehicle selection unit 16 excludes surrounding vehicles from the preceding vehicle candidates if signs indicating the target object are detected by image recognition. By excluding surrounding vehicles carrying cargo with such signs (marks) displayed on the rear of the vehicle from the preceding vehicle candidates, the psychological burden on the occupants of the following vehicle that is following the preceding vehicle can be reduced.

[0052] Furthermore, the preceding vehicle selection unit 16 may, for example, exclude surrounding vehicles from the list of preceding vehicles if hazardous materials such as drums or gas cylinders are detected by image recognition based on image information of the cargo beds of surrounding vehicles captured by the onboard camera of the following vehicle. This allows the onboard camera of the following vehicle to capture images of the cargo of surrounding vehicles and exclude surrounding vehicles carrying such hazardous materials from the list of preceding vehicle candidates.

[0053] Furthermore, the information receiving unit 15 may receive, as part of the predetermined information, information on the loads carried by surrounding vehicles, acquired by the following vehicle through vehicle-to-vehicle communication between the following vehicle and surrounding vehicles via the communication devices 28, from the following vehicle via the communication interface 11. The preceding vehicle selection unit 16 may then exclude surrounding vehicles carrying the aforementioned objects, such as hazardous materials, from the list of preceding vehicle candidates based on the information on the loads received by the information receiving unit 15 through the vehicle-to-vehicle communication. This allows the following vehicle to exclude surrounding vehicles carrying the aforementioned objects, such as hazardous materials, from the list of preceding vehicle candidates based on the information on the loads of surrounding vehicles acquired by the following vehicle through vehicle-to-vehicle communication via the communication device 28. Note that the communication device 28 of the following vehicle is included in the communication means as a means for acquiring load information according to the present invention.

[0054] Figure 5 is a flowchart showing an example of the selection control of a candidate preceding vehicle performed by the follow-me driving support system 100 according to this embodiment.

[0055] 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 it has acquired information indicating that the objects mounted on the surrounding vehicles of the selected lead vehicle candidate are objects that could pose a risk when the pre-set following vehicle approaches the lead vehicle (step S4). If the lead vehicle selection unit 16 determines that the object information has not been acquired (No in step S4), it terminates the series of controls. On the other hand, if the lead vehicle selection unit 16 determines that the object information has been acquired by the information receiving unit 15 receiving it from the following vehicle via the communication interface 11 as part of the predetermined information (Yes in step S4), it removes the surrounding vehicle selected as a lead vehicle candidate from the lead vehicle candidates (step S5). After that, the series of controls terminates.

[0056] As a result, in the follow-up driving support system 100 according to this embodiment, surrounding vehicles equipped with hazardous materials or things that increase psychological anxiety are excluded from the list of potential lead vehicles, thereby reducing the psychological burden on the occupants of the vehicle performing the follow-up.

[0057] Furthermore, in the adaptive cruise control system 100 according to this embodiment, after excluding surrounding vehicles carrying the object from the list of candidate vehicles and ending a series of control operations, the system executes the control operations again from step S1 of the flowchart shown in Figure 5 at a predetermined timing to select candidate vehicles. At this time, it is preferable that the candidate vehicle selection unit 16 does not select surrounding vehicles that were previously excluded from the list of candidate vehicles in the previous control operations as candidate vehicles again in step S3.

[0058] Furthermore, in the flowchart shown in Figure 5, the processes of acquiring surrounding information (step S2) and selecting a candidate for the preceding vehicle (step S3), and the processes of acquiring information on the loaded items (step S4) and excluding them from the candidate for the preceding vehicle (step S5), may be performed in reverse order.

[0059] 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 from the preceding vehicle candidates any surrounding vehicles that are carrying objects as cargo that could pose a risk when the vehicle performing the adaptive cruise control approaches the preceding vehicle, based on information about the cargo carried by the onboard camera of the vehicle performing the adaptive cruise control. [Explanation of symbols]

[0060] 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, The vehicle has a means for acquiring information on the loads carried by the surrounding vehicles, The preceding vehicle selection means excludes from the candidates for the preceding vehicle any surrounding vehicles that carry objects as cargo that could pose a risk when the following vehicle approaches the preceding vehicle, based on the cargo information acquired by the cargo information acquisition means. The aforementioned means for acquiring information on the loaded object is an imaging means that acquires information on the loaded object by photographing signs related to the loaded object displayed on the surrounding vehicles. The preceding vehicle selection means is characterized by excluding surrounding vehicles in which the sign indicating the target object has been detected from the candidates for the preceding vehicle, based on the image information of the sign captured by the imaging means.

2. The follow-me driving support system according to claim 1, characterized in that the aforementioned object is a hazardous material.

Images