Processional travel control apparatus

Abstract

A processional travel control apparatus allows processional travel with a group of vehicles including a leading vehicle and a following vehicle automatically following the leading vehicle. An object vehicle includes a device for sending a request to separate from or join the processional travel, to the leading vehicle. The leading vehicle includes a device for permitting or rejecting the request from the object vehicle. When the leading vehicle permits the request, the object vehicle is switched by a mode switching device between automatic driving, in which the following vehicle automatically follows the leading vehicle, ans manual driving by a driver.

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a processional travel control apparatus, which enables processional travel with a leading vehicle being driven by a driver and a plurality of vehicles automatically following the leading vehicle, and in particular, to a processional travel control apparatus which allows a vehicle to separate from the procession, and which allows an independent vehicle or another procession to incorporate into the procession.

This application is based on Japanese Patent Application Nos. Hei 11-142468 and Hei 11-177532, the contents of which are incorporated herein by reference.

2. Description of the Related Art

In recent years, techniques for processional travel with vehicles automatically following a leading vehicle on a highway have been developed. The processional travel eliminates the labor of driving the following vehicles traveling in a procession, and the distances between the vehicles can be shortened, thereby increasing the transport efficiency.

The processional travel requires a sufficient space to arrange the vehicles in order of travel, and to register the order of travel. The procession is formed in a service area, or in a dedicated port, where an environment for supporting the processional travel (e.g., a control device) can be easily provided.

No problems are encountered when the final destination of all the vehicles forming the procession is the same, and all the vehicles go to the final destination while maintaining the procession. However, for example, during the travel, one or more specified vehicles in the procession may wish to separate from the procession. When some of the vehicles are to separate from the procession, the procession must stop at a service area, must be reformed, and must be restarted.

When the separating point is located near the service area, the loss in efficiency is not that large. However, there is the problem that, when the separating point is far from the service area, the procession must be reformed (e.g., divided into two processions), and two processions must travel a long distance to the separating point, decreasing the transport efficiency.

Further, there is the problem that, when there are two or more vehicles that wish to separate at different separating points, the procession must be reformed in different service areas, which is labor-consuming work.

Further, when the procession is traveling, another vehicle or procession may wish to join the traveling procession. When two processions join, the labor of the drivers can be decreased. The vehicle or procession which was once separated from the parent procession may finish its job, and may wish to rejoin the parent procession. Thus, to incorporate another vehicle or procession in the traveling procession, the procession must stop at a service area, must be reformed, and must be restarted.

BRIEF SUMMARY OF THE INVENTION

It is therefore an object of the present invention to provide a processional travel control apparatus which can divide a procession during a processional travel.

Such a processional travel control apparatus according to the invention includes communication device (transmitter 10 , and receiver 11 ) for sending information regarding an object vehicle position to another vehicle (electric vehicle 1 in the embodiment), and which allows processional travel with a leading vehicle (A 1 ) and a following vehicle (A 2 , A 3 , A 4 , and A 5 ) automatically following the leading vehicle, based on the information. The following vehicle comprises a device (steps S 82 , and S 83 ) for sending a request to separate from the processional travel to the leading vehicle. The leading vehicle comprises a device (steps S 57 , S 58 , S 60 , and S 61 ) for permitting or rejecting the separation request from the following vehicle. When the leading vehicle permits the separation request, the following vehicle is switched by a mode switching device (step S 96 ) from automatic driving, in which the following vehicle automatically follows the leading vehicle, to manual driving by a driver.

According to the invention, even when the vehicles are traveling, some of the vehicles can be separated from the procession without stopping the traveling procession. Therefore, because even the vehicles which have different destinations can form the procession, the flexibility in formation of the procession is increased.

In another aspect of the invention, the apparatus further comprises a channel switching device (frequency switching circuit 8 ) for switching a communication channel. When the leading vehicle permits the separation request and there is another following vehicle (A 4 and A 5 ) which follows the following vehicle (A 3 ) separating from the procession at the time of switching from automatic driving to manual driving, the channel switching device switches the communication device of the new procession to a communication channel (the band AS or BS) different from that of the previous procession.

According to the invention, when a plurality of vehicles are separated from the procession, the communication data can be distinguished between these separated vehicles and the remaining vehicles in the procession, thereby preventing radio interference.

It is another object of the present invention to provide a processional travel control apparatus which can incorporate an independent vehicle or a procession into another procession during a processional travel.

Such a processional travel control apparatus according to the invention includes a communication device (the transmitter 10 , and the receiver 11 in the embodiment) for sending information regarding an object vehicle position to another vehicle (the vehicle 1 ), and allows processional travel with a group of vehicles including a leading vehicle (D 1 ) and a following vehicle (D 2 , D 3 , and D 4 ) automatically following the leading vehicle, based on the information. An independent vehicle (E), which travels independently from the vehicle group (DG) traveling in a procession comprises a device (steps S 1124 and S 1125 ) for sending a request to incorporate the independent vehicle into the procession to the leading vehicle. The leading vehicle comprises a device (steps S 1067 and S 1070 ) for permitting or rejecting the incorporation request from the independent vehicle. When the leading vehicle permits the incorporation request from the independent vehicle, the independent vehicle is switched by a mode switching device (step S 1138 ) from manual driving by a driver to automatic driving in which this vehicle automatically follows the leading vehicle.

According to the invention, by incorporating an independent vehicle, which is manually driven, into the processional vehicle group, the vehicle becomes a following vehicle which is automatically driven, as well as the other vehicles following the leading vehicle. Therefore, the labor of the driver to drive the independent vehicle can be reduced. Further, because the independent vehicle can be incorporated during the processional travel, the vehicles do not have to stop at a service area and to reform a procession, thus preventing the decrease in transport efficiency.

In another aspect of the invention, the processional travel control apparatus has a communication device for sending information regarding an object vehicle position to another vehicle, and allows processional travel with groups of vehicles, each group including a leading vehicle and at least one succeeding vehicle automatically following the leading vehicle, based on the information. The leading vehicle (E 1 ) in a second vehicle group (EG), which travels in a second procession independently from a first vehicle group (DG) traveling in a first procession, comprises a device (steps S 1274 and S 1275 ) for sending a request to join the first procession to the leading vehicle in the first procession. The leading vehicle in the first vehicle group comprises a device (step S 1221 and S 1224 ) for permitting or rejecting the incorporation request from the second vehicle group. When the leading vehicle in the first vehicle group permits the incorporation request from the second vehicle group, the leading vehicle in the second vehicle group is switched by a mode switching device (step S 1234 ) from manual driving by a driver to automatic driving in which this vehicle automatically follows the leading vehicle in the first vehicle group, and becomes a following vehicle (F 4 , and F 5 ) in a new vehicle group (FG) and follows the leading vehicle in the first vehicle group.

According to the invention, when the second vehicle group traveling in a procession joins the first vehicle group, the following vehicles and the leading vehicles in the second vehicles group become following vehicles in a new procession following the leading vehicle in the first vehicle group. Thus, the labor of the driver to drive the leading vehicle in the second vehicle group can be reduced. Further, because the second vehicle group joins the first vehicle group during the processional travel, the vehicles do not have to stop at a service area and to reform a procession, thus preventing the decrease in transport efficiency.

In another aspect of the invention, the apparatus further comprises a channel switching device (frequency switching circuit 8 ) for switching a communication channel. When the leading vehicle in the first vehicle group permits the joining request from the second vehicle group and the second vehicle group joins the first vehicle group, the channel switching device sets the communication channel for the second vehicle group to the same as that for the first vehicle group.

According to this invention, when the leading vehicle in the first vehicle group permits the joining request from the second vehicle group and the second vehicle group joins the first vehicle group, the channel switching device sets the communication channel for the second vehicle group to the same as that for the first vehicle group. Thus, this establishes the communication environment for the new procession which combines two vehicle processions, and the processional travel of the new vehicle group can be smoothly performed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an electric vehicle of the embodiment of the present invention.

FIG. 2 is a diagram for explaining a processional travel of the present invention.

FIG. 3 is a diagram for explaining a manner of separating the procession of the present invention.

FIG. 4 is a diagram for explaining a manner of separating the procession of the present invention.

FIGS. 5A to 5 D are diagrams for explaining input/output screens on a display device in a leading vehicle of an embodiment of the present invention. FIG. 5A shows a procession setting screen, FIG. 5B shows a screen during the formation of the procession, FIG. 5C shows a screen during the processional travel, and FIG. 5D shows a screen when a procession separation request is received.

FIGS. 6A to 6 C are diagrams for explaining input/output screens on a display device in a following vehicle of the present invention. FIG. 6A shows a procession setting screen, FIG. 6B shows a screen during the formation of the procession and during the processional travel, and FIG. 6C shows a screen after a separation request button is pushed and the vehicle is a waiting permission.

FIGS. 7A and 7B are diagrams for explaining input/output screens on a display device after the separation request of the present invention. FIG. 7A shows an input/output screen on the display device in the leading vehicle in the new procession, and FIG. 7B shows an input/output screen on the display device in the last following vehicle which has sent the separation request.

FIG. 8 is a diagram showing a change in control mode of the present invention.

FIG. 9 is a diagram showing a switching mechanism of the present invention.

FIG. 10 is a main flowchart showing the control process of the procession of the first embodiment of the present invention.

FIG. 11 is a flowchart showing the procession forming process of the first embodiment of the present invention.

FIG. 12 is a flowchart showing the leading vehicle process of the first embodiment of the present invention.

FIG. 13 is a flowchart showing the leading vehicle process of the first embodiment of the present invention.

FIG. 14 is a flowchart showing the following vehicle process of the first embodiment of the present invention.

FIG. 15 is a flowchart showing the following vehicle process of the first embodiment of the present invention.

FIG. 16 is a flowchart showing the separation process of the first embodiment of the present invention.

FIGS. 17A and 17B are block diagrams showing vehicle-to-vehicle communication device using multi-channel communication of the first embodiment of the present invention. FIG. 17A shows a transmitter, and FIG. 17B shows a receiver.

FIG. 18 is a diagram showing the communication status after the separation of the procession of the first embodiment of the present invention.

FIG. 19 is a diagram for explaining a processional travel of the second embodiment of the present invention.

FIG. 20 is a diagram for explaining a manner of incorporating the procession of the second embodiment of the present invention.

FIGS. 21A to 21 D are diagrams for explaining input/output screens on a display device in a leading vehicle of the second embodiment of the present invention. FIG. 21A shows a procession setting screen, FIG. 21B shows a screen during the formation of the procession, FIG. 21C shows a screen during the processional travel, and FIG. 21D shows a screen when a procession incorporation request is received.

FIGS. 22A to 22 D are diagrams for explaining input/output screens on a display device in an independent vehicle of the second embodiment of the present invention. FIG. 22A shows a procession setting screen, FIG. 22 B shows a screen for selecting incorporation into the procession and during the communication with the leading vehicle, FIG. 22C shows a screen indicating the permission by the leading vehicle, and FIG. 22D shows a screen indicating the rejection by the leading vehicle or the failure in capturing a vehicle in front.

FIG. 23 is a diagram showing a change in control mode of the second embodiment of the present invention.

FIG. 24 is a diagram showing a switching mechanism of the second and third embodiments of the present invention.

FIG. 25 is a main flowchart showing the control process of the procession of the second embodiment of the present invention.

FIG. 26 is a flowchart showing the procession forming process of the second embodiment of the present invention.

FIG. 27 is a flowchart showing the leading vehicle process of the second embodiment of the present invention.

FIG. 28 is a flowchart showing the leading vehicle process of the second embodiment of the present invention.

FIG. 29 is a flowchart showing the following vehicle process of the second embodiment of the present invention.

FIG. 30 is a flowchart showing the incorporations process of the second embodiment of the present invention.

FIG. 31 is a diagram for explaining the situation of joining of processions of the third embodiment of the present invention.

FIG. 32 is a diagram showing the situation after the joining of processions of the third embodiment of the present invention.

FIGS. 33A to 33 D are diagrams for explaining input/output screens on a display device in a leading vehicle of the third embodiment of the present invention. FIG. 33A shows a procession setting screen, FIG. 33B shows a screen during the formation of the procession, FIG. 33C shows a screen during the processional travel, and FIG. 33D shows a screen when a procession joining request is received.

FIGS. 34A to 34 C are diagrams for explaining input/output screens on a display device in the leading vehicle in the succeeding procession of the third embodiment of the present invention. FIG. 34A shows a procession setting screen, FIG. 34B shows a screen during the formation of the procession, and FIG. 34C shows a screen during the processional travel.

FIGS. 35A and 35B are diagrams for explaining input/output screens on a display device in the leading vehicle in the succeeding procession of the third embodiment of the present invention. FIG. 35A shows the screen when a procession joining request button is pushed, and FIG. 35B shows the screen after that of FIG. 35 A.

FIG. 36 is a diagram showing a change in control mode of the third embodiment of the present invention.

FIG. 37 is a main flowchart showing the control process of the procession of the third embodiment of the present invention.

FIG. 38 is a flowchart showing the procession forming process of the third embodiment of the present invention.

FIG. 39 is a flowchart showing the leading vehicle process of the third embodiment of the present invention.

FIG. 40 is a flowchart showing the leading vehicle process of the third embodiment of the present invention.

FIG. 41 is a flowchart showing the following vehicle process of the third embodiment of the present invention.

FIG. 42 is a flowchart showing the joining process of the third embodiment of the present invention.

FIGS. 43A and 43B are block diagrams showing vehicle-to-vehicle communication device using multi-channel communication of the third embodiment of the present invention. FIG. 43A shows a transmitter, and FIG. 43B shows a receiver.

DETAILED DESCRIPTION OF THE INVENTION

First Embodiment

Hereinafter, embodiments of the present invention are described with reference to the drawings. FIG. 1 shows an electric vehicle 1 (hereinafter, referred to simply as a vehicle) capable of traveling in a procession, which is fitted with a laser radar 2 in the center of the front bumper capable of wide angle scanning, and a reflector 3 in the center of the rear bumper, being a plate with a mirror finish for reflecting a radar wave emitted by a laser radar 2 of a succeeding vehicle. Using a combination of the laser radar 2 and the reflector 3 , by picking up the location of the reflector 3 (radar measuring point) of the preceding vehicle in real time using the laser radar 2 of the succeeding vehicle, it is possible for the succeeding vehicle to detect the location of the preceding vehicle (the distance from the preceding vehicle) and its direction in real time.

Installed in the roof of the electric vehicle 1 are: a vehicle-to-vehicle antenna 4 for radio communication between electric vehicles 1 (vehicle-to-vehicle communication), a road-to-vehicle antenna 5 for radio communication with communication devices TU and the like arranged along a road as shown in FIG. 2 , and a GPS/DGPS antenna 6 for receiving radio waves from GPS satellites and DGPS stations. Here, 7 is a battery. The vehicle 1 includes a display device 8 which is normally used as a display for car navigation. 10 is a transmitter, 11 is a receiver (which are described later), and they are a part of the processional travel control apparatus as enclosed by the chain lines (the same in FIG. 2 ).

FIG. 2 shows the vehicles traveling in a procession. A plurality of electric vehicles travels in a procession by merging vehicle-to-vehicle communication information such as vehicle speed, steering angle, and vehicle position coordinates of the preceding vehicles, obtained from the vehicle-to-vehicle communication using the radio LAN as mentioned above, with information obtained from the laser radar 2 and the reflector 3 , and by tracing the tracks of the preceding or leading vehicle, based on the merged information.

In FIG. 2 , in the procession A, following vehicles A 2 , A 3 , A 4 , and A 5 , which are automatically driven, follow a leading vehicle A 1 which is manually driven at the head. The leading vehicle A 1 , and the following vehicles A 2 , A 3 , A 4 , and A 5 have the same specifications (the same structure).

Next is a description of the communication procedure in the vehicle-to-vehicle communication in the processional travel. When the setting for forming the procession has finished and each vehicle has recognized the total number of vehicles and its own sequence number (which is described later), the transmission and reception are started.

(1) The leading vehicle A 1 transmits (broadcasts), and in the transmitted data, it is specified that the following vehicle A 2 has the next transmission right. Here, the transmitted data from the leading vehicle A 1 is received by all of the following vehicles A 2 to A 5 .

(2) Next, the following vehicle A 2 transmits, and in the transmitted data, it is specified that the leading vehicle A 1 has the next transmission right. Similarly, the transmitted data from the following vehicle A 2 is received by the leading vehicle A 1 and all of the following vehicles A 3 to A 5 .

(3) Next, the leading vehicle A 1 transmits again, and in the transmitted data, it is specified that the following vehicle A 3 has the next transmission right.

(4) Next, the following vehicle A 3 transmits, and in the transmitted data, it is specified that the leading vehicle A 1 has the next transmission right. Similarly, the transmitted data from the following vehicle A 3 is received by the leading vehicle A 1 and the following vehicles A 2 , A 4 , and A 5 .

(5) After the following vehicle AS transmits, the procedure returns to the leading vehicle A 1 , and then the above procedure is then repeated.

While in the embodiment there are five vehicles in the procession, the number of vehicles is not limited to this.

During the processional travel, a part of the procession may wish to separate. No problems occur when the destination of the vehicles in the procession is identical. However, when there are some vehicles having a different destination, the procession must be divided. FIGS. 3 and 4 show examples of dividing the procession. In FIG. 3 , the procession is divided into two, and, in FIG. 4 , one vehicle separates from the end of the procession. As shown in FIGS. 3 and 4 , the processional vehicle group A is formed in a port which is not shown, and, just after the formation of the procession, seven vehicles in total travel as a group.

In the example shown in FIG. 3 , because the following vehicles A 4 , A 5 , A 6 , and A 7 have the destination different from that of the following vehicles A 2 and A 3 , a driver is in the following vehicle A 4 to manually drive it after the separation. Therefore, the processional vehicle group A is separated between the following vehicles A 3 and A 4 , thus forming a processional vehicle group B in which a leading vehicle B 1 at the head of the procession leads the following vehicles B 2 and B 3 , and a processional vehicle group C in which a leading vehicle C 1 at the head of the procession leads the following vehicles C 2 , C 3 , and C 4 .

In FIG. 4 , because the last following vehicle A 7 has a destination different from that of the other vehicles A 1 , A 2 , A 3 , A 4 , A 5 , and A 6 , the following vehicle A 7 is independently separated from the procession, thus forming a new procession A in which the leading vehicle A 1 leads the following vehicles A 2 , A 3 , A 4 , A 5 , and A 6 . Here, the leading vehicle A 1 may be separated from the procession.

FIGS. 5 , 6 , and 7 show input/output screens on the display device 8 . This display device 8 is normally used as a display for car navigation as mentioned above, and has a function for supporting the processional travel. Specifically, the input/output function for supporting the processional travel will be explained. The function includes an input function for forming a procession outside a port (this function is carried out based on transmission from a control device K in the port see FIG. 2 ), and another input function for separating a vehicle from the procession as described later.

FIGS. 5A to 5 D shows a screen on the display device 8 in the leading vehicle A 1 , and FIG. 5A shows a procession setting screen. As shown in FIG. 5A , the total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and a vehicle sequence number button JB. In FIG. 5A , the large rectangle corresponds to the outline of the navigation display, and small rectangles under and a small circle next to the navigation display are NAVI (navigation) setting switches. Buttons are displayed on the screen (hereunder the same).

FIG. 5B shows a screen during the formation of the procession. It is indicated that this vehicle is set as the leading vehicle and is waiting for the communication from the following vehicles. A processional cancel button TB is displayed on the screen. FIG. 5C shows a screen during the processional travel. On the display, the number of vehicles in the procession, “the procession is traveling”, “please drive in the D range”, and “to cancel the procession, please stop vehicles, set the gear to the P range, and push the procession cancel button” are displayed. A processional cancel button TB is displayed on the screen.

FIG. 5D shows a screen when receiving a request to separate the procession. When receiving the separation request from the following vehicles, a driver may push a request permission button to allow the vehicle requesting the separation to become a leading vehicle, or may wait for the separation of the following vehicle at the end of the procession.

“Separation request is received from following vehicle”, the identification of the vehicle requesting the separation, and “do you permit the separation?” are displayed. On the display, a permission button YB, and a rejection button NB are displayed. In FIG. 5D , when the permission is selected, the total number of vehicles is changed, and the screen returns to FIG. 5 C.

FIGS. 6A to 6 C, 7 A, and 7 B show input/output screens in the following vehicle. FIG. 6A shows a procession setting screen. As shown in this figure, the total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and an object vehicle sequence number button JB. FIG. 6B shows a screen during the formation and travel of the procession. It is indicated that this vehicle is set as a following vehicle and is waiting for communication from a leading vehicle. On the display, an emergency stop button KB and a separation request button BB are displayed. The separation request button BB is provided to form a separate procession of this vehicle and the vehicles after this vehicle.

FIG. 6C shows a screen after sending the separation request. It is indicated that the vehicle is waiting for the permission. On the display, an emergency stop button KB is displayed.

FIG. 7A shows a screen in the following vehicle requesting the separation when the driver in the leading vehicle pushes the permission button YB in FIG. 5 D. “This vehicle is set as a leading vehicle”, the number of vehicles in the procession, “the procession is traveling”, “please drive in the D range”, and “to cancel the procession, please set the gear to the P range, and push the procession cancel button” are displayed. On the display, a procession cancellation button TB is displayed.

FIG. 7B shows a screen in the following vehicle at the end of the procession when the vehicle sends the separation request in FIG. 6 C. “This vehicle is separated from the procession”, and “please drive in the D range” are indicated. When the following vehicle just behind the leading vehicle sends the separation request, the vehicle which was a leading vehicle displays the screen of FIG. 7 B.

FIG. 8 shows a change in control mode for the processional travel which is roughly divided into normal mode and procession forming mode.

When in normal mode (manual drive mode) a procession mode request button, which is not shown, is pushed, the vehicle changes through setting of a procession to procession forming mode. Procession forming mode can be changed to either leading vehicle mode (manual driving) and following vehicle mode (automatic driving), or the procession may be cancelled by the procession cancellation button TB and the vehicle may change to normal mode. Leading vehicle mode and following vehicle mode can be changed to separation mode (resetting of a procession), and separation mode can be changed to normal mode when the separation of the last following vehicle is permitted. Leading vehicle mode can be changed to normal mode by the procession cancellation button TB.

When normal mode is changed to procession forming mode, the following vehicle is changed from manual driving to automatic driving, and this change is performed by switching a mechanism shown in FIG. 9 . FIG. 9 shows an automatic/manual switching mechanism. This switching mechanism can switch three mechanisms, which are a torque producing mechanism T, a brake pressure producing mechanism B, and a steering mechanism S, between automatic/manual operations so that the vehicle can be manually driven as the leading vehicle and is automatically driven as the following vehicle. Here, in FIG. 9 , the portion enclosed by the chain lines constitutes a part of the processional travel control apparatus.

The torque producing mechanism T is connected to an accelerator pedal AP when switched to manual, or is connected to an automatic driving torque calculation mechanism TK when switched to automatic. The brake pressure producing mechanism B is connected to a brake pedal BP when switched to manual, or is connected to an automatic driving brake pressure calculation mechanism BK when switched to automatic. The steering mechanism S is connected to a steering device ST when switched to manual, or is connected to an automatic driving steering angle calculation mechanism SK when switched to automatic.

The automatic/manual switching mechanism is used when normal mode (manual driving) is changed to procession setting mode as shown in FIG. 8 , when the vehicle is changed from a leading vehicle to a following vehicle or from a following vehicle to a leading vehicle during the processional travel.

The automatic/manual switching mechanism is switched to manual driving when the vehicle acts as a leading vehicle, or is switched to the automatic driving when the vehicle acts as a following vehicle.

FIG. 10 is a main flowchart showing the control of the procession of the first embodiment.

In step S 10 , it is determined whether the vehicle is in procession mode or not. When in step S 10 it is not in the procession mode, the flow proceeds to step S 11 , in which then the display device 8 displays a normal navigation screen, and the flow proceeds to step S 12 . In step S 12 , it is determined whether the procession mode request switch is ON. When in step S 12 the procession mode request switch is OFF, control terminates. When in step S 12 the procession mode request switch is ON, the flow proceeds to step S 13 , in which the vehicle then enters the procession mode, and control terminates.

When in step S 10 the vehicle is in the procession mode, the flow proceeds to step S 14 , in which then it is determined whether the formation of the procession is completed or not. When the determination is YES, that is, when the formation of the procession is completed, the flow proceeds to step S 15 , in which then it is determined whether the vehicle is in the separation mode or not. When in step S 15 the vehicle is in the separation mode, the separation process is performed in step S 16 , and control terminates. When in step S 15 the vehicle is not in the separation mode, the flow proceeds to step S 17 . In step S 17 , it is determined whether the vehicle is a leading vehicle or not, according to the sequence number of the vehicle. When in step S 17 the vehicle is a leading vehicle, the flow proceeds to step S 19 , in which then a leading vehicle process, which will be described later, is performed. When in step S 17 the vehicle is not a leading vehicle according to the sequence number of the vehicle, the flow proceeds to step S 18 , in which a following vehicle process, which will be described later, is then performed.

When in step S 14 the formation of the procession is not completed, the flow proceeds to step S 20 , in which it is then determined whether the vehicle is in procession forming mode or not. When in step S 20 the vehicle is in procession forming mode, the flow proceeds to step S 21 , in which the procession forming process, which will be described later, is then performed. When in step S 20 the vehicle is not in procession forming mode, the flow proceeds to step S 22 , in which the display device 8 then displays the procession setting screen (see FIGS. 5 A and 6 A), the total number of vehicles is input in step S 23 (by the vehicle total number button DB, hereafter the same), and the sequence number of the object vehicle is input in step S 24 (by the vehicle sequence number button JB, hereafter the same). Subsequently, the vehicle is changed to procession forming mode in step S 25 , a frequency AS band, which will be described later, is selected in step S 26 , and control terminates. This flowchart is started at an interval of 10 msec.

The procession forming process in step S 21 in FIG. 10 will be explained according to the flowchart of FIG. 11 .

In step S 30 , it is determined whether the vehicle is a leading vehicle according to the sequence number of the vehicle. When in step S 30 the vehicle is not a leading vehicle according the sequence number of the vehicle, the flow proceeds to step S 31 , in which the vehicle is then switched to the automatic driving, and in step S 32 the display device 8 indicates that the following vehicle is traveling. Then, in step S 33 , it is determined whether the emergency stop request switch (corresponding to the emergency stop button KB, hereafter the same) is ON.

When in step S 33 the determination is NO, that is, when the emergency stop request switch is OFF, the flow proceeds to step S 35 . When in step S 33 the determination is YES, that is, when the emergency stop request switch is ON, the emergency stop request is added to the data to be transmitted to the leading vehicle in step S 34 , and the flow proceeds to step S 35 . In step S 35 , the presence or absence of received data is determined. When in step S 35 there is no received data, that is, when the determination is NO, control terminates. When in step S 35 the determination is YES, it is determined whether the received data has been transmitted from the leading vehicle or not.

When in step S 36 the received data has not been transmitted from the leading vehicle, control terminates. When in step S 36 the received data has been transmitted from the leading vehicle, the data transmitted from the leading vehicle is written in a memory in step S 37 , and the flow proceeds to step S 38 . In the next step S 38 , it is determined whether the next time is the object vehicle's turn to transmit or not. When this determination is NO, control terminates. When this determination is YES, that is, when the next time is the object vehicle's turn to transmit, the transmission data is collected in step S 39 , the data is transmitted in step S 40 , the vehicle enters following vehicle mode in step S 41 , and control terminates.

When in step S 30 the determination as to whether the object vehicle is the leading vehicle according to its sequence number is YES, that is, when the object vehicle is the leading vehicle, the display device 8 indicates that the vehicles are forming the procession in step S 42 , and the flow proceeds to step S 43 . Then, in step S 43 , it is determined whether a procession cancel request switch (corresponding to the procession cancellation button TB, hereafter the same) is ON. When in the step S 43 the determination is YES, that is, when the procession cancel request switch is ON, the flow proceeds to step S 44 , in which procession mode is then changed to normal mode, and in step S 45 a change request to normal mode is added to the data to be transmitted to the following vehicles. Then, the flow proceeds to step S 46 .

When in step S 43 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 46 . In step S 46 , it is determined whether the next time is the object vehicle's turn to transmit or not. When in step S 46 the determination is YES, the transmission data is collected in step S 51 , the data is transmitted in step S 52 , and control terminates. When in step S 46 the determination is NO, the flow proceeds to step S 47 , in which it is then determined whether the vehicle has received the data or not from the following vehicle.

When in step S 47 the vehicle does not receive the data from the following vehicle, control terminates. When in step S 47 the vehicle receives the data from the following vehicle, the data from the following vehicle is stored in the memory in step S 48 , and it is determined in step S 49 whether the data from all the vehicles has been collected.

When in step S 49 the data from all the following vehicles has not been collected, control terminates. When in step S 49 the data from all the following vehicles are collected, the flow proceeds to step S 50 , in which the formation of the procession is then completed, the vehicle enters leading vehicle mode, and control terminates.

The leading vehicle process in step S 19 in FIG. 10 will be explained with reference to the flowcharts of FIGS. 12 and 13 . FIGS. 12 and 13 constitute one flowchart, which is divided into two parts for convenience of illustration.

In step S 50 , the display device 8 indicates that the leading vehicle is traveling, and the flow proceeds to step S 51 . In step S 51 , it is determined whether the procession cancel request switch is ON or not. When in step S 51 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 56 .

When in step S 51 the determination is YES, that is, when the procession cancel request switch is ON, it is determined in the next step S 52 whether a gear shifter is at a parking lock position or not. When in step S 52 the determination is NO, that is, when the gear shift is not at the parking lock position (parking range), the request to change the gear shift to the P (parking) range is displayed on the display device 8 in step S 53 , and the flow proceeds to step S 62 in FIG. 13 . When in step S 52 the determination is YES, that is, when the gear shift is at the parking lock position, the display device 8 indicates that the vehicle is canceling the procession in step S 54 , the request to change to normal mode is added to the data to be transmitted to the following vehicle in step S 55 , and the flow proceeds to step S 62 in FIG. 13 .

In step S 56 , it is determined whether the vehicle is waiting for the request to separate from the procession or not. When in step S 56 the vehicle is not waiting for the request to separate from the procession, the flow proceeds to step S 62 in FIG. 13 . When in step S 56 the vehicle is waiting for the request to separate from the procession, it is determined in step S 57 whether the switch for permitting the separation of the procession is ON. When in step S 57 the determination is YES, the request to change to separation mode is added to the data to be transmitted to the following vehicles in step S 58 , and the flow proceeds to step S 59 , in which then the object vehicle enters separation mode.

When in step S 57 the determination is NO, it is determined in step S 60 whether the switch for rejecting the separation of the procession is ON. When in step S 60 the determination is NO, the flow proceeds to step S 62 in FIG. 13 . When in step S 60 the determination is YES, the rejection to the entry to separation mode is added to the data to be transmitted to the following vehicle, and the flow proceeds to step S 62 .

In step S 62 in FIG. 13 , it is determined whether there is any received data or not. When this determination is NO, control terminates. When in step S 62 the determination is YES, the following vehicle data is stored in step S 63 , and the flow proceeds to step S 64 , in which it is then determined whether an emergency stop request was sent from the following vehicle or not.

When in step S 64 the determination is YES, the emergency stop request is added to the data to be transmitted to the following vehicles in step S 65 , and the flow proceeds to step S 68 . When in step S 64 the determination is NO, it is determined whether there is the separation request from the following vehicles or not. When in step S 66 the determination is NO, the flow proceeds to step S 68 .

When in step S 66 the determination is YES, in step S 67 it is indicated that the procession separation request is received, and the flow proceeds to step S 68 . In step S 68 , it is determined whether the procession is canceling or not. When in step S 68 the determination is NO, the flow proceeds to step S 70 . When in step S 68 the determination is YES, it is determined in step S 69 whether the cancellation of the procession of the following vehicles is completed or not. When in step S 69 the determination is NO, the flow proceeds to step S 70 , in which it is then determined whether the next time is the object vehicle's turn to transmit. When in step S 70 the determination is NO, control terminates. When in step S 70 the determination is YES, the transmission data is collected in step S 71 , the data is transmitted in step S 72 , and control terminates. When in step S 69 the determination is YES, procession mode is changed to normal mode in step S 73 , the procession settings (the total number of vehicles and the sequence number) are cleared in step S 74 , and control terminates.

The following vehicle process in step S 18 in FIG. 10 will be explained with reference to the flowchart of FIGS. 14 and 15 . FIGS. 14 and 15 constitute one flowchart, which is divided into two parts for convenience of illustration.

In step S 80 , the screen prepared for the following vehicle is displayed, and in step S 81 it is determined whether the emergency stop request switch is ON or not. When in step S 81 the determination is NO, the flow proceeds to step S 82 , in which it is then determined whether the separation request switch is ON or not. When in step S 82 the determination is NO, the flow proceeds to step S 85 . When in step S 82 the determination is YES, a separation request is added to the data to be transmitted to the leading vehicle in step S 83 , and the flow proceeds to step S 85 . When in step S 81 the determination is YES, an emergency stop request is added to the data to be transmitted to the leading vehicle in step S 84 , and the flow proceeds to step S 85 .

In step S 85 , it is determined whether there is any received data or not. When in step S 85 the determination is NO, control terminates. When in step S 85 the determination is YES, it is determined in step S 86 whether the received data is from the leading vehicle or not. When in step S 86 the determination is NO, the data from the other following vehicle is stored in the memory in step S 87 , and control terminates. When in step S 86 the determination is YES, the data from the leading vehicle is stored in the memory in step S 88 , and the flow proceeds to step S 89 . In step S 89 , it is determined whether there is the emergency stop request from the leading vehicle or not. When in step S 89 the determination is YES, the emergency stop operation is executed in step S 90 , and the flow proceeds to step S 99 in FIG. 15 . When in step S 89 the determination is NO, the flow proceeds to step S 91 in FIG. 15 .

In step S 91 in FIG. 15 , it is determined whether there is a request to change to normal mode or not. When in step S 91 the determination is NO, the flow proceeds to step S 92 , in which it is then determined whether the object vehicle produced the separation request or not. When in step S 91 the determination is YES, procession mode is changed to normal mode in step S 97 , the procession settings (the total number of vehicles and the sequence number) are cleared in step S 98 , and the flow proceeds to step S 99 .

When in step S 92 the determination is NO, the flow proceeds to step S 99 . When in step S 92 the determination is YES, the flow proceeds to step S 93 , in which it is then determined whether the separation request is permitted or not. When in step S 93 the determination is YES, the vehicle changes to separation mode in step S 96 , and the flow proceeds to step S 99 . When in step S 93 the determination is NO, it is determined in step S 94 whether the separation is rejected or not. When in step S 94 the determination is NO, the flow proceeds to step S 99 . When in step S 94 the determination is YES, the following vehicle screen is displayed in step S 95 , and the flow proceeds to step S 99 .

In step S 99 , it is determined whether the next time is the object vehicle's turn to transmit. When in step S 99 the determination is NO, control terminates. When in step S 99 the determination is YES, the transmission data is collected in step S 100 , and the data is transmitted in step S 101 , and control terminates.

The separation process in step S 16 in FIG. 10 will be explained with reference to the flowchart of FIG. 16 .

In step S 110 , it is determined whether the object vehicle is a leading vehicle or not. When this determination is YES, the flow proceeds to step S 111 , in which it is then determined whether the separation request comes from the next vehicle or not. When in step S 111 the determination is YES, the flow proceeds to step S 112 , in which then the procession separation screen is displayed on the display, procession mode is changed to normal mode in step S 113 , the procession settings (the total number of vehicles and the sequence number) are cleared in step S 114 , and control terminates. Thus, the previous leading vehicle A 1 in FIG. 2 is separated.

When in step S 111 the determination is NO, the flow proceeds to step S 115 . In step S 115 , it is determined whether the object vehicle is the last following vehicle in the procession or not. When this determination is YES, the flow proceeds to step S 116 , in which it is then determined whether the object vehicle requested the separation or not. When in step S 116 the determination is YES, the flow proceeds to step S 112 . Thus, the last following vehicle A 5 in FIG. 2 is separated. When in step S 116 the determination is NO, the flow proceeds to step S 117 . Thereafter, the procedure for separating the vehicles into two processions is carried out.

In step S 117 , the total number of vehicles and the sequence numbers are calculated, and in step S 118 the procession settings (the total number of vehicles and the sequence numbers) are reset. In step S 119 , the order of the communication is changed, and the flow proceeds to step S 120 . In step S 120 , it is determined whether the object vehicle belongs to the vehicle group in the rear after the separation or not. When in step S 120 the determination is NO, the flow proceeds to step S 124 . When in step S 120 the determination is YES, the flow proceeds to step S 121 , in which it is then determined whether the frequency band AS is used or not. When in step S 121 the determination is YES, the frequency band BS is selected as the frequency used in the vehicle-to-vehicle communication. When in step S 121 the determination is NO, the frequency band AS is selected in step S 122 .

When the frequency bands for the vehicle-to-vehicle communication are selected by the front vehicle group in step S 122 and by the rear vehicle group in step S 121 , the flow proceeds to step S 124 , in which it is then determined whether the object vehicle is the leading vehicle or not. When in step S 124 the determination is NO, the object vehicle enters the following vehicle mode in step S 126 , and control terminates. When in step S 124 the determination is YES, the flow proceeds to step S 125 , in which the vehicle starts manual driving, the vehicle enters leading vehicle mode in step S 127 , and control terminates.

The apparatus for changing the frequency for the vehicle-to-vehicle communication will be explained with reference to FIG. 17 . As described above, when there is only one vehicle group, the frequency for the vehicle-to-vehicle communication may be single. Once the procession is separated, the frequencies for the vehicle-to-vehicle communication must be different to prevent radio interference between each other.

Specifically, the band of 2.484 MHz (the bandwidth: 2.471-2.497 MHz), which is the frequency band applicable to a radio LAN for mobile bodies, is divided into an AS band whose range is 2.471-2.484 MHz and a BS band whose range is 2.484-2.497 MHz. Thus, these two frequency bands are allocated to the respective separated vehicle groups, thereby preventing radio interference between the groups.

FIGS. 17A and 17B are diagrams for explaining the construction of the communication device using multi-channel communication (for switching a frequency). FIG. 17A shows a transmitter for vehicle-to-vehicle communication. FIG. 17B shows a receiver for vehicle-to-vehicle communication. In FIG. 17A , an instruction from the control device K is input through the road-to-vehicle antenna 5 to a frequency switching circuit 18 , by which one of a high frequency circuit 9 using the predetermined frequency band AS and another high frequency circuit 12 using the predetermined frequency band BS. Thus, the transmission data can be transmitted from the vehicle-to-vehicle antenna 4 by the communication device 10 using a radio frequency in the band AS or BS. In FIGS. 17A and 17B , a portion enclosed by the chain lines (the frequency switching circuit 18 , and the transmitter 10 in FIG. 17A , and the frequency switching circuit 18 and the receiver 11 in FIG. 17B ) constitute a part of the processional travel control apparatus.

As shown in FIG. 17B , the transmitted data is received by the receiver 11 of the other vehicle 1 in the objective vehicle group via the vehicle-to-vehicle antenna 4 . Because, in a manner similar to the transmitter according to the instruction from the control device K, the frequency switching circuit 18 can select one of the high frequency circuit 9 using the frequency band AS, and the high frequency circuit 12 using the frequency band BS, the data is reliably received by the receiver 11 .

Thus, when the procession is separated, one of two processions uses the frequency in the band AS for the vehicle-to-vehicle communication, and the other uses the frequency in the band BS, and thereby radio interference between two groups can be prevented.

The communication procedure when the procession is separated will be explained with reference to FIG. 18 . In order to simplify the explanation, the description is made by way of the case in which five vehicles forming a procession are separated into respective processions with two vehicles and three vehicles. The front procession includes a leading vehicle B 1 and a following vehicle B 2 . The rear procession includes a leading vehicle C 1 , and following vehicles C 2 and C 3 . Specifically, in FIG. 2 , the following vehicle A 3 requests the separation, and the leading vehicle A 1 permits the separation. In the following, numbers in the round brackets continue from the explanation of FIG. 2 .

(6) The leading vehicle A 1 transmits. In the transmitted data, it is specified that the following vehicle A 2 has the next transmission right. The separation mode entry request is added to the transmitted data. The data transmitted from the leading vehicle A 1 is received by all the vehicles 1 which are the following vehicles A 2 to A 5 .

At the same time, the leading vehicle A 1 is changed to the leading vehicle B 1 , the following vehicle A 2 is changed to the following vehicle B 2 , the following vehicle A 3 is changed to the leading vehicle C 1 , the following vehicle A 4 is changed to the following vehicle C 2 , and the following vehicle A 5 is changed to the following vehicle C 3 . At that time, the procession of the leading vehicle C 1 and the following vehicles C 2 and C 3 changes the communication channel for the vehicle-to-vehicle communication to the band BS.

(7) Next, the following vehicle B 2 , which has the next transmission right, transmits. In the transmitted data, it is specified that the leading vehicle B 1 has the next transmission right. Simultaneously, the leading vehicle C 1 transmits, and in the transmitted data, it is specified that the next time is the following vehicle C 2 's turn to transmit. During this communication, radio interference can be prevented as described above.

(8) The leading vehicle B 1 transmits again. In the transmitted data, it is specified that the following vehicle B 2 has the next transmission right. On the other hand, the following vehicle C 2 , which has the transmission right, transmits, and in the transmitted data, it is specified that the leading vehicle C 1 has the next transmission right.

(9) The following vehicle B 2 , which has the transmission right, again. In the transmitted data, it is specified that the leading vehicle B 1 has the next transmission right. On the other hand, the leading vehicle C 1 transmits, and in the transmitted data, it is specified that the following vehicle C 3 has the next transmission right.

(10) Subsequently, the vehicle-to-vehicle communication in two-vehicle group is repeated.

According to the embodiment, when the procession of the vehicles 1 is separated during their processional travel, the transmitter 10 and the receiver 11 request the separation of the procession, and the leading vehicle A 1 receives the request and sends a permission signal. As the result, the vehicle which has requested the separation is changed from following travel to normal travel, and can be separated from the procession. Thus, even when the vehicles have different destinations, they can form a procession, thereby increasing the flexibility in formation of the procession. Further, even only the last following vehicle A 5 or the leading vehicle A 1 can be separated from the procession, thereby increasing the flexibility in separation from the procession, and decreasing a limitation when forming the procession.

When a plurality of vehicles 1 are separated from the procession, these separated vehicles 1 and the vehicles 1 which remain in the procession use the different frequencies which are used for the transmitters 10 and the receivers 11 , thus preventing radio interference in the vehicle-to-vehicle communication.

This invention is not limited to the first embodiment described above. Although in the first embodiment radio interference is prevented between the separated vehicle groups by switching the frequency of the communication devices, an identification code may be added to the communication data to prevent radio interference, or other modifications are possible,

Second Embodiment

In the second embodiment, the vehicle has the same construction as the vehicle in the first embodiment, and therefore the detail description thereof is omitted.

FIG. 19 shows the vehicles traveling in a procession. A plurality of electric vehicles travels in a procession by merging vehicle-to-vehicle communication information such as vehicle speed, steering angle, and vehicle position coordinates of the preceding vehicles, obtained from the vehicle-to-vehicle communication using the radio LAN as mentioned above, with information obtained from the laser radar 2 and the reflector 3 , and by tracing the tracks of the preceding or leading vehicle, based on the merged information.

In FIG. 19 , in the procession DG, following vehicles D 2 , D 3 , and D 4 , which are automatically driven, follow a leading vehicle D 1 which is manually driven at the head. The leading vehicle D 1 , and the following vehicles D 2 , D 3 , and D 4 have the same specification (the same structure).

Next is a description of the communication procedure in the vehicle-to-vehicle communication in the processional travel. When the setting for forming the procession has finished and each vehicle has recognized the total number of vehicles and its sequence number (which is described later), the transmission and reception are started.

(1) The leading vehicle D 1 transmits (broadcasts), and in the transmitted data, it is specified that the following vehicle D 2 has the next transmission right. Here, the transmitted data from the leading vehicle D 1 is received by all of the following vehicles D 2 to D 4 .

(2) Next, the following vehicle D 2 transmits, and in the transmitted data, it is specified that the leading vehicle D 1 has the next transmission right. Similarly, the transmitted data from the following vehicle D 2 is received by the leading vehicle D 1 and all of the following vehicles D 3 to D 4 .

(3) Next, the leading vehicle D 1 transmits again, and in the transmitted data, it is specified that the following vehicle D 3 has the next transmission right.

(4) Next, the following vehicle D 3 transmits, and in the transmitted data, it is specified that the leading vehicle D 1 has the next transmission right. Similarly, the transmitted data from the following vehicle D 3 is received by the leading vehicle D 1 and the following vehicles D 2 , and D 4 .

(5) After the following vehicle D 4 transmits, the procedure returns to the leading vehicle D 1 , and then the above procedure is then repeated.

While in the embodiment there are four vehicles in the procession, the number of vehicles is not limited to this.

When the above-described procession is traveling, an independent vehicle may wish to join the procession. That is, when this vehicle has the same destination as the procession, the labor of the driver can be decreased by joining the vehicle to the procession. FIG. 20 shows the incorporation of the independent vehicle into the procession. The independent vehicle is approaching the procession, and when a procession incorporation request is permitted, the vehicle starts to follow the end of the procession.

Specifically, when the procession is formed at the beginning, the processional vehicle group DG includes in total four vehicles of the leading vehicle D 1 and the following vehicles D 2 , D 3 , and D 4 . When the independent vehicle E follows the end of the procession and becomes the following vehicle, the procession FG includes in total five vehicles of the leading vehicle F 1 and the following vehicle F 2 , F 3 , F 4 , and D 5 (which was the independent vehicle E).

FIGS. 21 and 22 show input/output screens on the display device 8 . This display device 8 is normally used as a display for car navigation as mentioned above, and has a function for supporting the processional travel. Specifically, the input/output function for supporting the processional travel will be explained. The function includes an input function for forming a procession outside a port (this function is carried out based on transmission from the control device K in the port), and another input function for joining and incorporating a vehicle to the procession as described later.

FIGS. 21A to 21 D show a screen on the display device 8 in the leading vehicle D 1 , and FIG. 21A shows a procession setting screen. As shown in FIG. 21A , the total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and a vehicle sequence number button JB. An incorporation request button KY is also provided because the leading vehicle D 1 has a function for manual driving in a manner similar to the independent vehicle. In FIG. 21A , the large rectangle corresponds to the outline of the navigation display, and small rectangles under and a small circle next to the navigation display are NAVI (navigation) setting switches. Buttons are displayed on the screen (hereunder the same).

FIG. 21B shows a screen during the formation of the procession. It is indicated that this vehicle is set as the leading vehicle and is waiting for the communication from the following vehicles. A procession cancel button TB is displayed on the screen. FIG. 21C shows a screen during the processional travel. On the display, the number of vehicles in the procession, “the procession is traveling”, “please drive in the D range”, and “to cancel the procession, please stop vehicles, set the gear to the P range, and push the procession cancel button TB” are displayed.

FIG. 21D shows a screen when receiving a procession incorporation request. When the incorporation request is sent from the independent vehicle and it starts to follow the end of the procession, a request permission button is pushed, and the vehicle waits for the change of the request vehicle to the following vehicle.

It is indicated that the incorporation request from the following vehicle is received, and is asked if the request is permitted. On the display, a permission button YB and a rejection button NB are displayed. When in FIG. 21D permission is selected, the total number of vehicles is changed, and a screen shown in FIG. 21C is displayed.

FIGS. 22A to 22 D show screens on the display device 8 in the independent vehicle E. As shown in FIG. 22A , the total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and a vehicle sequence number button JB. An incorporation request button KY can confirm the intention to incorporate the vehicle into the procession. FIG. 22B shows a screen after the selection of the incorporation into the procession and during the communication with the leading vehicle. FIG. 22C shows a screen when the request is permitted by the leading vehicle. It is indicated that the incorporation into the procession is completed, and that the vehicle changes to the automatic driving. On the display, an emergency stop button KB is displayed. FIG. 22D shows a screen when the leading vehicle rejected the request to join, or when the independent vehicle cannot detect the vehicle in front.

FIG. 23 shows a change in control mode for the processional travel which are roughly divided into normal mode (manual drive mode) and procession forming mode.

When in normal mode (manual drive mode) a procession mode request button, which is not shown, is pushed, the vehicle changes through setting of a procession to procession forming mode. Procession forming mode can be changed to one of leading vehicle mode (manual driving) and following vehicle mode (automatic driving), or the procession may be cancelled by the procession cancel button TB and the vehicle may change to normal mode. Leading vehicle mode and following vehicle mode can be changed to incorporation mode (resetting of a procession), and incorporation mode can be changed to following vehicle mode when the independent vehicle sends the incorporation request to the last following vehicle and when the request is permitted. Leading vehicle mode can be changed to normal mode by the procession cancel button TB.

When normal mode is changed to procession forming mode, the independent vehicle changes manual driving to automatic driving. This change is caused by switching a mechanism shown in FIG. 24 . FIG. 24 show an automatic/manual switching mechanism. This switching mechanism can switch three mechanisms, which are a torque producing mechanism T, a brake pressure producing mechanism B, and a steering mechanism S, between automatic/manual operations so that the vehicle can be manually driven as the leading vehicle and automatically driven as the following vehicle. Here, in FIG. 24 , the portion enclosed by the chain lines constitute a part of the processional travel control apparatus.

The torque producing mechanism T is connected to an accelerator pedal AP when switched to the manual side, or is connected to an automatic driving torque calculation mechanism TK when switched to the automatic side. The brake pressure producing mechanism B is connected to a brake pedal BP when switched to manual, or is connected to an automatic driving brake pressure calculation mechanism BK when switched to automatic. The steering device mechanism S is connected to a steering ST when switched to manual, or is connected to an automatic driving steering angle calculation mechanism SK when switched to automatic.

The automatic/manual switching mechanism is used when normal mode (manual driving) is changed to procession setting mode as shown in FIG. 23 , when the vehicle is changed from a leading vehicle to a following vehicle or from a following vehicle to a leading vehicle during the processional travel.

The automatic/manual switching mechanism is switched to manual driving when the vehicle acts as a leading vehicle, or is switched to automatic driving when the vehicle acts as a following vehicle. The independent vehicle E is switched to automatic driving when the vehicle which is manually driven is incorporated in the procession.

FIG. 25 is a main flowchart showing the control of the procession.

In step S 1010 , it is determined whether the vehicle is in procession mode or not. When in step S 1010 it is not in the procession mode, the flow proceeds to step S 1011 , in which then the display device 8 displays a normal navigation screen, and the flow proceeds to step S 1012 . In step S 1012 , it is determined whether the procession mode request switch is ON. When in step S 1012 the procession mode request switch is OFF, control terminates. When in step S 1012 the procession mode request switch is ON, the flow proceeds to step S 1013 , in which then the vehicle enters the procession mode, and control terminates.

When in step S 1010 the vehicle is in the procession mode, the flow proceeds to step S 1014 , in which then it is determined whether the independent vehicle E requested the incorporation or not. When the determination is YES, that is, when the independent vehicle E requested the incorporation, the vehicle enters incorporation mode in step S 1015 (until the permission of the incorporation from the leading vehicle D 1 ). In step S 1016 , it is determined whether the vehicle is in incorporation mode or not. When in step S 1016 the vehicle is in incorporation mode, the incorporation process which is described later is performed in step S 1017 , and control terminates.

When in step 1016 the vehicle is not in incorporation mode, the flow proceeds to step S 1018 . In step S 1018 , it is determined whether the vehicle is a leading vehicle or not, according to the vehicle sequence number. When in step S 1018 it is the leading vehicle, the flow proceeds to step S 1020 , in which a following vehicle process, which will be described later, is then performed.

When in step S 1014 the incorporation request is not sent, the flow proceeds to step S 1021 , in which then it is determined whether the formation of the procession is completed or not. When in step S 1021 the formation of the procession is completed, the flow proceeds to step S 1016 . When in step S 1021 the formation of the procession is not completed, the flow proceeds to step S 1022 , in which then it is determined whether the vehicle is in procession forming mode or not. When in step S 1022 the vehicle is in procession forming mode, the flow proceeds to step S 1023 , in which then the process for forming a procession described herein as too is carried out.

When in step S 1022 the vehicle is not in procession forming mode, the flow proceeds to step S 1024 , in which then the display device 8 displays the procession setting screen (see FIGS. 21 A and 22 A), the total number of vehicles is input in step S 1025 (by the vehicle total number button DB, hereunder the same), and the sequence number of the object vehicle is input in step S 1026 (by the vehicle sequence number button JB, hereunder the same). Subsequently, the vehicle is changed to procession forming mode in step S 1027 , a specified frequency AS band is selected in step S 1028 , and control terminates. This flowchart is started at an interval of 10 msec.

The procession forming process in step S 1023 in FIG. 25 will be explained according to the flowchart of FIG. 26 .

In step S 1030 , it is determined whether the vehicle is a leading vehicle according to the sequence number of the vehicle. When in step S 1030 the vehicle is not a leading vehicle according the sequence number of the vehicle, the flow proceeds to step S 1031 , in which then the vehicle is switched to the automatic driving, and in step S 1032 the display device 8 indicates that the following vehicle is traveling. Then, in step S 1033 , it is determined whether the emergency stop request switch (corresponding to the emergency stop button KB, hereunder the same) is ON.

When in step S 1033 the determination is NO, that is, when the emergency stop request switch is OFF, the flow proceeds to step S 1035 . When in step S 1033 the determination is YES, that is, when the emergency stop request switch is ON, the emergency stop request is added to the data to be transmitted to the leading vehicle in step S 1034 , and the flow proceeds to step S 1035 . In step S 1035 , the presence or absence of received data is determined. When in step S 1035 there is no received data, that is, when the determination is NO, control terminates. When in step S 1035 the determination is YES, it is determined whether the received data has been transmitted from the leading vehicle or not.

When in step S 1036 the received data has not been transmitted from the leading vehicle, control terminates. When in step S 1036 the received data has been transmitted from the leading vehicle, the data transmitted from the leading vehicle is written in a memory in step S 1037 , and the flow proceeds to step S 1038 . In the next step S 1038 , it is determined whether the next time is the object vehicle's turn to transmit or not. When this determination is NO, control terminates. When this determination is YES, that is, when the next time is the object vehicle's turn to transmit, the transmission data is collected in step S 1039 , the data is transmitted in step S 1040 , the vehicle enters following vehicle mode in step S 1041 , and control terminates.

When in step S 1030 the determination as to whether the object vehicle is the leading vehicle according to its sequence number is YES, that is, when the object vehicle is the leading vehicle, the display device 8 indicates that the vehicles are forming the procession in step S 1042 , and the flow proceeds to step S 1043 . Then, in step S 1043 , it is determined whether a procession cancel request switch (corresponding to the procession cancel button TB, hereunder the same) is ON. When in the step S 1043 the determination is YES, that is, when the procession cancel request switch is ON, the flow proceeds to step S 1044 , in which procession mode is then changed to normal mode, and in step S 1045 a change request to normal mode is added to the data to be transmitted to the following vehicles. Then, the flow proceeds to step S 1046 .

When in step S 1043 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 1046 . In step S 1046 , it is determined whether the next time is the object vehicle's turn to transmit or not. When in step S 1046 the determination is YES, the transmission data is collected in step S 1051 , the data is transmitted in step S 1052 , and control terminates. When in step S 1046 the determination is NO, the flow proceeds to step S 1047 , in which it is then determined whether the vehicle has received the data or not from the following vehicle.

When in step S 1047 the vehicle does not receive the data from the following vehicle, control terminates. When in step S 1047 the vehicle receives the data from the following vehicle, the data from the following vehicle is stored in the memory in step S 1048 , and it is determined in step S 1049 whether the data from all the vehicles has been collected.

When in step S 1049 the data from all the following vehicles has not been collected, control terminates. When in step S 1049 the data from all the following vehicles are collected, the flow proceeds to step S 1050 , in which the formation of the procession is then completed, the vehicle enters leading vehicle mode, and control terminates.

The leading vehicle process in step S 1020 in FIG. 25 will be explained with reference to the flowcharts of FIGS. 27 and 28 . FIGS. 27 and 28 constitute one flowchart, which is divided into two parts for convenience of illustration.

In step S 1060 , the display device 8 indicates that the leading vehicle is traveling, and the flow proceeds to step S 1061 . In step S 1061 , it is determined whether the procession cancel request switch is ON or not. When in step S 1061 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 1066 .

When in step S 1061 the determination is YES, that is, when the procession cancel request switch is ON, it is determined in the next step S 1062 whether a gear shifter is at a parking lock position or not. When in step S 1062 the determination is NO, that is, when the gear shifter is not at the parking lock position (parking range), the request to change the gear shifter to the P (parking) range is displayed on the display device 8 in step S 1063 , and the flow proceeds to step S 1072 in FIG. 28 .

When in step S 1062 the determination is YES, that is, when the gear shifter is at the parking lock position, the display device 8 indicates that the vehicle is canceling the procession in step S 1064 , the request to change to normal mode is added to the data to be transmitted to the following vehicles in step S 1065 , and the flow proceeds to step S 1072 in FIG. 28 .

In step S 1066 , it is determined whether the vehicle is waiting for the procession incorporation request or not. When in step S 1066 the vehicle is not waiting for the incorporation request, the flow proceeds to step S 1072 in FIG. 28 . When in step S 1066 the vehicle is waiting for the incorporation request, it is determined in step S 1067 whether the procession incorporation permission button is ON or not. When in step S 1067 the determination is YES, the incorporation mode entry request is added to the data to be transmitted to the following vehicles in step S 1068 , the object vehicle enters incorporation mode, in step S 1069 the object vehicle enters incorporation mode, and the flow proceeds to step S 1072 .

When in step S 1067 the determination is NO, it is determined in step S 1070 whether the procession incorporation rejection switch is ON or not. When in step S 1070 the determination is NO, the flow proceeds to step S 1072 in FIG. 28 . When in step S 1070 the determination is YES, the incorporation mode entry request is added to the data to be transmitted to the independent vehicles in step S 1071 , and the flow proceeds to step S 1072 .

In step S 1072 in FIG. 28 , it is determined whether there is received data or not. When this determination is NO, control terminates. When in step S 1072 the determination is YES, the following vehicle data is stored in step S 1073 , and the flow proceeds to step S 1074 , in which it is then determined whether an emergency stop request was sent from the following vehicle or not.

When in step S 1074 the determination is YES, the emergency stop request is added to the data to be transmitted to the following vehicles in step S 1075 , and the flow proceeds to step S 1078 . When in step S 1074 the determination is NO, it is determined in step S 1076 whether there is the incorporation request from the indepedent vehicle or not. When in step S 1076 the determination is NO, the flow proceeds to step S 1078 .

When in step S 1076 the determination is YES, it is indicated that the procession incorporation request is received in step S 1077 , and the flow proceeds to step S 1078 . In step S 1078 , it is determined whether the procession is canceling or not. When in step S 1078 the determination is NO, the flow proceeds to step S 1080 . When in step S 1078 the determination is YES, it is determined in step S 1079 whether the cancellation of the procession of the following vehicles is completed or not.

When in step S 1079 the determination is NO, the flow proceeds to step S 1080 , in which then it is determined whether the next time is the object vehicle's turn to transmit. When in step S 1080 the determination is NO, control terminates. When in step S 1080 the determination is YES, the transmission data is collected in step S 1081 , the data is transmitted in step S 1082 , and control terminates. When in step S 1079 the determination is YES, procession mode is changed to normal mode in step S 1083 , the procession settings (the total number of vehicles, and the sequence number) are cleared in step S 1084 , and control terminates.

The following vehicle process in step S 1019 in FIG. 25 will be explained with reference to the flowchart of FIG. 29 .

In step S 1100 , the screen prepared for the following vehicle is displayed on the display device 8 , and in step S 1101 it is determined whether the emergency stop request switch is ON or not. When in step S 1101 the emergency stop request switch is OFF, the flow proceeds to step S 1103 .

When in step S 1101 the emergency stop request switch is ON, the emergency stop request is added to the data to be transmitted to the leading vehicle in step S 1102 , and the flow proceeds to step S 1103 .

In step S 1103 , the presence or absence of the received data is determined. When in step S 1103 there is no received data, control terminates. When in step S 1103 there is received data, the flow proceeds to step S 1104 , in which then it is determined whether the received data was sent from the leading vehicle or not. When in step S 1104 the received data was not sent from the leading vehicle, other following vehicle data is then stored in a memory in step S 1105 , and the flow proceeds to step S 1113 .

When in step S 1104 the received data was sent from the leading vehicle, the leading vehicle data is stored in the memory in step S 1106 , and the flow proceeds to step S 1107 . In step S 1107 , it is determined whether an emergency stop instruction was sent from the leading vehicle.

When in step S 1107 no emergency stop instruction was sent from the leading vehicle, the flow proceeds to step S 1109 . When the emergency stop instruction was sent from the leading vehicle, the vehicle performs the emergency stop operation in step S 1108 , and the flow proceeds to step S 1109 . In step S 1109 , it is determined whether there is a normal mode entry request or not. When in step S 1109 there is no normal mode entry request, the flow proceeds to step S 1113 . When in step S 1109 there is the normal mode entry request, the processional travel is terminated in step S 1110 , procession mode is changed to normal mode in step S 111 , and the procession settings (the total number of vehicles, and the sequence number) are cleared in step S 1112 .

In step S 1113 , it is determined whether the next time is the object vehicle's turn to transmit. When in step S 1113 the determination is NO, control terminates. When in step S 1113 the determination is YES, the transmission data is collected in step S 1114 , the data is transmitted in step S 1115 , and control terminates.

The incorporation process in step S 1017 in FIG. 26 will be explained with reference to the flowchart of FIG. 30 .

In step S 1120 , it is determined whether the object vehicle is an independent vehicle or not. When the object vehicle is not an independent vehicle, the flow proceeds to step S 1121 , in which then it is determined whether the object vehicle is a leading vehicle or not. When in step S 1121 the object vehicle is not a leading vehicle, control terminates. When in step S 1121 the object vehicle is a leading vehicle, the total number of vehicles in a new procession and the sequence number are calculated in step S 1122 , the procession settings (the total number of vehicles, and the sequence number) are reset in step S 1123 , and control terminates.

When in step S 1120 the object vehicle is an independent vehicle, the flow proceeds to step S 1124 , in which it is determined whether the vehicle is requesting the incorporation or not. When in step S 1124 the vehicle is not requesting the incorporation, the flow proceeds to step S 1125 , in which the incorporation request is then sent, and control terminates. When in step S 1124 the vehicle is requesting the incorporation, the flow proceeds to step S 1126 , in which the presence or absence of received data is then determined. When in step S 1126 there is no received data, the flow proceeds to step S 1127 , in which then it is determined whether a predetermined time has passed or not. After the predetermined time has passed, the display indicates the failure of the incorporation (see FIG. 22D ) in step S 1128 , the vehicle enters normal mode in step S 1129 , and control terminates. When in step S 1127 the predetermined time has not passed, control terminates.

When in step S 1126 there is received data, the flow proceeds to step S 1130 , in which then it is determined if the received data is sent from the leading vehicle or not. When it is not sent from the leading vehicle, the flow proceeds to step S 1127 . When in step S 1130 the received data is sent from the leading vehicle, the leading vehicle data is stored in the memory in step S 1131 , and the flow proceeds to step S 1132 , in which then the incorporation is rejected by the leading vehicle or not. When the incorporation is rejected in step S 1132 , the flow proceeds to step S 1128 .

When in step S 1132 the incorporation is not rejected, the flow proceeds to step S 1133 , in which it is then determined whether the incorporation is permitted by the leading vehicle or not. When in step S 1133 the incorporation is not permitted, the flow proceeds to step S 1127 . When in step S 1133 the incorporation is permitted by the leading vehicle, the flow proceeds to step S 1134 , in which then the vehicle can detect the vehicle in front by radar.

When in step S 1134 the vehicle cannot detect the vehicle in front, the flow proceeds to step S 1128 . When in step S 1134 the vehicle can detect the vehicle in front, the total number of vehicles in a new procession and the sequence number are calculated in step S 1135 , the procession settings (the total number of vehicles, and the sequence number) are set in step S 1136 , and the incorporation request is cleared in step S 1137 . Then, the vehicle switches from following mode, and is changed to automatic driving in step S 1138 , and control terminates.

The communication procedure when the independent vehicle E wishes to incorporate into the procession, joins at the end of the procession, and becomes the following vehicle F 5 will be explained with reference to FIG. 20 . Numbers in the round brackets are continued from the communication procedure for normal processional travel. In the following, the explanation is made by way of the case in which the incorporation request is sent from the independent vehicle E after the leading vehicle D 1 performs the communication (1) as described above, and after all the vehicles 1 receive it.

(6) The leading vehicle D 1 transmits. In the transmitted data, it is specified that the following vehicle D 2 has the next transmission right. The data transmitted from the leading vehicle D 1 is received by all the vehicles 1 (which includes the independent vehicle E) which are the following vehicles D 2 to D 4 .

(7) Although the next time is the following vehicle D 2 's turn to transmit, the independent vehicle E transmits, and the data transmitted from the independent vehicle E is received by all the vehicles 1 which are the leading vehicle D 1 and the following vehicles D 2 to D 4 . On reception of the data, the leading vehicle D 1 switches the screen on the display device 8 and is waiting for an input. The vehicle-to-vehicle communication in the procession continues.

When the driver in the leading vehicle D 1 pushes the permission button YB, the leading vehicle D 1 transmits, and specifies in the transmitted data that the following vehicle D 2 has the next transmission right. The transmitted data from the leading vehicle D 1 , which includes the incorporation mode entry request, is received by all the vehicles 1 which are the following vehicles D 2 , D 3 , and D 4 , and the independent vehicle E. When approaching the processional vehicle group DG, the independent vehicle E has turned on the vehicle-to-vehicle communication, for example, set the default value for a communication frequency to the band AS to receive the transmission from the leading vehicle D 1 .

Then, the leading vehicle D 1 is changed to a leading vehicle F 1 , the following vehicle D 2 is changed to a following vehicle F 2 , the following vehicle D 3 is changed to a following vehicle F 3 , the following vehicle D 4 is changed to a following vehicle F 4 , and the independent vehicle E is changed to a following vehicle F 5 .

(8) Then, the following vehicle D 2 =F 2 which has the transmission right transmits. In the transmitted data, it is specified that the leading vehicle F 1 has the next transmission right. The data transmitted from the following vehicle F 2 is received by the leading vehicle F 1 and the other following vehicles F 3 to F 5 .

(9) Again, the leading vehicle F 1 transmits. It is specified that the leading vehicle F 3 has the next transmission right.

(10) The following vehicle F 3 transmits. In the transmitted data, it is specified that the leading vehicle F 1 has the next transmission right. The data transmitted from the following vehicle F 3 is received by the leading vehicle F 1 and the other following vehicles F 2 , F 4 , and F 5 .

(11) After the following vehicle F 5 transmits, the procedure returns to the leading vehicle F 1 , and then the above procedure is then repeated. Thus, the communication can be smoothly performed when the independent vehicle joins the procession.

According this embodiment, when the independent vehicle E wishes to join the processional vehicle group DG which is comprised of the leading vehicle D 1 and the following vehicles D 2 , D 3 , and D 4 , a new processional vehicle group FG, which includes the independent vehicle E and is comprised of the leading vehicle F 1 and the following vehicles F 2 , F 3 , F 4 , and F 5 , can be formed without stopping the travel and canceling the procession. Therefore, without decreasing the transport efficiency in processional travel, the redundant labor of the drivers can be reduced. Further, the vehicle-to-vehicle communication with the independent vehicle E, which joins the procession, can be smoothly provided, avoiding confusion and blank in communication.

Third Embodiment

The third embodiment of the present invention will be explained, by citing FIG. 1 , with reference to FIGS. 31 to 43 . In this embodiment, another procession joins the traveling procession. FIG. 31 shows the manner in which a processional vehicle group EG, which includes in total two vehicles of a leading vehicle E 1 and a following vehicle E 2 , joins a processional vehicle group DG which includes in total three vehicles of a leading vehicle D 1 and following vehicles D 2 and D 3 . The processional vehicle group EG approaches the traveling processional vehicle group DG, and when a procession joining request is permitted, the processional vehicle group EG joins at the end of the processional vehicle group DG.

When the processional vehicle groups DG and EG join together, a processional vehicle group FG which comprises in total five vehicles of a leading vehicle F 1 , and following vehicles F 2 , F 3 , F 4 , and F 5 shown in FIG. 32 .

FIGS. 33 , 34 , and 35 show screens on the display device 8 . FIGS. 33A to 33 D show screens on the display device 8 of the leading vehicle D 1 in the preceding processional vehicle group DG, and FIG. 33A shows a procession setting screen. The total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and a vehicle sequence number button JB.

FIG. 33B shows a screen during the formation of the procession. It is indicated that this vehicle is set as the leading vehicle and is waiting for the communication from the following vehicles. A procession cancel button TB is displayed on the screen. FIG. 33C shows a screen during the processional travel. On the display, the number of vehicles in the procession, “the procession is traveling”, “please drive in the D range”, and “to cancel the procession, please stop vehicles, set the gear to the P range, and push the procession cancel button” are displayed. Further, “to request joining, please push the button” is displayed. On the display, a procession cancel button TB, and a joining request button KYB are displayed.

FIG. 33D shows a screen when receiving the procession joining request. When the joining request is sent from another processional vehicle group EG following the end of the procession, a request permission button is pushed, and the vehicle waits for the change of the requesting vehicle group to following vehicles.

It is indicated that the joining request from the following vehicle arrives, and it is asked if the request is permitted. On the display, a permission button YB and a rejection button NB are displayed. In FIG. 33D , when the permission is selected, the total number of vehicles is changed, and the screen shown in FIG. 33C is displayed.

FIGS. 34A to 34 C show input/output screens in the leading vehicle E 1 in the succeeding procession EG. FIG. 34A shows a procession setting screen. As shown in this figure, the total number of vehicles and the sequence number of the object vehicle can be input by a total number button DB and an object vehicle sequence number button JB. FIG. 34B shows a screen during the formation of the procession. It is indicated that this vehicle is set as a leading vehicle and is waiting for communication from the following vehicles. On the display, a procession cancel button TB is displayed. FIG. 34C shows a screen during the processional travel. On the display, the number of vehicles in the procession, “the procession is traveling”, “please drive in the D range”, and “to cancel the procession, please stop vehicles, set the gear to the P range, and push the procession cancel button” are displayed. Further, “to request joining, please push the button” is displayed. On the display, a procession cancel button TB and a joining request button KYB are displayed.

FIG. 35A shows a screen of the leading vehicle E 1 in the succeeding processional vehicle group EG which pushed the procession joining request button. It is indicated that the joining request was sent to the leading vehicle, and that the vehicle is waiting for permission. FIG. 35B show that the leading vehicle E 1 in the succeeding processional vehicle group EG, which was permitted to join, is set as a following vehicle in a new processional vehicle group FG. Further, it is indicated that the vehicle starts automatic driving. An emergency stop button KB is also displayed.

FIG. 36 shows a change in control mode for the processional travel which are roughly divided into normal mode and procession forming mode.

When in normal mode (manual drive mode) a procession mode request button, which is not shown, is pushed, the vehicle changes through setting of a procession to procession forming mode. Procession forming mode can be changed to either leading vehicle mode (manual driving) or following vehicle mode (automatic driving), or the procession may be cancelled by the procession cancel button TB and the vehicle may change to normal mode. Leading vehicle mode and normal mode can be changed to joining mode (resetting of a procession), and the succeeding vehicles can change from joining mode to following vehicle mode when the joining request sent to the last following vehicle from the succeeding processional vehicle group is permitted. Leading vehicle mode can be changed to normal mode by the procession cancel button TB.

When normal mode is changed to procession forming mode, the following vehicle is changed from manual driving to automatic driving, and this change is performed by switching a mechanism shown in FIG. 24 in a manner similar to the above embodiments. This switching mechanism has the same construction as that shown in FIG. 24 , and its detailed description is omitted.

The automatic/manual switching mechanism is used when normal mode (manual driving) is changed to procession setting mode as shown in FIG. 36 , when the vehicle is changed from a leading vehicle to a following vehicle or from a following vehicle to a leading vehicle during the processional travel.

The automatic/manual switching mechanism is switched to the manual driving when the vehicle acts as a leading vehicle, or is switched to the automatic driving when the vehicle acts as a following vehicle. The independent vehicle E is switched from manual drive mode to automatic drive mode when it is incorporated in the procession.

FIG. 37 is a main flowchart showing the control of the procession.

In step S 1150 , it is determined whether the vehicle is in procession mode or not. When in step S 1150 it is not in the procession mode, the flow proceeds to step S 1151 , in which then the display device 8 displays a normal navigation screen, and the flow proceeds to step S 1152 . In step S 1152 , it is determined whether the procession mode request switch is ON. When in step S 1152 the procession mode request switch is OFF, control terminates. When in step S 1152 the procession mode request switch is ON, the flow proceeds to step S 1153 , in which then the vehicle enters the procession mode, and control terminates.

When in step S 1150 the vehicle is in the procession mode, the flow proceeds to step S 1154 , in which then it is determined whether the formation of the procession is completed or not. When the determination is YES, that is, when the formation of the procession is completed, the flow proceeds to step S 1155 , in which then it is determined whether the vehicle is in the joining mode or not. When in step S 1155 the vehicle is in the joining mode, the joining process is performed in step S 1156 , and control terminates. When in step S 1155 the vehicle is not in the joining mode, the flow proceeds to step S 1157 . In step S 1157 , it is determined whether the vehicle is a leading vehicle or not, according to the sequence number of the vehicle. When in step S 1157 the vehicle is a leading vehicle, the flow proceeds to step S 1159 , in which then a leading vehicle process is performed. When in step S 1157 the vehicle is not a leading vehicle according to the sequence number of the vehicle, the flow proceeds to step S 1158 , in which then a following vehicle process is performed.

When in step S 1154 the formation of the procession is not completed, the flow proceeds to step S 1160 , in which it is then determined whether the vehicle is in procession forming mode or not. When in step S 1160 the vehicle is in procession forming mode, the flow proceeds to step S 1161 , in which then the procession forming process is performed. When in step S 1160 the vehicle is not in procession forming mode, the flow proceeds to step S 1162 , in which then the display device 8 displays the procession setting screen (see FIGS. 33 A and 34 A), the total number of vehicles is input in step S 1163 (by the vehicle total number button DB, hereunder the same), and the sequence number of the object vehicle is input in step S 1164 (by the vehicle sequence number button JB, hereunder the same). Subsequently, the vehicle is changed to procession forming mode in step S 1165 , the frequency bands are selected in step S 1166 (as described later, the procession DG selects the frequency band AS, and the procession EG selects the frequency band BS), and control terminates. This flowchart is started at an interval of 10 msec.

The procession forming process in step S 1161 in FIG. 37 will be explained according to the flowchart of FIG. 38 .

In step S 1170 , it is determined whether the vehicle is a leading vehicle according to the sequence number of the vehicle. When in step S 1170 the vehicle is not a leading vehicle according the sequence number of the vehicle, the flow proceeds to step S 1171 , in which then the vehicle is switched to the automatic driving, and in step S 1172 the display device 8 indicates that the following vehicle is traveling. Then, in step S 1173 , it is determined whether the emergency stop request switch (corresponding to the emergency stop button KB, hereunder the same) is ON or not.

When in step S 1173 the determination is NO, that is, when the emergency stop request switch is OFF, the flow proceeds to step S 1175 . When in step S 1173 the determination is YES, that is, when the emergency stop request switch is ON, the emergency stop request is added to the data to be transmitted to the leading vehicle in step S 1174 , and the flow proceeds to step S 1175 . In step S 1175 , the presence or absence of received data is determined. When in step S 1175 there is no received data, that is, when the determination is NO, control terminates. When in step S 1175 the determination is YES, it is determined in step S 1176 whether the received data has been transmitted from the leading vehicle or not.

When in step S 1176 the received data has not been transmitted from the leading vehicle, control terminates. When in step S 1176 the received data has been transmitted from the leading vehicle, the data transmitted from the leading vehicle is written in a memory in step S 1177 , and the flow proceeds to step S 1178 . In the next step S 1178 , it is determined whether the next time is the object vehicle's turn to transmit or not. When this determination is NO, control terminates. When this determination is YES, that is, when the next time is the object vehicle's turn to transmit, the transmission data is collected in step S 1179 , the data is transmitted in step S 1180 , the vehicle enters following vehicle mode in step S 1181 , and control terminates.

When in step S 1170 the determination as to whether the object vehicle is the leading vehicle according to its sequence number is YES, that is, when the object vehicle is the leading vehicle, the display device 8 indicates that the vehicles are forming the procession in step S 1182 , and the flow proceeds to step S 1183 . Then, in step S 1183 , it is determined whether a procession cancel request switch (corresponding to the procession cancel button TB, hereunder the same) is ON. When in the step S 1183 the determination is YES, that is, when the procession cancel request switch is ON, the flow proceeds to step S 1184 , in which procession mode is then changed to normal mode, and in step S 1185 a change request to normal mode is added to the data to be transmitted to the following vehicles. Then, the flow proceeds to step S 1186 .

When in step S 1183 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 1186 . In step S 1186 , it is determined whether the next time is the object vehicle's turn to transmit or not. When in step S 1186 the determination is YES, the transmission data is collected in step S 1191 , the data is transmitted in step S 1192 , and control terminates. When in step S 1186 the determination is NO, the flow proceeds to step S 1187 , in which then it is determined whether the vehicle has received the data or not.

When in step S 1187 the vehicle does not receive the data from the following vehicle, control terminates. When in step S 1187 the vehicle receives the data from the following vehicle, the data from the following vehicle is stored in the memory in step S 1188 , and it is determined in step S 1189 whether the data from all the vehicles are collected.

When in step S 1189 the data from all the following vehicles are not collected, control terminates. When in step S 1189 the data from all the following vehicles are collected, the flow proceeds to step S 1190 , in which then the formation of the procession is completed, the vehicle enters leading vehicle mode, and control terminates.

The leading vehicle process in step S 1159 in FIG. 37 will be explained with reference to the flowcharts of FIGS. 39 and 40 . FIGS. 39 and 40 constitute one flowchart, which is divided into two parts for convenience of illustration.

In step S 1200 , it is determined whether the vehicle is waiting for the joining request. When the vehicle is not waiting for the joining request, it is determined in step S 1201 whether a procession joining request switch is ON or not. When in step S 1201 the procession joining request switch is OFF, the flow proceeds to step S 1202 , the display indicates that the leading vehicle is traveling, and the flow proceeds to step S 1203 . In step S 1203 , it is determined whether the procession cancel request switch is ON or not.

When in step S 1203 the determination is NO, that is, when the procession cancel request switch is OFF, the flow proceeds to step S 1208 in FIG. 40 . When in step S 1203 the determination is YES, that is, when the procession cancel request switch is ON, it is determined in the next step S 1204 whether a gear shifter is at a parking lock position or not. When in step S 1204 the determination is NO, that is, when the gear shifter is not at the parking lock position (parking range), the request to change the gear shifter to the P (parking) range is displayed on the display device 8 in step S 1205 , and the flow proceeds to step S 1208 in FIG. 40 .

When in step S 1204 the determination is YES, that is, when the gear shift is at the parking lock position, the display device 8 indicates that the vehicle is canceling the procession in step S 1206 , the request to change to normal mode is added to the data to be transmitted to the following vehicle in step S 1207 , and the flow proceeds to step S 1208 in FIG. 40 .

In step S 1208 in FIG. 40 , it is determined whether there is any received data or not. When this determination is NO, control terminates. When in step S 1208 the determination is YES, the following vehicle data is stored in step S 1209 , and the flow proceeds to step S 1210 , in which it is then determined whether an emergency stop request was sent from the following vehicle or not.

When in step S 1210 the determination is YES, the emergency stop request is added to the data to be transmitted to the following vehicles in step S 1211 , and the flow proceeds to step S 1214 . When in step S 1210 the determination is NO, it is determined in step S 1212 whether the re is the joining request from another vehicle group (e.g., the processional vehicle group EG) or not. When in step S 1212 the determination is NO, the flow proceeds to step 1214 .

When in step S 1212 the determination is YES, in step S 1213 it is indicated that the procession joining request is received, and the flow proceeds to step S 1214 . In step S 1214 , it is determined whether the processions are joining or not. When in step S 1214 the determination is NO, the flow proceeds to step S 1218 . When in step S 1214 the determination is YES, it is determined in step S 1215 whether the cancellation of the processions of the following vehicles is completed or not.

When in step S 1215 the determination is NO, the flow proceeds to step S 1218 , in which then it is determined whether the next time is the object vehicle's turn to transmit. When in step S 1218 the determination is NO, control terminates. When in step S 1218 the determination is YES, the transmission data is collected in step S 1219 , the data is transmitted in step S 1220 , and control terminates. When in step S 1215 the determination is YES, procession mode is changed to normal mode in step S 1216 , the procession settings (the total number of vehicles, and the sequence number) are cleared in step S 1217 , and control terminates.

When in step S 1200 the vehicle is waiting for the joining request, it is determined in step S 1221 whether the procession joining request permission switch is ON. When in step S 1221 the determination is YES, the object vehicle enters joining mode in step S 1222 , the joining mode entry request is added to the data to be transmitted to the following vehicles in step S 1223 , and the flow proceeds to step S 1208 in FIG. 40 .

When in step S 1221 the determination is NO, it is determined in step S 1224 whether the procession joining request rejection switch is ON or not. When in step S 1224 the determination is NO, the flow proceeds to step S 1208 in FIG. 40 . When in step S 1224 the determination is YES, the joining mode entry rejection is added to the data to be transmitted to the following vehicles in step S 1225 , and the flow proceeds to step S 1208 in FIG. 40 .

When in step S 1201 the procession joining request switch is ON, the request is transmitted in the frequency band AS in step S 1226 , in step S 1227 it is displayed that the joining of the processions is requested, and in step S 1228 it is determined whether there is any received data in the frequency band AS or not. When in step S 1228 the determination is NO, the flow proceeds to step S 1208 . When in step S 1228 the determination is YES, the leading vehicle (D 1 ) data is stored in the memory in step S 1229 , and the flow proceeds to step S 1230 . In step S 1230 , it is determined whether there is the joining mode entry request or not, and when there is the joining mode entry request, the joining mode entry instruction is added to the data to be transmitted to the following vehicle (E 2 ) in step S 1233 , the object vehicle enters joining mode in step S 1234 , and the flow proceeds to step S 1208 .

When in step S 1230 there is no joining entry request, it is determined in step S 1231 whether the joining mode entry is rejected or not. When it is not rejected, the flow proceeds to step S 1208 in FIG. 40 . In contrast, when the entry to joining mode is rejected, a leading vehicle screen is displayed in step S 1232 , and the flow proceeds to step S 1208 in FIG. 40 .

The following vehicle process in step S 1158 in FIG. 37 will be explained with reference to the flowchart of FIG. 41 .

In step S 1250 , the screen prepared for the following vehicle is displayed, and the flow proceeds to step S 1251 . In step S 1251 it is determined whether the emergency stop request switch is ON or not. When in step S 1251 the emergency stop request switch is OFF, the flow proceeds to step S 1253 .

When in step S 1251 the emergency stop request switch is ON, an emergency stop request is added to the data to be transmitted to the leading vehicle in step S 1252 , and the flow proceeds to step S 1253 .

In step S 1253 , the presence or absence of received data is determined. When in step S 1253 there is no received data, control terminates. When in step S 1253 there is received data, the flow proceeds to step S 1254 , in which it is then determined whether the received data has been transmitted from the leading vehicle or not. When in step S 1254 the received data was not sent from the leading vehicle, in step S 1255 other following vehicle data is stored in a memory, and the flow proceeds to step S 1266 .

When in step S 1254 the received data was sent from the leading vehicle, the leading vehicle data is stored in the memory in step S 1256 , and the flow proceeds to step S 1257 . In step S 1257 , it is determined whether an emergency stop instruction was sent from the leading vehicle.

When in step S 1257 no emergency stop instruction was sent from the leading vehicle, the flow proceeds to step S 1259 . When the emergency stop instruction was sent from the leading vehicle, the vehicle performs the emergency stop operation in step S 1258 , and the flow proceeds to step S 1259 .

In step S 1259 , it is determined whether there is a joining mode entry request or not. When in step S 1259 there is the joining mode entry request, the vehicle enters joining mode in step S 1260 , and starts receiving a signal in the frequency band AS in step S 1261 , and the flow proceeds to step S 1266 .

When in step S 1259 there is no joining mode entry instruction, in step S 1262 it is determined whether there is a normal mode entry request or not. When in step S 1262 there is no normal mode entry request, the flow proceeds to step S 1266 . When in step S 1262 there is the normal mode entry request, the processional travel (processional travel mode) is terminated in step S 1263 , procession mode is changed to normal mode in step S 1264 , the procession settings (the total number of vehicles, and the sequence number) are cleared in step S 1265 , and the flow proceeds to step S 1266 .

In step S 1266 , it is determined whether the next time is the object vehicle's turn to transmit. When in step S 1266 the determination is NO, control terminates. When in step S 1266 the determination is YES, the transmission data is collected in step S 1267 , the data is transmitted in step S 1268 , and control terminates.

The joining process in step S 1156 in FIG. 37 will be explained with reference to the flowchart of FIG. 42 .

In step S 1270 , it is determined whether the object vehicle is in the requesting vehicle group or not. When the object vehicle is not in the requesting vehicle group, the flow proceeds to step S 1271 , in which it is then determined whether the object vehicle is a leading vehicle or not. When in step S 1271 the object vehicle is not a leading vehicle, control terminates. When in step S 1271 the object vehicle is a leading vehicle, the total number of vehicles in a new procession and the sequence number are calculated in step S 1272 , the procession settings (the total number of vehicles, and the sequence number) are reset in step S 1273 , and control terminates.

When in step S 1270 the object vehicle is in the requesting vehicle group, the flow proceeds to step S 1274 , in which it is determined whether the vehicle is requesting the joining to the leading vehicle D 1 or not. When in step S 1274 the vehicle is not requesting the joining, the flow proceeds to step S 1275 , in which then the joining request is sent to the leading vehicle D 1 , and control terminates. When in step S 1274 the vehicle is requesting the joining, the flow proceeds to step S 1276 , in which it is then determined whether there is any received data in the frequency band AS or not.

When in step S 1276 there is no received data, the flow proceeds to step S 1277 , in which then it is determined whether a predetermined time has passed or not. After the predetermined time has passed, the display indicates the failure of the joining in step S 1278 , the vehicle enters normal mode in step S 1279 , and control terminates. When in step S 1277 the predetermined time has not passed, control terminates.

When in step S 1276 there is received data, the flow proceeds to step S 1280 , in which it is then determined whether the received data is sent from the leading vehicle D 1 or not. When it is not sent from the leading vehicle, the flow proceeds to step S 1277 . When in step S 1280 the received data is sent from the leading vehicle, the leading vehicle data is stored in the memory in step S 1281 , and the flow proceeds to step S 1282 , in which it is then determined whether the joining is rejected or not. When the joining is rejected in step S 1282 , the flow proceeds to step S 1278 .

When in step S 1282 the joining is not rejected, the flow proceeds to step S 1283 , in which it is then determined whether the joining is permitted or not. When in step S 1283 the joining is not permitted, the flow proceeds to step S 1277 . When in step S 1283 the joining is permitted by the leading vehicle, the flow proceeds to step S 1284 , in which then the vehicle can detect the vehicle in front by radar.

When in step S 1284 the vehicle cannot detect the vehicle in front, the flow proceeds to step S 1278 . When in step S 1284 the vehicle can detect the vehicle in front by radar, the total number of vehicles in a new procession and the sequence number are calculated in step S 1285 , the procession settings (the total number of vehicles, and the sequence number) are set in step S 1286 , and the joining request is cleared in step S 1287 . Then, in step S 1288 , the vehicle enters following mode, and stops using the frequency band BS in step S 1289 , and control terminates.

The communication procedure when another procession wishes to join the procession, joins at the end of the procession, and forms a new procession will be explained.

In the following procedure, as shown in FIG. 31 , the processional vehicle group EG, which includes in total two vehicles of the leading vehicle E 1 and the following vehicle E 2 , joins a processional vehicle group DG which includes in total three vehicles of the leading vehicle D 1 and the following vehicles D 2 and D 3 . The processional vehicle group EG approaches the traveling processional vehicle group DG, and when the procession joining request is permitted, the processional vehicle group EG joins at the end of the processional vehicle group DG, and they form the processional vehicle group FG shown in FIG. 32 .

In the following, the explanation is made by way of the case in which the joining request is sent from the processional vehicle group EG after the leading vehicle D 1 performs the communication (1) in the above-described communication procedure, and after all the vehicles 1 receive it. The communication procedure in the respective processions is similar to the second embodiment, and its description is omitted. The processional vehicle group DG performs the vehicle-to-vehicle communication using the frequency band AS, and the processional vehicle group EG performs the vehicle-to-vehicle communication using the frequency band BS. Numbers in the round brackets continued from the communication procedure for normal processional travel.

(12) The leading vehicle D 1 in the processional vehicle group DG transmits using the frequency band AS. In the transmitted data, it is specified that the following vehicle D 2 has the next transmission right. The data transmitted from the leading vehicle D 1 is received by all the vehicles 1 which are the following vehicles D 2 to D 3 .

(13) Although the next time is the following vehicle D 2 's turn to transmit, the leading vehicle E 1 in the processional vehicle group EG manually switches the communication frequency to the frequency band AS, the leading vehicle E 1 transmits in the frequency band AS, and the data transmitted from the leading vehicle E 1 in the processional vehicle group EG is received by all the vehicles 1 in the processional vehicle group DG. At that time, the other vehicles 1 in the processional vehicle group EG receives the data in the frequency band AS used by the processional vehicle group DG. Here, the following vehicle E 2 in the processional vehicle group EG receives an instruction informing the timing for switching the frequency from an instruction device, which is not shown, of the leading vehicle E 1 . Thus, the following vehicle E 2 in the processional vehicle group EG can receive the timing for the leading vehicle E 1 's switching the frequency band AS for the processional vehicle group DG to the frequency band BS for the processional vehicle group EG.

On reception of the data, the leading vehicle D 1 switches the screen on the display device 8 . The vehicle-to-vehicle communication in the processional vehicle group DG in the frequency band AS continues. The processional vehicle group EG is switched to the frequency band BS, and the vehicle-to-vehicle communication continues. When the driver in the leading vehicle D 1 pushes the permission button KYB, the leading vehicle D 1 transmits, and specifies in the transmitted data that the following vehicle D 2 has the next transmission right. The transmitted data from the leading vehicle D 1 , which includes the joining mode entry request, is received by all the vehicles 1 in the processional vehicle groups DG and EG.

Then, the leading vehicle D 1 is changed to a leading vehicle F 1 , the following vehicle D 2 is changed to a following vehicle F 2 , the following vehicle D 3 is changed to a following vehicle F 3 , the leading vehicle E 1 is changed to a following vehicle F 4 , and the following vehicle E 2 is changed to a following vehicle F 5 . The vehicle-to-vehicle communication in the processional vehicle group EG terminates.

(14) Then, the following vehicle D 2 =F 2 which has the transmission right transmits. In the transmitted data, it is specified that the leading vehicle F 1 has the next transmission right. The data transmitted from the following vehicle F 2 is received by the leading vehicle F 1 and the other following vehicles F 3 to F 5 .

(15) Again, the leading vehicle F 1 transmits. It is specified that the leading vehicle F 3 has the next transmission right.

(16) The following vehicle F 3 transmits. In the transmitted data, it is specified that the leading vehicle F 1 has the next transmission right. The data transmitted from the following vehicle F 3 is received by the leading vehicle F 1 and the other following vehicles F 2 , F 4 , and F 5 .

(17) After the following vehicle F 5 transmits, the procedure returns to the leading vehicle F 1 , and then the above procedure is then repeated. Thus, the communication can be smoothly performed when the processional vehicle group EG joins the procession.

The apparatus for changing the frequency for the vehicle-to-vehicle communication will be explained with reference to FIG. 43 . As described above, when there is only one processional vehicle group, there may be a single frequency for the vehicle-to-vehicle communication. Once the processions are joined, the frequencies for the vehicle-to-vehicle communication must be different to prevent radio interference between each other.

Specifically, the band of 2.484 MHz (the bandwidth: 2.471-2.497 MHz), which is the frequency band applicable to a radio LAN for mobile bodies, is divided into the AS band whose range is 2.471-2.484 MHz and the BS band whose range is 2.484-2.497 MHz. Thus, these two frequency bands are allocated to the respective separated vehicle groups, thereby preventing radio interference between the groups.

FIGS. 43A and 43B are diagrams for explaining the construction of the communication device using multi-channel communication (for switching a frequency). FIG. 43A shows a transmitter for vehicle-to-vehicle communication. FIG. 43B shows a receiver for vehicle-to-vehicle communication. In FIG. 43A , an instruction by the driver (e.g., an instruction input by a button not shown) is input to a frequency switching circuit 1013 , by which one of a high frequency circuit 1009 using the predetermined frequency band AS and another high frequency circuit 1012 using the predetermined frequency band BS is selected. Thus, the transmission data can be transmitted from the vehicle-to-vehicle antenna 1004 using a radio frequency in the band AS or BS. In FIGS. 43A and 43B , a portion enclosed by the chain lines (the frequency switching circuit 1013 and the transmitter 1010 in FIG. 43A , and the frequency switching circuit 1013 and the receiver 1011 in FIG. 43B ) constitute a part of the processional travel control apparatus.

As shown in FIG. 43B , the transmitted data is received by the receiver 1011 of the other vehicle 1 in the object vehicle group. Because, in a manner similar to the transmitter, the frequency switching circuit 1013 can select one of the high frequency circuit 1009 using the frequency band AS, and the high frequency circuit 1012 using the frequency band BS, according to the instruction from the display device, the data is reliably received by the receiver 1011 .

Thus, because, before the processions are joined together, the processional vehicle group DG uses the frequency in the band AS, and the other processional vehicle group EG uses the frequency in the band BS. When they are joined together, the processional vehicle group EB is manually switched to the frequency band AS to receive the information from the processional vehicle group DG. When the joining is permitted, the processional vehicle group EG joins the processional vehicle group DG, and the vehicle-to-vehicle communication is performed in the frequency band AS. Therefore, before the joining, radio interference can be prevented, and after the joining, the processional vehicle group FG can perform the vehicle-to-vehicle communication using the common frequency band.

According this embodiment, when the processional vehicle group EG, which consists of the leading vehicle E 1 and the following vehicle E 2 wishes to join the processional vehicle group DG which consists of the leading vehicle D 1 and the following vehicles D 2 and D 3 , the processional vehicle group EG can join the procession, and the new processional vehicle group FG which consists of the leading vehicle F 1 and the following vehicles F 2 , F 3 , F 4 , and F 5 , without stopping and canceling the respective processions. Therefore, without decreasing the transport efficiency in processional travel, the redundant labor of the drivers can be reduced. Further, the vehicle-to-vehicle communication between the processional vehicle group DG and the processional vehicle group EG can be smoothly provided, avoiding confusion and blank in communication.

This invention is not limited to the above embodiments, and for example the total number of vehicles is not limited unless there is no problem with processional travel.

This invention may be embodied in other forms or carried out in other ways without departing from the spirit thereof. The present embodiments are therefore to be considered in all respects illustrative and not limiting, the scope of the invention being indicated by the appended claims, and all modifications falling within the meaning and range of equivalency are intended to be embraced therein.

Claims

1. A processional travel control apparatus which allows processional travel a group of vehicles including a leading vehicle and a following vehicle automatically following the leading vehicle, whereinan object vehicle comprises a device for sending a request to separate or join the processional travel, to the leading vehicle; the leading vehicle comprises a device for selectively permitting and rejecting the request from the object vehicle, the apparatus further comprises a mode switching device, and when the leading vehicle permits the request, the object vehicle is switched by the mode switching device between automatic driving, in which the object vehicle functions as a following vehicle automatically following the leading vehicle, and manual driving by a driver.

2. An apparatus according to claim 1, further comprising a channel switching device for switching a communication channel when the object vehicle separates or joins the processional travel.

3. An apparatus according to claim 1, wherein the object vehicle is the following vehicle in said group of vehicles,the following vehicle comprises the device for sending a request to separate from the processional travel to the leading vehicle, the leading vehicle comprises a device for permitting or rejecting the separation request from the following vehicle, and when the leading vehicle permits the separation request, the following vehicle is switched by the mode switching device from the automatic driving, in which the following vehicle automatically follows the leading vehicle, and the manual driving by a driver.

4. An apparatus according to claim 3, further comprising a channel switching device for switching a communication channel, whereinwhen the leading vehicle permits the separation request and there is another following vehicle which allows the following vehicle separating from the procession at the time of switching from automatic driving to manual driving, a new procession is formed comprising the separating following vehicle and said another following vehicle, and the channel switching device switches a communication device of the new procession to a communication channel different from that of the original procession.

5. A processional travel control apparatus which has a communication device for sending information regarding an object vehicle position to another vehicle, and which allows processional travel with a group of vehicles including a leading vehicle and succeeding vehicles automatically following the leading vehicle, based on the information, whereinan independent vehicle, which travels independently from the vehicle group traveling in a procession, comprises a device for sending a request to incorporate the independent vehicle into the procession to the leading vehicle, the leading vehicle comprises a device for selectively permitting and rejecting the incorporation request from the independent vehicle, the apparatus further comprises a mode switching device, and when the leading vehicle permits the incorporation request from the independent vehicle, the independent vehicle is switched by the mode switching device from manual driving by a driver to automatic driving in which this vehicle automatically follows the leading vehicle.

6. A processional travel control apparatus which has a communication device for sending information regarding an object vehicle position to another vehicle, and which allows processional travel with a group of vehicles, each said group including a leading vehicle and at least one succeeding vehicle automatically following the leading vehicle, based on the information, whereina leading vehicle in a second vehicle group, which travels in a second procession independently from a first vehicle group traveling in a first procession, comprises a device for sending a request to join the first procession to the leading vehicle in the first procession, the leading vehicle in the first vehicle group comprises a device for selectively permitting and rejecting the joining request from the leading vehicle in the second vehicle group, the aparatus further comprises a mode switching device, and when the leading vehicle in the first vehicle group permits the joining request from the leading vehicle of the second vehicle group, the leading vehicle in the second vehicle group is switched by the mode switching device from manual driving by a driver to automatic driving in which this vehicle automatically follows the leading vehicle in the first vehicle group, and becomes a following vehicle in a new vehicle group and followsthe leading vehicle in the first group, which becomes the leading vehicle in the new group.

7. An apparatus according to claim 6, further comprising a channel switching device for switching a communication channel, whereinwhen the leading vehicle in the first vehicle group permits the separation request from the second vehicle group and the second vehicle group joins a first vehicle group, the channel switching device sets the communication channel for the second vehicle group to the same as that for the first vehicle group.

8. An apparatus according to claim 5, wherein the succeeding vehicles automatically, sequentially follow the leading vehicle in the processional travel.