Vehicle control device
A vehicle control device connecting platoon participating vehicles to one another via radio communication, to control platooning of the platoon participating vehicles, the platoon participating vehicle includes a leading vehicle and following vehicles that perform automatic follow-up running in line with a predetermined intervehicle distance from the leading vehicle, During execution of the platooning, the vehicle control device acquires, for each of the platoon participating vehicles, information of an estimated value of retardation based on a driven torque generated when coasting solely in its current vehicle state, the vehicle control device controls the driven torque of each of the platoon participating vehicles so that the platoon participating vehicles align in ascending order of the estimated value of retardation increasing rearward in sequence from the leading vehicle.
1. A vehicle control device connecting platoon participating vehicles to one another via radio communication, to control platooning of the platoon participating vehicles, the platoon participating vehicles including a leading vehicle and following vehicles that perform automatic follow-up running in line with a predetermined intervehicle distance from the leading vehicle,
during execution of the platooning, the vehicle control device acquiring, for each of the platoon participating vehicles, information of an estimated value of retardation based on a driven torque generated when coasting solely in its current vehicle state, the vehicle control device controlling the driven torque of each of the platoon participating vehicles, such that the platoon participating vehicles align in ascending order of the estimated value of retardation increasing rearward in sequence from the leading vehicle, and such that a difference in the estimated value of retardation between preceding and following vehicles of the platoon participating vehicles is even.
2. The vehicle control device of claim 1 , wherein
each of the platoon participating vehicles includes an engine as a power source and an automatic transmission transmitting power of the engine to driving wheels, and
the vehicle control device controls the driven torque obtained from engine braking caused by friction of the engine, by changing a gear ratio of the automatic transmission, such that the difference in the estimated value of retardation between the preceding and following vehicles of the platoon participating vehicles is even.
3. The vehicle control device of claim 1 , wherein
each of the platoon participating vehicles includes a rotator as a power source, and
the vehicle control device controls the driven torque obtained from regenerative braking caused by regenerative operation of the rotator, by changing amount of regeneration of the rotator, such that the difference in the estimated value of retardation between the preceding and following vehicles of the platoon participating vehicles is even.
4. The vehicle control device of claim 1 , wherein
the vehicle control device acquires information of the estimated value of retardation that takes account of difference in air resistance occurring from order in which the platoon participating vehicles align.
5. The vehicle control device of claim 1 , wherein
prior to execution of the platooning, the vehicle control device figures out the estimated value of retardation that is based on the driven torque of each of the platoon participating vehicles.
6. The vehicle control device of claim 1 , wherein
based on vehicle weight, the vehicle control device figures out the estimated value of retardation that is based on the driven torque of each of the platoon participating vehicles.
7. The vehicle control device of claim 1 , wherein
the vehicle control device brings control of the driven torque to an end in case that, as a result of the control of the driven torque, an intervehicle distance between any ones of the platoon participating vehicles exceeds a predetermined end determination threshold value greater than the predetermined intervehicle distance.