Source: https://patents.google.com/patent/JP5472248B2/en
Timestamp: 2020-01-20 14:59:27
Document Index: 608869076

Matched Legal Cases: ['art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art, 20']

JP5472248B2 - Convoy travel device - Google Patents
Convoy travel device Download PDF
JP5472248B2
JP5472248B2 JP2011211070A JP2011211070A JP5472248B2 JP 5472248 B2 JP5472248 B2 JP 5472248B2 JP 2011211070 A JP2011211070 A JP 2011211070A JP 2011211070 A JP2011211070 A JP 2011211070A JP 5472248 B2 JP5472248 B2 JP 5472248B2
JP2011211070A
JP2013073361A (en
2011-09-27 Application filed by 株式会社デンソー filed Critical 株式会社デンソー
2011-09-27 Priority to JP2011211070A priority Critical patent/JP5472248B2/en
2013-04-22 Publication of JP2013073361A publication Critical patent/JP2013073361A/en
2014-04-16 Publication of JP5472248B2 publication Critical patent/JP5472248B2/en
The present invention relates to a row running apparatus that is mounted on a vehicle and performs vehicle running control for running in a row with other vehicles.
In a convoy travel in which a plurality of vehicles travel in a convoy, a technique is known in which a plurality of subsequent vehicles in the convoy directly receive travel information transmitted by the leading vehicle in the convoy to perform vehicle travel control (for example, Patent Document 1). According to this technology, the following vehicles other than the following vehicle nearest to the leading vehicle can also perform the traveling control that quickly reflects the traveling information of the leading vehicle.
JP 2009-239585 A
As in the above-described prior art, when a plurality of subsequent vehicles in a platoon directly receive the traveling information transmitted by the leading vehicle in the platoon and perform vehicle traveling control, the number of vehicles in the platoon is determined by the capability of the wireless communication device of the leading vehicle. There is a problem that the number of vehicles is limited by.
The present invention has been made based on this situation, and an object of the present invention is to provide a row running device capable of running in a number of rows that exceeds the communication capacity of the leading vehicle.
In order to achieve the object, the invention according to claim 1 is a platooning device mounted on a vehicle, comprising a wireless communication device for performing inter-vehicle communication, and for the other vehicle to perform platooning control, the wireless communication device From the above, the convoy travel information including the travel information of the own vehicle is sequentially transmitted. And if the own vehicle is a succeeding vehicle in the convoy, the convoy travel information from the vehicle set as the leading vehicle out of the convoy travel information received from each of the plurality of vehicles by the wireless communication device is used. Perform platooning control.
In addition, in the above-mentioned formation running information, the overall formation ID, which is the ID of the entire formation, and the ID of the sub formation in which the entire formation is divided into formations equal to or less than the number of vehicles determined by the communication capability of the wireless communication device of the leading vehicle of each formation. It is transmitted including the sub formation ID that is. Further, when the host vehicle is the first vehicle in the sub platoon, the heading information that allows the subsequent vehicle in the sub fleet to determine that the vehicle is the first vehicle in the sub platoon is included in the platoon travel information and transmitted. On the other hand, when the host vehicle is a succeeding vehicle in the sub platoon, the platooning information received from the leading vehicle in the sub platoon in which the own vehicle is the succeeding vehicle, from the platoon traveling information received from each of the plurality of vehicles by the wireless communication device. Is identified by the sub-convoy ID and the head information included in the convoy travel information, and convoy travel control is performed using the identified convoy travel information.
In addition, the first vehicle in the second and subsequent sub-trains is also a succeeding vehicle in the previous sub-train, and the sub-train whose own vehicle is the subsequent vehicle based on the platoon travel information received from each of the plurality of vehicles by the wireless communication device. The convoy travel information received from the first vehicle is identified by the sub convoy ID and the head information included in the convoy travel information, and the content of the convoy travel control of the own vehicle is determined using the identified convoy travel information. Then, the content of the determined row running control is included in the row running information and transmitted.
In the present invention, in addition to transmitting the entire row ID indicating the ID of the entire row, the sub row ID is transmitted, and the row running control is performed using the sub row ID. Since the sub platoon is the number of vehicles that is equal to or less than the number of vehicles determined by the communication capability of the wireless communication device of the leading vehicle of the sub platoon, the following vehicle in the sub platoon receives the platooning information from the leading vehicle of the sub platoon and Travel control can be performed.
In addition, the leading vehicle in the second and subsequent sub platoons is also the succeeding vehicle in the previous sub platoon, and the platooning control of the own vehicle is received by receiving the platooning information of the leading vehicle in the sub plation in which the own vehicle becomes the following vehicle. The content of the determined row running control is included in the row running information and transmitted. Therefore, the succeeding vehicle in the sub platoon in which the own vehicle is the leading vehicle also performs platooning control based on the platooning information of the leading vehicle in the sub platoon in which the own vehicle is the following vehicle. Thereby, it is possible to form a number of platoons that exceed the capacity of the first vehicle in the entire platoon.
In the invention according to claim 2, when the vehicle immediately before the host vehicle is the head vehicle of the sub platoon where the host vehicle is a subsequent vehicle, the host vehicle is set as the head vehicle of the next sub platoon.
In this way, the position of the leading vehicle in each sub-convoy can be the frontmost in the entire convoy, so that information ahead of the entire convoy can be quickly transmitted to subsequent vehicles in that sub-convoy. .
However, the head vehicle of the sub platoon is not limited to the invention described in claim 2, and as in claim 3, in the sub platoon where the own vehicle is a succeeding vehicle, the own vehicle is When the vehicle is at the end of the sub-train determined by the communication capability of the wireless communication device of the leading vehicle, the host vehicle may be the leading vehicle of the next sub-train.
The invention according to claim 4 is an invention related to the processing of the leading vehicle in the sub platoon, and the host vehicle is a succeeding vehicle in the sub platoon, and the order in the sub platoon is the order in which the next sub platoon leading vehicle becomes. The sub-train ID of the sub-train where the host vehicle is the leading vehicle, and the current capacity information of the sub-train where the host vehicle is the leading vehicle, It is included in the convoy travel information and transmitted.
In this way, it is possible to determine that a vehicle that intends to newly join the platoon can join the platoon based on the current capacity information. Further, it can be seen from the sub platoon ID which sub fleet information should be used to perform the platooning control. Accordingly, it is possible to perform a platooning by newly joining the platoon from outside the platoon.
Note that the current capacity information may be information directly indicating how many can be accommodated, or information including a maximum capacity and a current capacity that will be described later. In the case of the invention according to claim 2, the order of becoming the next vehicle in the sub platoon is the vehicle following the head vehicle in the sub platoon, and in the case of the invention according to claim 3, This is the last vehicle in the sub formation determined by the communication capability of the wireless communication device of the first vehicle in the formation.
Further, as in the above-described invention, when the row running control is performed using the sub row ID, the control can be performed by regarding the two entire rows as the same row in the control as in the fifth aspect. .
When a single formation is formed and traveling in a row, as in the first aspect of the invention, the entire row ID is included in the row running information and transmitted. Thereby, even if another whole row exists in the vicinity, it is possible to prevent erroneous use of the row running information of the other whole row. However, when the interval between two entire formations is narrowed and it is better to travel as one entire formation, the difference between the entire formation IDs becomes a problem.
Here, in order to determine that the leading vehicle in the rear entire row itself joins as a subsequent vehicle in a sub row of another whole row that runs ahead, the row running information of the sub row of the previous whole row is used. It is easy to change settings when they are used. Particularly problematic when two entire platoons form one entire platoon and perform platooning is the subsequent vehicle of the rear entire platoon, and the platooning information from the sub platoon of the previous entire platoon It is a vehicle that can receive.
Therefore, in the invention according to claim 5, when the own vehicle is the leading vehicle of the entire row and is added as a subsequent vehicle to a sub row of another whole row that travels in front, the leading vehicle must The whole row ID of the entire row and the sub row ID of the sub row are received, and the received whole row ID and sub row ID are also included in the row running information and transmitted. This information will be received by the following vehicle. Therefore, the host vehicle is a succeeding vehicle of the entire row, receives the row running information including the entire row ID and the sub row ID of another whole row that travels ahead from the head vehicle of the whole row, and forward If the column running information including the entire column ID and the sub column ID can be received from the leading vehicle in the sub column of another entire column that uses the same vehicle, the column running information of the first vehicle in the sub column of the other entire column is used. To control platooning.
In this way, even if the vehicle is a succeeding vehicle in the rear whole row, row running control can be performed using the row running information from the sub row of the previous whole row.
1 is a block diagram showing a schematic configuration of an in-vehicle platooning system 1 including a platooning apparatus 10 to which the present invention is applied. It is a figure which shows the basic view of row | line | column running control in embodiment. It is a flowchart which shows the process which the control part 12 performs in an initial state (StateA). It is a figure explaining the specific comparison method of a driving | running | working locus | trajectory. It is a flowchart which shows the process which the control part 12 performs in a row running preparation state (StateB). It is a flowchart which shows the process which the control part 12 performs in a platooning possible state (StateC). It is a figure explaining a part of formation running information which each vehicle transmits in a formation running state (StateD). It is a flowchart which shows the process which the control part 12 performs in the row running state (StateD). It is a flowchart which shows the process which the control part 12 performs in the row running state (StateD).
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of an in-vehicle platooning system 1 including a platooning apparatus 10 to which the present invention is applied. The in-vehicle platooning system 1 is mounted on many vehicles, and the platooning is performed by a plurality of vehicles on which the in-vehicle tandem traveling system 1 is mounted.
As shown in FIG. 1, the in-vehicle platooning system 1 includes a laser radar 20, a position detector 30, a brake ECU 40, an engine ECU 50, and an EPS_ECU 60 in addition to the platooning apparatus 10. These are connected to each other by an in-vehicle LAN 70 compliant with a communication protocol such as CAN (controller area network).
The convoy travel apparatus 10 includes a wireless communication device 11 and a control unit 12. The wireless communication device 11 includes a transmission / reception antenna (not shown), and performs inter-vehicle communication by wireless communication, for example, with a communication range of several hundred meters around the host vehicle. The radio wave used by the wireless communication device 11 is, for example, the 700 MHz band, but may be a radio wave of another frequency band such as 5.9 GHz. In addition, transmission of the information of the own vehicle is performed by broadcast transmission (unidirectional communication).
The control unit 12 includes a known CPU, a memory such as a ROM / RAM / EEPROM, an I / O, and a bus line (none of which is shown) for connecting these components. The control unit 12 is based on information acquired from another vehicle via the wireless communication device 11 and information acquired from the laser radar 20, the position detector 30, the brake ECU 40, the engine ECU 50, and the EPS_ECU 60 via the in-vehicle LAN 70. Convoy travel control is performed by controlling the brake ECU 40, the engine ECU 50, and the EPS_ECU 60.
The control unit 12 also functions as a communication control unit that controls transmission / reception of the wireless communication device 11. Information on the own vehicle that other vehicles in the convoy use for convoy travel control is transmitted from the wireless communication device 11. Send some formation running information. Further, the control unit 12 also executes a process of specifying the transmission source vehicle that has transmitted the convoy travel information received by the wireless communication device 11. Details of the processing of the control unit 12 will be described later.
The laser radar 20 is installed at the front end of the vehicle and scans the laser beam in a relatively narrow predetermined angle range in front of the vehicle, and receives the reflected light of the laser beam to detect a front object. In the detection of the front object, the presence of the front object is detected based on the fact that the reflected light intensity is not less than a predetermined intensity. Further, the relative azimuth of the front object is detected from the laser light sending direction, and the distance to the front object is measured based on the time from the laser light sending to the light receiving. Further, the laser radar 20 also determines whether or not the forward object is a preceding vehicle that travels in front of the host vehicle. Therefore, the laser radar 20 can sequentially measure the inter-vehicle distance from the preceding vehicle. Instead of the laser radar 20, a millimeter wave radar may be used. Further, the control unit 12 may determine whether or not the forward object is a preceding vehicle.
The position detector 30 includes a GPS receiver that receives radio waves from GPS (global positioning system) artificial satellites, and based on the radio waves received by the GPS receiver, coordinates (hereinafter, GPS positioning coordinates) are sequentially detected.
The brake ECU 40 is configured mainly by a microcomputer including a CPU, ROM, RAM, backup RAM, etc., for example, acquires signals indicating vehicle speed, longitudinal acceleration, and lateral acceleration from a vehicle speed sensor and an acceleration sensor, and controls those signals to a control unit. 12 is supplied. Moreover, based on the instruction | indication from the control part 12, a brake actuator is controlled and a vehicle is decelerated.
The engine ECU 50 controls engine torque generated by an engine (not shown) in order to accelerate and decelerate the vehicle based on an instruction from the control unit 12. The EPS_ECU 60 acquires signals indicating the steering torque and the steering angle from the torque sensor and the steering angle sensor, and supplies these signals to the control unit 12. Further, based on an instruction from the control unit 12, a motor for rotating the steering shaft is controlled.
Next, the row running control performed by the control unit 12 will be described in detail. First, the basic concept of row running control in this embodiment will be described with reference to FIG. The row running control in the present embodiment performs control according to which of the four states shown in FIG. Specifically, the four states are the initial state (State A), the convoy travel preparation state (State B), the convoy travel ready state (State C), and the convoy traveling state (State D). It has a state parameter indicating which of the four states the host vehicle is in.
Hereinafter, the processing in each state will be described in order from the initial state (StateA). The initial state (StateA) is the initial state as the name implies, and every vehicle is initially in this initial state (StateA). In addition to the first, as shown in FIG. 2, transition from the convoy travel ready state (StateB), convoy travel ready state (StateC), convoy travel state (StateD) to the initial state (StateA) There is also.
If the host vehicle is in the initial state (State A), the processing shown in FIG. 3 is executed. In FIG. 3, first, in step SA <b> 1, the convoy travel information of the host vehicle is broadcast from the wireless communication device 11. This row running information includes continuous GPS positioning coordinates for a predetermined number of times from the latest one (for example, a total of four times including the latest one), the vehicle speed, and the direction. In addition, the platooning travel information may include travel control content or information indicating travel behavior (for example, information related to brake control). Further, in this initial state (StateA), it is not included in the convoy travel information, but as described later, in the convoy travel state (StateD), the entire convoy ID and the sub convoy ID are included. May contain maximum capacity. The GPS positioning coordinates are sequentially acquired from the position detector 30, and the vehicle speed is acquired from a vehicle speed sensor via the brake ECU 40. The azimuth may be calculated from the locus of GPS positioning coordinates, or when the geomagnetic sensor is mounted on the vehicle, the azimuth may be obtained from the geomagnetic sensor.
In subsequent step SA2, it is determined whether or not the platooning information is received from another vehicle. If there is another vehicle equipped with the in-vehicle platooning system 1 around the own vehicle, the other vehicle also transmits the platooning information, so that the platooning information can be received from the other vehicle. If the determination in step SA2 is negative, the process returns to step SA1. On the other hand, if it is affirmation determination, it will progress to step SA3.
In step SA3, first, a travel locus of the other vehicle is created from a plurality of GPS positioning coordinates included in the convoy travel information received from the other vehicle. Then, the created travel trajectory is compared with the past travel trajectory created from the convoy travel information received and stored in the memory before the convoy travel information received this time. Then, the transmission source vehicle of the convoy travel information received this time is specified from the degree of coincidence of the travel trajectories.
In the situation where the platooning is performed, the platooning information is sequentially received from each of the plurality of vehicles, but the past traveling locus used for comparison here is the current traveling locus and the measurement time of the GPS positioning coordinates. Are only duplicates. More preferably, only a traveling locus in which the measurement time points substantially coincide with each other except for one measurement time point is used for the comparison.
A method for comparing the running trajectories will be specifically described with reference to FIG. 4 assuming that the number of times of measurement is four times. For the past travel trajectory, the travel trajectory created by three times (P2, P1, P0 in FIG. 4) excluding the oldest GPS positioning coordinates is used. On the other hand, the current travel locus is created from the GPS positioning coordinates for three times (Q3, Q2, Q1 in FIG. 4) excluding the latest one. If the GPS positioning coordinates P0 to P3 and the GPS positioning coordinates Q0 to Q3 are information continuously transmitted from the same vehicle, as indicated by double arrows in FIG. 4, P0 and Q1, P1 and Q2, and P2 and Q3 are The GPS positioning coordinates of the same vehicle at the same time point. Therefore, as shown by the dashed-line squares in FIG. 4, the traveling locus P2-P1-P0 and the traveling locus Q3-Q2-Q1 are information in which these GPS positioning coordinates P, Q are continuously transmitted from the same vehicle. In the case where the vehicle is different, the degree of coincidence of the traveling tracks is low when the vehicles are different.
Therefore, from the degree of coincidence of the traveling trajectories, it is possible to specify where the transmission source vehicle that transmitted the convoy travel information received this time is the vehicle that was at the time of the previous transmission. The degree of coincidence indicates the degree of coincidence of both the shape of the traveling locus and the position of the traveling locus. By sequentially identifying the vehicle based on the above-mentioned traveling locus, even if the latest GPS positioning coordinates received from a plurality of other vehicles around the host vehicle are temporarily very close to each other, the platooning traveling information It is possible to correctly identify the position of the vehicle from which the transmission source vehicle has transmitted in the past. It should be noted that if the degree of coincidence is below a certain reference value with respect to any past travel locus, it is determined that the vehicle has newly entered the communication range of the host vehicle.
In subsequent step SA4, it is determined using the mutual GPS positioning coordinates and autonomous sensor information whether the transmission source vehicle specified in step SA3 is traveling in the same lane as the own vehicle. For example, it can be determined from the mutual GPS positioning coordinates that the transmission source vehicle exists at a predetermined distance in front of the host vehicle, and the vehicle is positioned at the above-mentioned distance in the frontal direction of the host vehicle by the laser radar as an autonomous sensor. Is detected, it is determined that the host vehicle and the transmission source vehicle are traveling on the same lane.
Step SA5 makes an affirmative determination if the lane determination in step SA4 is a determination result that the host vehicle and the transmission source vehicle are traveling in the same lane. Then, the process proceeds to Step SA6. On the other hand, in other cases, negative determination is made in step SA5, and the process returns to step SA1.
In step SA6, it is determined whether RSSI (received signal strength) and PER (packet error rate) of the row running information determined to have been received in step SA2 satisfy the criteria set for each. It is determined whether the relative position coordinates also satisfy the standard. Since the higher one is preferable about RSSI, it is assumed that the criterion is satisfied when the criterion value is exceeded. Since it is preferable that the PER is low, it is assumed that the criterion is satisfied if it is equal to or less than the criterion value. The relative position coordinate is the difference between the latest GPS positioning coordinates of the host vehicle and the transmission source vehicle. If the distance indicated by the difference is equal to or less than the reference distance, the reference is satisfied. If the RSSI, PER, and relative position coordinates all meet the criteria, an affirmative decision is made in step SA6. In this case, there is another vehicle that transmits the convoy travel information nearby, and the convoy travel information can be received from other vehicles with good reception quality. If an affirmative decision is made in step SA6, the process proceeds to step SA7. On the other hand, if it is determined that any one of RSSI, PER, and relative position coordinates does not satisfy the criterion, a negative determination is made in step SA6 and the process returns to step SA1.
In step SA7, the state parameter is changed to the row running preparation state (StateB). When this step SA7 is executed and the platoon traveling preparation state (State B) is reached, the processing shown in FIG. 5 is executed.
Next, processing executed in the formation running preparation state (StateB) will be described with reference to FIG. As shown in FIG. 2, the convoy travel preparation state (StateB) is a state in which only the initial state (StateA) is transitioned, and when transitioning from the initial state (StateA) to the convoy travel preparation state (StateB), The own vehicle is not in any platoon, and a certain vehicle is specified as the transmission source vehicle.
Even if the vehicle located relatively ahead is either the transmission source vehicle or the host vehicle, it is still possible to form a platoon with each other, so it is determined whether or not to shift from the initial state (State A) to the platooning preparation state However, it is not determined which of the transmission source vehicle and the host vehicle is on the front side in the traveling direction. However, when actually forming a platoon, the process differs depending on whether it is a succeeding vehicle or a leading vehicle.
Therefore, first, in step SB1, it is determined whether the host vehicle is a succeeding vehicle of the transmission source vehicle. This determination is performed using the latest GPS positioning coordinates of the host vehicle and the GPS positioning coordinates included in the row running information received from the transmission source vehicle.
If the GPS positioning coordinate of the host vehicle is behind the traveling direction of the GPS positioning coordinate of the transmission source vehicle, it is determined that the host vehicle is a subsequent vehicle, and the process proceeds to step SB2. On the other hand, if the GPS positioning coordinate of the host vehicle is on the front side in the traveling direction relative to the GPS positioning coordinate of the transmission source vehicle, it is determined that the host vehicle is the leading vehicle, and the process proceeds to step SB9.
In step SB2 to be executed when it is determined that the vehicle is a succeeding vehicle, it is determined whether or not the previous vehicle is traveling in a row. If the platooning is in progress, the platooning travel information transmitted by the previous vehicle includes the entire platoon ID, so the determination in step SB2 is made depending on whether the entire platoon ID is included. If it is determined that the platooning is in progress, the process proceeds to step SB3. If it is determined that the platooning is not in progress, the process proceeds to step SB8.
When executing Step SB3, the previous vehicle is the last vehicle in the platooning. In this embodiment, in the row running, the row running control is performed using not only the behavior of the preceding preceding vehicle but also information transmitted by the leading vehicle in the sub row. Therefore, in step SB3, it is determined whether or not the row running information has been received from the leading vehicle in the sub row. In the present embodiment, as will be described later, the content of the row running information is different between the leading vehicle and the succeeding vehicle of the sub row, and only the leading vehicle, the maximum accommodated number, and the current accommodated number are included in the row running information. Therefore, whether or not the row running information of the first vehicle in the sub row has been received is determined, for example, based on whether or not the maximum number of accommodated vehicles and the current number of accommodated vehicles are included in the row running information. If this determination is negative, the process proceeds to step SB4.
In step SB4, it is determined whether the RSSI, PER, and relative position coordinates of the convoy travel information from the contiguous vehicle of the convoy satisfy all the criteria. This determination is for determining whether or not to maintain this row running preparation state (StateB). If the RSSI, PER, and relative position coordinates all meet the criteria, step SB4 is affirmed and the process proceeds to step SB5. In step SB5, it is determined that the row running preparation state (StateB) is maintained. In this case, after that, step SB1 and the subsequent steps are executed again. On the other hand, if step SB4 is negative, the process proceeds to step SB7.
If step SB3 is affirmative, the process proceeds to step SB6, where it is determined whether the RSSI, PER, and relative position coordinates of the convoy travel information from the leading vehicle of the sub convoy satisfy all the criteria. If this determination is also affirmative, the process proceeds to step SB8. On the other hand, if a negative determination is made, the process proceeds to step SB7. In step SB7, the state parameter is changed to the initial state (StateA). In this case, the above-described processing of FIG. 3 is executed.
In step SB8, the state parameter is changed to a row running enabled state (StateC). In other words, only when the vehicle is a subsequent vehicle, the vehicle can travel in a row (StateC), and when the previous vehicle is running in a row, the row running information can be received well from the leading vehicle in the sub row. Only in this case is the platooning possible state (StateC). When this step SB8 is executed and the vehicle is ready to travel in a row (StateC), the process shown in FIG. 6 described later is executed.
If it is determined in step SB1 that the vehicle is the leading vehicle, it is determined in step SB9 whether or not a row running start notification has been received from the following vehicle. This row running start notification is a notification transmitted by the following vehicle in step SC7 in FIG. 6 described later, and is a notification indicating that the row running has started following the preceding vehicle. If it is determined that this formation running start notification has been received, the process proceeds to step SB10.
In step SB10, the state parameter is changed to a running state (StateD). In other words, when the vehicle is the leading vehicle, the vehicle is in a row running state (StateD) by receiving a row running start notification from the following vehicle.
On the other hand, in step SB11, as in step SA6 of FIG. 3, it is determined whether the RSSI, PER, and relative position coordinates of the latest platooning information received from the transmission source vehicle all satisfy the standard. This determination is for determining whether or not the row running preparation state (State B) can still be maintained. If the RSSI, PER, and relative position coordinates all meet the criteria, an affirmative decision is made in step SB11 and the process returns to step SB9. On the other hand, if any one of the criteria is not satisfied, a negative determination is made in step SB11 and the process proceeds to step SB12.
In step SB12, the state parameter is changed to the initial state (StateA). In this case, the above-described processing of FIG. 3 is executed.
Next, processing executed in the row running enabled state (StateC) will be described with reference to FIG. As described above, only the succeeding vehicle can shift to this platoonable state (StateC). In addition, while being in the row running state (StateC), a notification indicating that the row running is possible is performed to the driver constantly or periodically. As a specific mode of this notification, for example, there is a mode in which it is possible to display that it is possible to travel in a row on a display device installed at a position that can be visually recognized by the driver.
First, in step SC1, it is determined whether or not there is an allowance for the number of units that can travel ahead. The transition to the platooning possible state (StateC) is when step SB2 in FIG. 5 is NO or when step SB6 is YES, and when SB2 is NO, since the vehicle is traveling independently, Judge that there is room. In addition, when SB6 is YES, it is a case where the information of the leading vehicle in the sub platoon has been successfully received. The row running information transmitted by the leading vehicle includes the maximum accommodation number and the current accommodation number as shown in FIG. Therefore, it is determined whether there is a surplus in the number of accommodations from the maximum accommodation number and the current accommodation number included in the convoy travel information of the leading vehicle of the sub-convoy that has been received. In addition, when platooning information is received from the leading vehicle of a plurality of sub platoons, this determination is performed for the leading vehicle of all the sub platoons, and if it can be determined that there is room in the number of accommodated in any sub platoon, step SC1 Make an affirmative decision. If it is determined in step SC1 that there is no room in the capacity, it is not possible to join the front platoon, so the process proceeds to step SC6, the platooning ready state (StateC) is terminated, and the initial state (StateA) is entered. To do. On the other hand, if it is determined that there is a surplus in the number of accommodation, the process proceeds to step SC2.
In step SC2, it is determined whether or not the intention of running in the row has been confirmed by the driver. The specific determination method is to determine whether an operation for instructing the start of platooning (for example, pressing of the platooning start button) or an operation for instructing refusal of platooning has been performed by the driver. To do. If this determination is negative, the process proceeds to step SC3.
Step SC3 determines whether the RSSI, PER, and relative position coordinates of the latest platoon traveling information received from the transmission source vehicle all satisfy the standard, as in step SB11 of FIG. This determination is for determining whether or not the platoonable state (StateC) can still be maintained. If the RSSI, PER, and relative position coordinates all meet the criteria, step SC3 is affirmed and the process returns to step SC2. On the other hand, if any one of the criteria is not satisfied, a negative determination is made in step SC3 and the process proceeds to step SC4.
In step SC4, the state parameter is changed to the initial state (StateA). In this case, the above-described processing of FIG. 3 is executed.
If it is confirmed in step SC2 that the intention of running in the row is confirmed, the process proceeds to step SC5. In Step SC5, it is determined whether or not the driver's intention for the platooning that can be determined in Step SC2 is the intention to start the platooning. If this determination is a negative determination, that is, if the driver intends to reject the platooning, the process proceeds to step SC6. In step SC6, the state parameter is changed to the initial state (StateA). In this case, the above-described processing of FIG. 3 is executed.
On the other hand, if the determination in step SC5 is affirmative, the process proceeds to step SC7. In step SC7, the latest preceding vehicle is determined as the follower vehicle. In addition, the specific result in step SA3 is used to determine which vehicle is the latest preceding vehicle. Alternatively, in step SC7, the transmission source vehicle may be specified again in the same manner as in step SA3. In step SC8, the convoy travel information including the convoy travel start notification is transmitted. The following traveling vehicle (the vehicle that follows the following vehicle) indicates that the vehicle that has transmitted the convoy travel start notification is the latest succeeding vehicle based on the GPS positioning coordinates for a predetermined number of times included in the convoy travel information. Can be identified.
After sending the convoy travel start notification in step SC8, the process proceeds to step SC9, and the state parameter is changed to the convoy travel state (StateD).
Next, processing executed in the row running state (StateD) will be described. FIG. 7 is a diagram for explaining a part of the row running information transmitted by each vehicle in the row running state (StateD). First, the contents of information transmitted by each vehicle in the row running state (StateD) and how to divide the sub row in this embodiment will be described with reference to FIG.
FIG. 7 shows a state in which the platoon is traveling toward the left side of the figure, and the leftmost vehicle C1 is the first vehicle in the entire platoon. The leading vehicle C1 of the entire formation generates an entire formation ID, and transmits the generated entire formation ID included in the formation travel information. Here, for simplification, the entire formation ID is indicated as “1”. However, as will be described later in the description of step SD2 in FIG. 8, a complex ID is actually generated.
Further, the first vehicle C1 of the entire formation is also the first vehicle of the first sub formation, and generates the sub formation ID = 0. The sub platoon ID, the maximum accommodated number and the current accommodated number are also included in the platooning travel information and transmitted.
The maximum accommodation number is a numerical value indicating how many vehicles including the own vehicle can be accommodated in the sub platoon where the own vehicle is the leading vehicle, and is previously determined according to the capability of the wireless communication device 11 of the own vehicle. It is a set value. For example, when the capability of the wireless communication device 11 of the host vehicle is the capability of communicating with up to three vehicles behind the host vehicle, the maximum accommodation number is four including the host vehicle. The currently accommodated number is a value that is incremented by one each time a convoy travel start notification is received from a vehicle that has newly become a succeeding vehicle.
The second vehicle C2 in the entire row is a subsequent vehicle in the sub row with the sub row ID = 0. Therefore, the convoy travel information transmitted by the vehicle C2 includes the entire convoy ID, the sub convoy ID = 0, the maximum accommodation number of the sub convoy, and the current accommodation number. Furthermore, in this embodiment, each sub platoon is formed so that the leading vehicles of these sub platoons are continuous. In other words, the second vehicle C2 in the entire column is also the leading vehicle in the sub column next to the sub column in which the vehicle C1 is the leading vehicle. Therefore, the vehicle C2 includes the ID = 1 of the sub platoon in which the host vehicle C2 is the leading vehicle in the platooning travel information. In addition, since the vehicle is the leading vehicle in the sub platoon, the maximum accommodated number and the current accommodated number of the sub platoon are also included in the platooning travel information. In the example of FIG. 7, the maximum number of accommodated vehicles is 3, so that the maximum number of sub-trains with sub-train ID = 1 is three.
The third vehicle C3 in the entire row is a succeeding vehicle in the two sub rows with sub row ID = 0. Therefore, the convoy travel information transmitted by the vehicle C3 includes the entire convoy ID, the sub convoy ID = 0, 1, and the maximum accommodation number and the current accommodation number of the sub convoy ID = 0, 1. Furthermore, since the vehicle C3 is also the first vehicle of the third sub-convoy, the sub-convoy ID = 2 is also included in the convoy travel information. In addition, since the vehicle is the leading vehicle in the sub-convoy, the maximum accommodation number and the current accommodation number are also included in the convoy travel information. In the example of FIG. 7, the maximum accommodation number is 3. Further, since the sub platoon C2 is only the own vehicle C3 and one succeeding vehicle C4, the currently accommodated number is two.
Next, processing executed in the row running state (StateD) will be described with reference to FIG. The following vehicle is in a row running state (StateD) by executing Step SC9 in FIG. 6, and the preceding vehicle is in a row running state (StateD) by executing Step SB10 in FIG.
First, in step SD1, it is determined whether or not the host vehicle is the first vehicle in the entire platoon. If it is the first vehicle in the entire formation, the process proceeds to step SD2, and if it is a succeeding vehicle (vehicle other than the first vehicle) in the entire formation, the process proceeds to step SD3.
In step SD2, the convoy travel information is generated and the generated convoy travel information is transmitted. The convoy travel information generated here includes the entire convoy ID, the sub convoy ID, the current accommodated number, the maximum accommodated number, and the same information as the initial state (State A), that is, the own vehicle traveling information.
Of the plurality of pieces of information included in the row running information, the entire row ID is created when this step SD2 is executed for the first time after formation of the row, and the information already created is used for the second and subsequent times. The generation of the entire formation ID takes security into consideration, and in order to minimize the possibility of matching with the entire formation ID of other formations, the ID becomes different for each generation and becomes a predetermined length or more. The production rule defined as follows is used. For example, the coordinates at the start of the convoy travel, the time when the convoy travel is started, the character string simply generated at random, or a combination of these may be considered.
Unlike this whole row ID, the sub row ID is a simple numerical value that makes it easy to understand the number of the sub row in the entire row. Here, it is assumed that the first sub formation ID is 0, and sequentially increases by 1. Therefore, the sub formation ID generated in step SD2 is 0. The above is the description of step SD2. If this step SD2 is performed, it will progress to SD16 mentioned later.
Next, step SD3 and subsequent steps will be described. In step SD3, it is determined whether or not the own vehicle is the first vehicle in the sub platoon. Since the determination in step SD3 is executed when it is not the first vehicle in the entire platoon, this determination in step SD3 determines whether or not it is the first vehicle in the second or subsequent sub platoon in the entire platoon. . In addition, when step SD10 mentioned later is performed, it will recognize that the own vehicle is the head vehicle of a formation. If step SD3 is affirmative, the process proceeds to step SD11. If negative, the process proceeds to step SD4.
When step SD4 is executed, the host vehicle is a subsequent vehicle in the sub platoon and is not a leading vehicle in any sub platoon. In step SD4, the convoy travel information transmitted by the other vehicle is received. In this step SD4, the convoy travel information is received from a plurality of vehicles in the convoy. Furthermore, even if the vehicle is out of the convoy, if there is a vehicle around the host vehicle, there is a possibility that the convoy travel information may be received from the vehicle out of the convoy. However, in the present embodiment, the sub platoon is used as a unit for performing the platooning control, and the platooning control of the own vehicle is performed based on the platooning information of the leading vehicle of the sub platoon in which the own vehicle is a subsequent vehicle.
Therefore, in the subsequent step SD5, the row running information of the first vehicle in the sub row that is set as a unit in which the own vehicle performs the row running control is specified from the row running information received from each of the plurality of vehicles. As described with reference to FIG. 7, in the present embodiment, each sub platoon is formed such that the leading vehicles of these sub platoons are continuous. Therefore, there is a possibility of receiving platooning information from the leading vehicle of a plurality of sub platoons, but the leading vehicle of the sub platoon specified here is the current accommodated number of vehicles that does not exceed the maximum number of accommodated vehicles even including the own vehicle. It is the first vehicle of the sub-sub-train with the lowest number among
For example, in the above-described example of FIG. 7, the vehicle C3 receives platooning information from the leading vehicles of the two sub platoons with the sub platoon ID = 0 and the sub platoon ID = 1. In this case, the leading vehicle of the sub-convoy ID = 0, that is, the convoy travel information of the vehicle C1, the convoy of the first vehicle of the sub convoy (sub-convoy ID = 0) in which the own vehicle (vehicle C3) performs convoy travel control. Let it be travel information. However, since the vehicle C2 is also a preceding vehicle of the vehicle C3 in the vehicle in the sub row with the sub row ID = 0, it is necessary to perform the row running control in consideration of the behavior of the vehicle C2. Therefore, the vehicle C3 also specifies the row running information of the vehicle C2.
Specifically, first, a traveling locus is created from each GPS positioning coordinate for a predetermined number of times included in each row traveling information. Then, from the comparison of each travel trajectory created and the past travel trajectory created from the convoy travel information stored in the memory, the transmission source vehicle that transmitted each convoy travel information is within the convoy or outside the convoy, The relative positional relationship is specified. By this specification, it is possible to specify which of the platoon running information is one vehicle forward, two vehicle forwards, etc. of the own vehicle. Based on this identification result and the number of the sub-convoy in which the host vehicle is located, it is possible to identify the convoy travel information of the first vehicle in the necessary sub-convoy. In this case, a predetermined number of GPS positioning coordinates transmitted from the leading vehicle are used to identify the leading vehicle. Therefore, the GPS positioning coordinates for the predetermined number of times correspond to the head information in the claims.
Note that the number of the own vehicle in the sub platoon is obtained by adding 1 to the current accommodation number included in the platooning information received from the leading vehicle of the sub platoon when the own vehicle joins the sub platoon. be able to. In addition, while the row running information of the leading vehicle in the sub row includes the current number of accommodated vehicles and the maximum number of accommodated vehicles, the row running information of the following vehicle does not include them. It is also possible to specify the convoy travel information of the first vehicle of the sub convoy using the presence or absence of the information. That is, the current accommodation number and the maximum accommodation number may be used as head information. Further, in this step SD5, if there is a vehicle between the leading vehicle and the own vehicle in the sub platoon in which the own vehicle is a subsequent vehicle, the platooning information of the vehicle is also specified.
In subsequent step SD6, based on the row running information of other vehicles in the sub row identified in step SD5, the row running control of the own vehicle, that is, the running control (speed control and steering) of the own vehicle in order to maintain the sub row. Control). The process of step SD6 is the same as the process performed in the known row running control.
In step SD7, it is determined whether or not there is a surplus in the number of sub-contained vehicles in which the own vehicle is a subsequent vehicle and is controlling the platooning. Specifically, this determination is made by comparing the maximum accommodation number included in the convoy travel information received from the leading vehicle of the sub convoy with the current accommodation number. When the maximum accommodation number is equal to the current accommodation number, it is determined that there is no room in the accommodation number. In this case, the process proceeds to step SD8. On the other hand, if the maximum accommodation number is larger than the current accommodation number, it is determined that there is a margin and the process proceeds to step SD9.
In step SD8, it is determined whether or not the host vehicle is the first vehicle in the next sub-train. As described above, in the present embodiment, the sub formations are sequentially formed so that the leading vehicles of the sub formations are continuous. Therefore, the determination in step SD8 specifically determines whether or not the host vehicle is running next to the leading vehicle in the sub-train where the host vehicle is a subsequent vehicle. If this determination is a negative determination, the process proceeds to step SD9, and if the determination is affirmative, the process proceeds to step SD10.
In step SD9, convoy travel information is generated and transmitted. The convoy travel information generated in this step SD9 includes the entire convoy ID, the sub convoy ID of the sub convoy where the own vehicle is a subsequent vehicle, and the own vehicle travel information.
On the other hand, when step SD10 is executed, the host vehicle becomes the first vehicle of the new sub platoon. Therefore, in step SD10, a new sub formation ID is generated. The generated sub platoon ID, the maximum capacity of the sub platoon where the host vehicle is the leading vehicle, and the current capacity of the sub platoon are added to the platoon travel information generated at step SD9, and are generated at step SD10. It is the platooning information to be performed. Note that the current number of accommodated vehicles may be determined by counting the number of convoy travel start notifications received in the state of being a subsequent vehicle. In addition, in the transmission source vehicle specifying process in step SD5, the number of subsequent vehicles is determined. It may be determined by specifying.
When it is determined in step SD7 that the number of accommodated units is not sufficient, the vehicle that is the first vehicle in the next sub-constitution executes this step SD10 to generate a new sub-constitution. Sub-contains will always have room for capacity.
If step SD9 or SD10 is executed, the process proceeds to step SD15, and the contents determined in step SD6 are executed. After executing Step SD15, the process proceeds to Step 16 described later.
Next, step SD11 and subsequent steps executed when step SD3 is affirmed will be described. Step SD11 is the same as step SD4 described above, and receives the convoy travel information transmitted by the other vehicle. Subsequent step SD12 is the same as step SD5 described above. From the row running information received from each of the plurality of vehicles, the row running information of the first vehicle in the sub row set by the own vehicle as a unit for performing row running control is obtained. Identify. Further, in the sub platoon where the own vehicle is a subsequent vehicle, if there is a vehicle between the leading vehicle and the own vehicle, the platoon running information of the vehicle is also specified.
In the subsequent step SD13, the content of the row running control of the own vehicle is determined based on the row running information of the other vehicles in the sub row identified in step SD12. The process of step SD13 is the same as the above-described step SD6 executed when the vehicle is a succeeding vehicle in the sub formation. In other words, the leading vehicle of the sub platoon also determines the content of the platooning control as the subsequent vehicle of the previous sub platoon. The content of the convoy travel control determined here is transmitted in the next step SD14, and the subsequent vehicle in the next sub convoy is received by executing step SD4. Then, the succeeding vehicle that has received the convoy travel information determines the content of convoy travel control based on the convoy travel information. Therefore, the content of the convoy travel control determined by the succeeding vehicle in the sub convoy in step SD6 indirectly reflects the convoy travel information of the leading vehicle in the previous sub convoy.
In step SD14, the convoy travel information is generated, and the generated convoy travel information is transmitted. The row running information generated here includes the entire row ID, the sub row IDs of all sub rows to which the own vehicle belongs, the current number of accommodated / maximum accommodated numbers of the sub row in which the own vehicle is the leading vehicle, and the above step SD13. The traveling control content determined in step 1 and the same information as the initial state (StateA) are included. Note that the overall formation ID and the sub formation ID of the sub formation in which the host vehicle is a subsequent vehicle are acquired from the formation running information transmitted by the leading vehicle in the sub formation. Further, the sub row ID of the sub row in which the host vehicle is the first vehicle is the ID determined in step SD10 when the host vehicle is determined to be the first vehicle in the new sub row. The currently accommodated number may be determined by counting the number of platooning start notifications received after the host vehicle has joined the platoon, and the number of subsequent vehicles may be determined in the transmission source vehicle specifying process of step SD12. It may be determined by specifying.
After step SD14 is executed, the contents determined in step SD13 are executed in step SD15. Thereafter, the process proceeds to step SD16 in FIG.
In step SD16, it is determined whether or not the convoy travel end condition is satisfied. The platooning end condition is, for example, that the driver has performed an override operation, moved to another lane, or performed an input operation indicating the intention to end the platooning. The override operation is a driver's operation that instructs a behavior contrary to the behavior of the vehicle determined by the follow-up traveling control. For example, when the behavior of the vehicle determined by the follow-up traveling control is acceleration, an operation in which the driver steps on the brake is an override operation.
If the determination in step SD16 is negative, the process returns to step SD1. On the other hand, if it is affirmation determination, it will progress to step SD17. In step SD17, the state parameter is changed to the initial state (StateA). In this case, the above-described processing of FIG. 3 is executed.
As described above, according to the embodiment described above, in the row running state (StateD), the row running information is transmitted by including the sub row ID in addition to the entire row ID (steps SD2, SD9, SD10, SD14), the convoy travel control is performed using the sub convoy ID. The sub row indicated by the sub row ID is the number of vehicles equal to or less than the number of vehicles determined by the communication capability of the wireless communication device 11 of the head vehicle of the sub row, so that the subsequent vehicle of the sub row is transmitted by the head vehicle of the sub row. The convoy travel information can be received. The succeeding vehicle in the sub platoon determines the content of the platooning control using the platooning travel information from the leading vehicle in the sub platoon (step SD6).
In addition, the first vehicle in the second and subsequent sub platoons is also a succeeding vehicle in the previous sub platoon. The content of the convoy travel control is determined (step SD13). Then, the content of the determined row running control is included in the row running information and transmitted (step SD14). Therefore, the succeeding vehicle in the sub platoon in which the own vehicle is the leading vehicle also performs platooning control based on the platooning information of the leading vehicle in the sub platoon in which the own vehicle is the following vehicle. Thereby, it is possible to form a number of platoons that exceed the capacity of the first vehicle in the entire platoon.
Further, in the present embodiment, each sub platoon is formed such that the leading vehicles of the sub platoons are continuous, so that the position of the leading vehicle of each sub platoon can be the frontmost in the entire platoon. Therefore, the information ahead of the entire formation can be quickly transmitted to the following vehicle in each sub formation.
In the first embodiment, the description has been made only for one entire formation. However, the present invention in which the row running control is performed using the sub row ID can also be applied to the case where two whole rows run as one whole row. The case where two entire platoons travel as one entire platoon can be considered, for example, when the interval between two entire platoons is narrowed so that it is better to travel as one entire platoon.
When two whole formations travel as one whole formation, it is determined whether or not the leading vehicle of the whole whole formation on the rear side can join as a subsequent vehicle to a sub formation of another whole formation that runs ahead. This determination is the same as the initial state (State A) of the above-described embodiment, and is determined from the communication state and the relative position coordinates.
If it is determined that the vehicle can be added as a subsequent vehicle to a sub-convoy of another whole row traveling in front, the driver's intention or a predetermined condition such as an elapsed time or an inter-vehicle distance Decide if you want to join the whole line of. When it is determined that the vehicle belongs to the front whole row, the leading vehicle receives the whole row ID of another whole row that runs ahead and the sub row ID of the sub row, and receives the received whole row ID and sub row. The ID is also included in the convoy travel information transmitted in step SD2 of FIG. The whole row ID and sub row ID of the previous whole row are named, for example, a connect ID in order to distinguish from the whole row ID and sub row ID of the subsequent whole row. Note that the process in the case where the platooning information can be received from the head vehicle of the plurality of front sub platoons is the same as the process in one entire platoon (step SD5).
This row running information is received by the vehicle following the leading vehicle. Thereby, the following vehicle can know that it connected with another whole formation. Further, even in the rear entire formation, there is a possibility that the following vehicle close to the leading vehicle can receive the formation driving information from the leading vehicle in the sub-conformation of the previous entire formation.
If it is before the whole row is connected, the following vehicle does not use it for the row running control even if it receives information on another row. However, when the entire vehicle ID of the previous entire column and the sub column ID of the sub column are received from the leading vehicle, the succeeding vehicle also uses the column running information of the previous entire column. Specifically, when the row running information including the entire row ID and the sub row ID can be received from the head vehicle of the sub row of the previous whole row, the row running information is newly added to the head of the sub row of the own vehicle. The content of the vehicle running control of the own vehicle is determined using the vehicle running information.
It should be noted that, as a condition for using the platooning information of the leading vehicle of the sub platoon belonging to the previous entire platoon, there may be a condition that there is a surplus in the number of units accommodated in the platoon. Whether there is a surplus in the number of accommodation is determined by the same method as in step SD7 in FIG.
As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, It can implement in various changes within the range which does not deviate from the summary.
For example, in the first embodiment, the first vehicle in the sub platoon is continuous, but the last vehicle in the sub platoon may be the first vehicle in the next sub platoon. In this case, in step SD8, as a specific determination as to whether or not the vehicle is the first vehicle in the next sub platoon, it may be determined whether or not the host vehicle is at the end of the sub platoon. Judgment of being at the end of the sub formation is based on whether or not the maximum capacity is equal to the current capacity.
DESCRIPTION OF SYMBOLS 1: Car-mounted platooning system, 10: Convoy traveling apparatus, 11: Wireless communication apparatus, 12: Control part, 20: Laser radar, 30: Position detector, 40: Brake ECU, 50: Engine ECU, 60: EPS_ECU, 70 : In-car LAN
It has a wireless communication device that performs inter-vehicle communication,
In order for other vehicles to perform platooning control, tandem traveling information including traveling information of the own vehicle is sequentially transmitted from the wireless communication device,
If the host vehicle is a succeeding vehicle in the platoon, the platooning information from the vehicle set as the leading vehicle among the platooning traveling information respectively received from the plurality of vehicles by the wireless communication device is used. A convoy travel device that performs travel control,
In the above-mentioned formation running information, the overall formation ID, which is the ID of the entire formation, and the ID of the sub formation in which the entire formation is divided into a number of vehicles equal to or less than the number of vehicles determined by the communication capability of the wireless communication device of the leading vehicle of each formation. Send it including the sub formation ID,
If the host vehicle is the first vehicle in the sub platoon, the lane travel information also includes the head information that allows the subsequent vehicle in the sub plation to determine that the vehicle is the first vehicle in the sub platoon,
When the host vehicle is a succeeding vehicle in the sub platoon, the platooning information received from the leading vehicle of the sub platoon in which the own vehicle is the succeeding vehicle is obtained from the platoon traveling information received from each of the plurality of vehicles by the wireless communication device. , Specified by the sub-convoy ID included in the convoy travel information and the head information, the convoy travel control using the identified convoy travel information,
Further, the first vehicle in the second and subsequent sub-trains is also a succeeding vehicle in the previous sub-train, and the sub-vehicle whose own vehicle is the subsequent vehicle is determined from the platooning information received from each of the plurality of vehicles by the wireless communication device. The row running information received from the first vehicle of the row is identified by the sub row ID and the head information included in the row running information, and the content of the row running control of the own vehicle is determined using the identified row running information. A convoy travel apparatus characterized in that the convoy travel control content is determined and transmitted in the convoy travel information.
A platooning apparatus characterized in that, when the vehicle immediately before the host vehicle is the head vehicle of a sub platoon where the host vehicle is a subsequent vehicle, the host vehicle is the head vehicle of the next sub fleet.
In a sub platoon in which the host vehicle is a succeeding vehicle, if the host vehicle is at the end of the sub platoon determined by the communication capability of the wireless communication device of the leading vehicle in the sub platoon, A convoy travel device characterized by being a leading vehicle.
When the host vehicle is a succeeding vehicle in the sub-partition and the order in the sub-partition is the order in which the host vehicle is the next sub-partition head vehicle, The convoy travel apparatus is characterized in that the current capacity information of the sub convoy that becomes the first vehicle is generated, and the generated sub convoy ID and the current accommodable number information are included in the convoy travel information and transmitted.
When the host vehicle is the first vehicle in the entire row and joins as a succeeding vehicle in a sub row of another whole row that travels in front, the leading vehicle has a whole row ID of another whole row that travels in front, and Receiving the sub row ID of the sub row, and transmitting the received entire row ID and sub row ID included in the row running information,
The own vehicle is a succeeding vehicle of the entire row, receives the row running information including the entire row ID and the sub row ID of another whole row that runs ahead from the head vehicle of the whole row, and runs ahead If the column running information including the entire column ID and the sub column ID can be received from the leading vehicle of the sub column of the other entire column, the column running information of the leading vehicle of the sub column of the other entire column is used. A row running apparatus that performs the row running control.
JP2011211070A 2011-09-27 2011-09-27 Convoy travel device Active JP5472248B2 (en)
JP2011211070A JP5472248B2 (en) 2011-09-27 2011-09-27 Convoy travel device
US13/614,153 US8666647B2 (en) 2011-09-27 2012-09-13 Convoy travel apparatus
JP2013073361A JP2013073361A (en) 2013-04-22
JP5472248B2 true JP5472248B2 (en) 2014-04-16
ID=47912176
JP2011211070A Active JP5472248B2 (en) 2011-09-27 2011-09-27 Convoy travel device
US (1) US8666647B2 (en)
JP (1) JP5472248B2 (en)
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