Source: https://patents.google.com/patent/JP5136579B2/en
Timestamp: 2020-02-24 12:45:45
Document Index: 549773545

Matched Legal Cases: ['art 16', 'art 20', 'art 16', 'art 23', 'art, 11', 'art, 12', 'art, 13', 'art, 14', 'art, 100']

JP5136579B2 - Vehicle group formation determination device and vehicle group formation determination system - Google Patents
Vehicle group formation determination device and vehicle group formation determination system Download PDF
JP5136579B2
JP5136579B2 JP2010053184A JP2010053184A JP5136579B2 JP 5136579 B2 JP5136579 B2 JP 5136579B2 JP 2010053184 A JP2010053184 A JP 2010053184A JP 2010053184 A JP2010053184 A JP 2010053184A JP 5136579 B2 JP5136579 B2 JP 5136579B2
JP2010053184A
JP2011186907A (en
2010-03-10 Application filed by 株式会社デンソー filed Critical 株式会社デンソー
2010-03-10 Priority to JP2010053184A priority Critical patent/JP5136579B2/en
2011-09-22 Publication of JP2011186907A publication Critical patent/JP2011186907A/en
2013-02-06 Publication of JP5136579B2 publication Critical patent/JP5136579B2/en
The present invention relates to a vehicle group formation determination device and a vehicle group formation determination system that determine whether or not to form a vehicle group when the vehicle travels in a vehicle group.
Judgment of vehicle group formation that determines whether or not a roadside device should form a vehicle group according to the vehicle density, and that an in-vehicle device that has received a command to form a vehicle group from the roadside device forms a vehicle group A system is known (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 10-105880
However, in the above system, it is not possible to determine whether or not to form a vehicle group in the in-vehicle device. Therefore, even when the roadside device transmits erroneous information, the in-vehicle device has to follow the command.
Therefore, in view of such a problem, it is possible to determine whether the in-vehicle device autonomously forms the vehicle group in the configuration for determining whether the vehicle group is formed when the vehicle group travels. This is an object of the present invention.
The vehicle group formation determination device according to claim 1, wherein the determination information acquisition unit is configured to obtain information necessary for determining whether or not to drive the vehicle group from outside the host vehicle. Get the decision information to represent. Then, the formation determination means determines whether or not the own vehicle forms a vehicle group with another vehicle using the determination information, and the output means outputs a determination result by the formation determination means.
According to such a vehicle group formation determination device, it is possible to determine whether or not to form a vehicle group using the determination information in the host vehicle. That is, it is possible to determine whether or not the own vehicle autonomously forms a vehicle group. Note that the determination information acquisition unit may acquire the determination information from another vehicle or an external device arranged outside the host vehicle.
Further, the vehicle group formation determination device of the present invention includes own vehicle information transmission means for transmitting own vehicle information including information on the traveling direction of the own vehicle to an external device, and the determination information acquisition means includes get the determination information from the external device. Note that the external device receives information on the traveling direction from each vehicle, and determines whether or not it is recommended to form a vehicle group for each vehicle based on road information corresponding to the traveling direction of the vehicle. It has a function to transmit.
According to such a vehicle group formation determination device, it is possible to acquire determination information for determining whether or not to form a vehicle group according to the traveling direction of the host vehicle. Therefore, the host vehicle can easily make a final determination based on the determination information.
Further, the vehicle group formation determination device includes a reference information acquisition unit that acquires reference information for setting the inter-vehicle distance, and the formation determination unit determines whether the vehicle group is to be formed. a target following distance, which is a target value for the inter-vehicle distance between the preceding vehicle and the subject vehicle traveling ahead to be be set according to the reference information (claim 2).
According to such a vehicle group formation determination device, an inter-vehicle distance can also be set based on reference information when forming a vehicle group. It should be noted that the vehicle may be driven automatically according to the setting result, or driving assistance for notifying the driver of the own vehicle of the setting result may be performed.
Further, in the vehicle group formation determination device, the formation determination means determines whether an inter-vehicle distance condition representing a condition regarding the inter-vehicle distance set in advance in the host vehicle matches the content of the reference information, and the inter-vehicle distance condition It may be determined that the vehicle group is formed when the content of the reference information matches the content of the reference information, and the target inter-vehicle distance may be set according to the reference information. Further, the formation determining means determines that the vehicle group is formed when the inter-vehicle distance condition and the content of the reference information do not match, and sets the target inter-vehicle distance according to the inter-vehicle distance distance condition, or does not form the vehicle group You may make it determine ( Claim 3 ).
According to such a vehicle group formation determination device, when setting the inter-vehicle distance, priority can be given to the inter-vehicle distance condition set in the host vehicle. Further, when the inter-vehicle distance (inter-vehicle distance condition) set for the own vehicle does not match the reference information, the vehicle group itself may not be formed.
Next, in the vehicle group formation determination system configured to achieve the above object, the in-vehicle device includes determination information acquisition means, formation determination means, and output means in the vehicle group formation determination device according to claim 1, The external device includes determination information transmitting means for transmitting predetermined determination information to a vehicle traveling within a preset range ( claim 4 ).
According to such a vehicle group formation determination system, it is possible to determine whether or not to form a vehicle group using the determination information in the in-vehicle device. That is, it is possible to determine whether or not to form a vehicle group autonomously on the vehicle side.
By the way, in the vehicle group formation determination system, the determination information transmission means is a factor (inhibition factor) that prevents the vehicle group from traveling at a constant speed when it is assumed that the vehicle traveling within a predetermined range forms the vehicle group. Determination information for determining whether or not it is recommended that a vehicle traveling within a predetermined range form a vehicle group according to the presence or absence of an obstruction factor is transmitted as the determination information. You may provide the transmission means ( Claim 5 ).
Here, even if each vehicle forms a vehicle group, when the speed of the vehicle group is frequently changed, the vehicle is accelerated and decelerated, so that the ride comfort of the vehicle forming the vehicle group becomes worse. However, according to the vehicle group formation determination system of the present invention, such a problem can be solved. Specifically, determination information corresponding to the presence or absence of an obstruction factor that prevents the external device from traveling at a constant speed is transmitted.
According to such a vehicle group formation determination system, an external device provides determination information according to the presence or absence of an obstruction factor, and the in-vehicle device determines whether or not to form a vehicle group according to the presence or absence of the obstruction factor. Therefore, if there is a hindrance factor on the in-vehicle device side, the vehicle group is not formed, or if the vehicle is controlled so that the acceleration / deceleration becomes small, the riding comfort can be prevented from deteriorating.
In order to reduce the acceleration / deceleration, the in-vehicle device that has received the determination information that there is an obstruction factor is combined with the present invention and the configuration that sets the inter-vehicle distance, and receives the determination information that there is no obstruction factor. Compared to the case, the distance between the vehicles may be set longer to form a vehicle group. Specifically, when determining that the vehicle group is to be formed, the formation determination unit also sets a target inter-vehicle distance between a preceding vehicle that travels ahead of the own vehicle and the own vehicle, and inhibits the determination information. When the determination information indicating that there is a factor is acquired, the target inter-vehicle distance may be set longer than when the determination information indicating that there is no obstruction factor is acquired.
In this configuration, even if the preceding vehicle accelerates or decelerates due to a margin in the inter-vehicle distance, the acceleration / deceleration of the vehicle equipped with the vehicle-mounted device can be moderated, so even when acceleration / deceleration of the vehicle group is necessary It is possible to prevent the riding comfort of the vehicle from deteriorating.
In addition, in the technique of patent document 1, since a vehicle group is formed irrespective of the presence or absence of an obstruction factor, the effect of the present invention cannot be obtained.
Further, the determination information transmission means of the external device may transmit the determination information for each vehicle within the predetermined range.
It is a block diagram which shows schematic structure of a vehicle group control system. It is a flowchart which shows the roadside machine process of 1st Embodiment. It is explanatory drawing which shows an example of the judgment conditions of whether the vehicle group of 1st Embodiment is formed. It is a flowchart which shows the vehicle equipment reception process of 1st Embodiment, and vehicle equipment transmission processing. It is a flowchart which shows the roadside machine process of 2nd Embodiment. It is explanatory drawing which shows an example of the judgment conditions of whether the vehicle group of 2nd Embodiment is formed. It is a flowchart which shows the vehicle equipment receiving process of 2nd Embodiment.
First, based on FIG. 1, the structure of the vehicle group control system 100 (vehicle group formation determination system) of this embodiment is demonstrated. The vehicle group control system 100 includes an in-vehicle device 1 mounted on each of a plurality of vehicles traveling on a road, and a roadside device 6 provided along with each traffic signal installed at a road intersection. The in-vehicle device 1 of each vehicle is configured to be able to perform inter-vehicle communication with the in-vehicle device 1 of other vehicles, and is configured to be able to perform road-to-vehicle communication with the roadside device 6. In addition, since all the vehicle-mounted devices 1 of each vehicle have the same configuration, only one vehicle-mounted device 1 is illustrated in detail in FIG.
As shown in FIG. 1, the in-vehicle device 1 includes a position specifying unit 10, an external device connecting unit 11, a display unit 12, an audio output unit 13, a database 14, a wireless communication unit 15, a vehicle side control unit 16, and the like. Yes.
Among these, the position specifying unit 10 specifies the current location and traveling direction of the vehicle based on detection signals from the vehicle speed sensor 32, a GPS receiver (not shown), an optical beacon, a gyroscope, and the like, and controls the specified data on the vehicle side. Input to unit 16. The external device connection unit 11 communicates with various devices such as a radar 31 mounted on the vehicle, a vehicle speed sensor 32, another ECU (Electronic Control Unit) such as the operation processing unit 33, and the like. The vehicle information data transmitted from each device is input to the vehicle-side control unit 16.
The display unit 12 is a display device having a display surface such as a liquid crystal panel for displaying images, and displays various driving assistance images based on control from the vehicle-side control unit 16. The display surface for displaying the image is disposed at a place where it can be seen from the driver's seat of the vehicle. The voice output unit 13 is a voice output device including a speaker or the like that outputs voice, and outputs various guidance voices for driving support based on control from the vehicle side control unit 16.
The database 14 is a storage device for storing area data received from the roadside device 6 installed at various locations along the road, and a rewritable nonvolatile storage device such as a flash memory or a hard disk drive is used.
Here, the area data refers to traffic signal information in each traffic signal grouped in a predetermined area unit including a plurality of intersections where traffic signals are installed. The traffic signal information includes current and future lamp colors for each traffic signal, information on the duration of each lamp color (that is, schedule information related to the signal lamp color), and information on the position where the traffic signal is located. It is. The area data stored in the database 14 is used for driving support control executed when passing through the traffic signal corresponding to the area data.
The wireless communication unit 15 is a communication device for performing bidirectional wireless communication (vehicle-to-vehicle communication and road-to-vehicle communication) with a wireless communication unit of another vehicle and the roadside device 6 installed near the road. As a communication mode used for this road-to-vehicle communication, for example, a narrowband communication (DSRC) used in an ETC (registered trademark) system, a radio beacon and an optical beacon technology used in VICS (registered trademark), etc. are used. Conceivable. Alternatively, it may be possible to use a 700 MHz band radio wave whose usage category is scheduled to be reorganized after the end of 2011 (planned) analog television broadcasting. Since the 700 MHz band radio wave has a longer wavelength than that of the 5.8 GHz band radio wave used in DSRC, diffraction tends to occur. Therefore, in an urban area where buildings are densely packed, communication can be performed even from the shadow of the building.
Note that the wireless communication unit 15 receives the position information of the host vehicle generated by the position specifying unit 10 and information on the vehicle group described later from the vehicle side control unit 16 (for example, periodically from the vehicle side control unit 16). Sends externally according to the transmission command.
The vehicle-side control unit 16 is configured as a well-known microcomputer including a CPU, a ROM, a RAM, and the like, and comprehensively controls each unit of the in-vehicle device 1. The vehicle-side control unit 16 executes processing related to acquisition / update of area data by road-to-vehicle communication and processing related to various driving assistances according to a program stored in a ROM or the like.
Here, as specific contents of the driving assistance, for example, area data including traffic signal information is received, and information relating to traffic signals to be passed next, travel control for smoothly passing an intersection, and the like are performed. . In particular, the vehicle side control unit 16 of this embodiment performs vehicle group traveling control.
The vehicle group running control is a vehicle running that controls the behavior of the host vehicle so that the behavior of the host vehicle is substantially the same as that of the first vehicle or the vehicle immediately before the host vehicle, or a parallel running that runs alongside other vehicles. It shows that the host vehicle is controlled so that the vehicle travels in the same direction as the other vehicle.
In the vehicle group traveling control, the vehicle side control unit 16 is based on the position information of the other vehicle obtained by the radar 31 or the inter-vehicle communication and the position information of the own vehicle obtained by the position specifying unit 10 of the own vehicle. The actions (acceleration / deceleration, turning, etc.) that the vehicle should take are output. That is, the output for the own vehicle to follow the behavior of the other vehicle is performed in accordance with the behavior of the other vehicle constituting the vehicle group.
In accordance with this output, for example, a configuration in which a sound or display prompting acceleration or deceleration is output from the display unit 12 or the audio output unit 13 is conceivable. Further, this output is transmitted to an operation processing unit 33 configured as an ECU, and the operation processing unit 33 performs operation control of each part of the own vehicle (controlled parts such as an accelerator, a brake, a steering, and a light). It is also conceivable that the own vehicle performs a uniform operation as a vehicle group.
In addition, since the technique regarding the process which controls the behavior of the own vehicle so that another vehicle follows a vehicle group driving | running | working is a known technique, the detail of this process is abbreviate | omitted in this embodiment.
Moreover, the vehicle side control part 16 detects the information regarding a vehicle group. Specifically, based on the position information of the own vehicle and other vehicles, whether or not the own vehicle is the first vehicle among the vehicles forming the vehicle group, whether or not it is the last vehicle, the first vehicle, the last vehicle It is determined whether the vehicle is an intermediate vehicle excluding the tail vehicle. In this determination, a reception result such as an optical beacon may be used.
Further, in the present embodiment, each vehicle (each in-vehicle device 1) transmits “vehicle ID” for identifying itself in the inter-vehicle communication to the other vehicles together with the position information as information on the vehicle group. Identify which vehicle is in which position. Further, according to the position of each vehicle, for example, the head vehicle is set as a representative vehicle that supervises this vehicle group, and this information is held.
Information on these vehicle groups is registered in the database 14 and is also shared with other vehicles constituting the vehicle group by exchanging this information via the wireless communication unit 15.
Next, the roadside device 6 includes a wireless communication unit 20, a roadside communication unit 21, an in-area signal information database 22, and a roadside control unit 23.
Among these, the radio | wireless communication part 20 is a communication apparatus for performing radio | wireless communication (road-to-vehicle communication) between the vehicle-mounted apparatuses 1 mounted in the vehicle which drive | works a road. As a communication mode used for this road-to-vehicle communication, the same communication system as the above-mentioned in-vehicle device 1 is used.
The roadside communication unit 21 is an external organization that controls other roadside devices 6 and traffic signals associated with traffic signals installed at other intersections in the same predetermined area via the network 5 and provides traffic information. This is a communication device for communicating information with a certain traffic control center 7. The information communication with the traffic control center 7 by the roadside communication unit 21 may be wireless or wired.
The in-area traffic signal information database 22 is a storage device for storing area data in which the respective traffic signal information related to a plurality of traffic signals is collected. For the intra-area signal information database 22, a rewritable nonvolatile storage device such as a flash memory or a hard disk drive is used.
The roadside control unit 23 is configured by a known microcomputer including a CPU, a ROM, a RAM, and the like, and comprehensively controls each unit of the roadside machine 6. In particular, the roadside control unit 23 periodically reads the area data from the in-area traffic signal information database 22 and wirelessly distributes the area data to the in-vehicle device 1 via the wireless communication unit 20.
[Processing According to First Embodiment]
Here, in such a vehicle group control system 100, when the vehicle group traveling is started, the vehicle-mounted device 1 (vehicle group formation determination device) and the roadside machine 6 (external device) cooperate with each other. The process of determining whether or not to form is performed. This process will be described with reference to FIGS.
FIG. 2 is a flowchart showing a roadside machine process executed by the roadside control unit 23 of the roadside machine 6 in the first embodiment, FIG. 3 is an explanatory diagram showing an example of a determination condition as to whether or not to form a vehicle group, and FIG. It is a flowchart which shows the process which the vehicle side control part 16 of the vehicle equipment 1 performs in 1st Embodiment. In particular, in FIG. 4, the in-vehicle device transmission process is shown in FIG. 4 (a), and the in-vehicle device reception process is shown in FIG. 4 (b).
The roadside machine process (judgment information transmission means) is a process that is started when the power of the roadside machine 6 is turned on, for example, and then repeatedly executed. This is a process for transmitting judgment information. Specifically, first, as shown in FIG. 2, one of the vehicles traveling in the communicable area of the roadside machine 6 is selected (S110). Here, in order to select a vehicle in the communicable area, for example, information (vehicle ID) for identifying the vehicle included in the signal transmitted from the in-vehicle device 1 of each vehicle traveling in the communicable area is used. It may be detected in advance and one of these vehicles may be selected.
Subsequently, vehicle density information, road traffic information, and vehicle group information are sequentially acquired (S120 to S140). The vehicle density information indicates traffic information on a road in the vicinity of the roadside device 6. For example, the roadside device 6 acquires the vehicle density information from the traffic control center 7.
The road traffic information represents various types of information related to traffic jams and accidents, such as information related to the presence or absence of traffic jams and accidents on a predetermined road, and information on the location of the traffic jams and the length of the traffic jams. The roadside machine 6 acquires this road traffic information from the traffic control center 7, for example.
Furthermore, the vehicle group information transmitted from the in-vehicle device 1 in the in-vehicle device transmission process described later corresponds to the vehicle group vehicle information. The vehicle group vehicle information will be described later.
Subsequently, based on these pieces of information, it is determined whether or not formation of a vehicle group is recommended (S150). Specifically, as shown in FIG. 3, when the vehicle density is larger than a predetermined number, when traffic congestion is predicted, another vehicle having a vehicle group formation intention is in the vicinity (for example, the roadside unit 6 can communicate). In the area), when the number of pedestrians is greater than a certain number, when the density of traffic lights in the direction of travel is greater than a certain number, etc. If there is a factor (inhibition factor) that hinders steady running (constant speed running), it is not recommended to form a vehicle group. On the other hand, if none of the above conditions is met, it is determined that there is no hindrance factor and vehicle group formation is recommended.
In FIG. 3, the intention to form a vehicle group indicates whether or not the driver of each vehicle is willing to travel in the vehicle group, and this information is transmitted from each vehicle in an in-vehicle device transmission process described later. . When determining this vehicle group formation intention, information on the traveling direction of each vehicle may be taken into consideration. Specifically, if the target other vehicle is willing to form a vehicle group but is planning to travel on a different route from its own vehicle (the currently selected vehicle) immediately (turn left or right at the next intersection) If the route branches off from the currently selected vehicle, etc.), it may be determined that there is no intention to form a vehicle group.
Also, when the number of pedestrians is greater than a certain number, pedestrians may actually be detected using image processing technology, etc., and this detection result may be used, or depending on the area where the vehicle is traveling It is also possible to set divisions such as downtowns, residential areas, and suburbs in advance, and authorize the number of pedestrians according to these divisions and time zones. According to the above conditions, the number of pedestrians and traffic lights is less when the vehicle is traveling on a highway or an automobile-only road than when traveling on a general road. It can be said that it is easier to recommend.
Subsequently, it is determined whether or not the determination result recommends the vehicle group traveling (the vehicle group traveling should be viewed from the roadside machine 6 side) (S160). When the vehicle group traveling is not recommended (S160: NO), the process immediately proceeds to S190 described later.
When vehicle group travel is recommended (S160: YES), if a request to change the light color is required to the traffic light, this request is output (S170), and the vehicle group is formed on the selected vehicle. The vehicle group formation is notified so as to be performed (S180).
Here, in S170, as a request to change the light color to the traffic light, for example, the light color is changed to red so that each vehicle forming the vehicle group is temporarily stopped and the vehicle distance is reduced. Request that the light color be changed to blue when the vehicle stops. This process is particularly effective when applying a configuration in which automatic traveling is started on the condition that the vehicle that has not been automatically traveling (vehicle group traveling) starts automatic traveling when it is stopped. In the process of S180, a signal including a vehicle ID is transmitted to identify the vehicle.
Subsequently, it is determined whether another unselected vehicle exists in the communicable area of the roadside device 6 (S190). If another unselected vehicle exists (S190: YES), one of the unselected vehicles is selected (S200), and the processing from S120 onward is repeated. If there is no unselected vehicle (S190: NO), the roadside device processing is terminated.
Next, the in-vehicle device transmission process will be described. The in-vehicle device transmission process is a process that is started when the power of the in-vehicle device 1 is turned on, and then repeatedly executed at a predetermined cycle (for example, every 100 ms). Specifically, as shown in FIG. 4A, first, a route representing information on the destination (traveling route) of the host vehicle from any device (for example, a navigation device) of the host vehicle via the external device connection unit 11. Information and own vehicle attribute information are acquired (S310, S320).
Here, the own vehicle attribute information includes intention information indicating information on whether or not the driver of the own vehicle has an intention to travel in the vehicle group. The intention information is configured so that the driver can input the in-vehicle device 1 in advance.
And vehicle information is sent out (S330: own vehicle information transmission means), and vehicle equipment transmission processing is ended. Here, the vehicle information includes vehicle identification information (vehicle ID), which is information for identifying the host vehicle, in addition to the above-described route information and host vehicle attribute information.
Next, the in-vehicle device reception process will be described. The in-vehicle device reception process is a process that is performed in parallel with the above-described in-vehicle device transmission process, and is started when the power of the in-vehicle device 1 is turned on, and then repeatedly performed at a predetermined cycle. is there. Specifically, as shown in FIG. 4B, first, roadside machine information transmitted from the roadside machine 6 is acquired (S360: determination information acquisition unit).
Here, the roadside machine information corresponds to determination information indicating information necessary for determining whether or not the vehicle group should travel from the outside of the host vehicle.
Subsequently, it is determined whether or not the notification of formation of a vehicle group addressed to itself is included in the roadside machine information (S370: formation determination means). Whether or not the vehicle group formation notification is addressed to itself is determined based on whether or not the vehicle ID attached to the roadside machine information matches the own vehicle ID.
If the vehicle group traveling notification addressed to itself has not been received (S370: NO), the process returns to S360. Moreover, if the vehicle group traveling notification addressed to itself is received (S370: YES), the fact that the vehicle group is formed is output (S380: output means), and the in-vehicle device reception process is terminated. Here, an output indicating that the vehicle group is formed is transmitted to the display unit 12 and the voice output unit 13, and the driver of the host vehicle is notified via the image and voice through these that the vehicle group traveling is recommended. May be.
In this case, when an input is made by the driver by a switch operation or the like for starting the vehicle group traveling, the vehicle side control unit 16 transmits the fact to the operation processing unit 33. Upon receiving the notification that the vehicle group is to be formed, the operation processing unit 33 starts automatic driving for controlling the behavior of the vehicle by controlling the accelerator, the brake, and the like, and controls the vehicle to run as the vehicle group. To do.
When a message to form a vehicle group is output, the vehicle then stops at an intersection or the like, and may start automatic travel when starting, or may immediately start automatic travel. . In such a case, the driver of the host vehicle may be notified via the display unit 12 or the audio output unit 13 that the vehicle group traveling is started with an image or sound.
The vehicle side control unit 16 of the in-vehicle device 1 described in detail as described above provides determination information representing information necessary for determining whether or not the vehicle group should travel from the outside of the host vehicle in the in-vehicle device reception process. get. Then, using the determination information, it is determined whether or not the own vehicle forms a vehicle group with another vehicle, and the determination result is output.
According to such an in-vehicle device 1, it is possible to determine whether or not to form a vehicle group using the determination information in the own vehicle. That is, it is possible to determine whether or not the own vehicle autonomously forms a vehicle group.
In the in-vehicle device 1, the vehicle-side control unit 16 transmits own vehicle information including information on the traveling direction of the own vehicle to the road-side device 6 arranged outside the own vehicle in the in-vehicle device transmission process. . And judgment information is acquired from the roadside machine 6 by vehicle equipment reception processing. Further, the roadside machine 6 receives the information of the traveling direction from each vehicle in the roadside machine processing, and road information corresponding to the traveling direction of the vehicle (for example, traffic jam, curve, merge / branch, presence / absence of pedestrians, Information on whether or not it is recommended to form a vehicle group for each vehicle based on the magnitude of the number) is transmitted as determination information.
According to such an in-vehicle device 1, it is possible to acquire determination information for determining whether to form a vehicle group according to the traveling direction of the host vehicle. Therefore, the host vehicle can easily make a final determination based on the determination information.
Further, the roadside control unit 23 of the roadside machine 6 transmits predetermined determination information to a vehicle traveling within a preset range by roadside machine processing.
According to such a vehicle group control system 100, it is possible to determine whether the vehicle group is formed by using the determination information in the in-vehicle device 1. That is, it is possible to determine whether or not to form a vehicle group autonomously on the vehicle side.
Further, the roadside control unit 23 has a factor (inhibition factor) that prevents the vehicle group from traveling at a constant speed when it is assumed that the vehicle traveling within a predetermined range forms a vehicle group in the roadside machine processing. It is determined whether or not there is, and information indicating whether or not a vehicle traveling within a predetermined range is recommended to form a vehicle group according to the presence or absence of an obstruction factor is transmitted as determination information.
Here, even if each vehicle forms a vehicle group, when the speed of the vehicle group is frequently changed, the vehicle is accelerated and decelerated, so that the ride comfort of the vehicle forming the vehicle group becomes worse. However, according to the vehicle group control system 100 of the present invention, such a problem can be solved. Specifically, determination information corresponding to the presence or absence of an obstruction factor that prevents the roadside machine 6 from traveling at a constant speed is transmitted.
According to such a vehicle group control system 100, the roadside device 6 provides determination information according to the presence or absence of an obstruction factor, and the in-vehicle device 1 determines whether or not to form a vehicle group according to the presence or absence of the obstruction factor. Therefore, if the vehicle group is not formed when there is an obstruction factor on the in-vehicle device 1 side, the riding comfort can be prevented from deteriorating.
Moreover, the roadside control part 23 of the roadside machine 6 transmits judgment information for every vehicle in the predetermined range by roadside machine processing. According to such a vehicle group control system 100, different judgment information can be transmitted for each vehicle.
[Configuration and Processing of Second Embodiment]
Next, another type of vehicle group control system 200 (vehicle group formation determination system) will be described. In the present embodiment (second embodiment), only the parts different from the vehicle group control system 100 of the first embodiment will be described in detail, and the same parts as those of the vehicle group control system 100 of the first embodiment will be denoted by the same reference numerals. The description is omitted.
The roadside machine process in the vehicle group control system 200 will be described with reference to FIG. FIG. 5 is a flowchart showing the roadside machine processing of the second embodiment executed by the roadside control unit 23.
In the roadside machine process of the second embodiment, as shown in FIG. 5, the processes of S110 to S140 are performed in the same manner as the roadside machine process of the first embodiment. Subsequently, vehicle group forming inter-vehicle distance information is set (S410).
In this process, unlike the first embodiment, the setting of the inter-vehicle distance when forming the vehicle group is also performed. Specifically, as shown in FIG. 6, the values for each item are classified into three or two levels with a threshold value of 1 or 2, and these are comprehensively considered in order to form a vehicle group, It is determined whether or not a vehicle group is formed in three stages, “not formed” and “only follow-up type vehicle group is formed”.
Specifically, for each item, the values of “a”, “c”, and “b” are assigned in the order that the vehicle group is likely to be blocked from steady running. It is determined that the vehicle group is to be formed, and if even one item is “a”, it is determined that the vehicle group is not formed. If there is no “a” but there is at least one “c”, it is determined that “only the following vehicle group is formed”.
Here, in the vehicle group traveling, the optimum inter-vehicle distance varies depending on the purpose of traveling the vehicle group. For example, if the purpose is to improve fuel efficiency, it is preferable to drive with the distance between vehicles as small as possible and with low air resistance (the vehicle group formed to achieve such an object is referred to as “fuel efficiency improvement type”). Car group "). However, when the vehicle cannot travel normally, the frequency of acceleration / deceleration increases, and the object may not be achieved.
Also, if the purpose is to improve the ride comfort of the vehicle rather than to improve the fuel efficiency, it is preferable to travel while slightly increasing the inter-vehicle distance and reducing the acceleration / deceleration compared to the case of improving the fuel efficiency (such as this) A vehicle group formed to achieve a specific purpose is called a "follow-up vehicle group".)
In the present embodiment, the vehicle group cannot be formed, but the fuel efficiency improvement type vehicle group is not expected to improve the fuel consumption (the case where there is no “a” but there is only one “c”) ) Is recommended to form a follow-up vehicle group.
When such a process is completed, the processes of S180 to S200 are performed as in the roadside machine process of the first embodiment.
Next, the in-vehicle device reception process of this embodiment will be described with reference to FIG. In addition, since the vehicle equipment transmission process of this embodiment is a process similar to the vehicle equipment transmission process of 1st Embodiment, description is abbreviate | omitted.
In the in-vehicle device reception process of the present embodiment, first, roadside device information is acquired (S510: determination information acquisition means, reference information acquisition means). Here, the roadside machine information includes information on whether or not to form a vehicle group and information on the inter-vehicle distance. Specifically, it includes information indicating one of “form a vehicle group”, “do not form a vehicle group”, and “form only a follow-up type vehicle group”.
And the content of the acquired roadside machine information is determined (S520). If the roadside machine information includes information indicating that no vehicle group is formed (S520: No), it is determined that no vehicle group is formed (S540), and the process returns to S510.
In addition, when the roadside machine information includes information indicating that all forms of vehicle group formation such as following type and fuel economy improvement type are included (S520: do all), the driver of the host vehicle intends to form a vehicle group ( It is determined whether or not there is an intention to travel in the vehicle group (S530: formation determination means). The intention to form a vehicle group is stored in a memory in the vehicle control unit 16.
In addition, the intention to form a vehicle group is not only whether or not to form a vehicle group, but also what kind of vehicle group is to be formed, for example, “to form a recommended vehicle group” or “to improve fuel economy” It is assumed that the driver of the host vehicle has selected in advance from four options such as “only form type vehicle group”, “form only follow type vehicle group”, and “do not form vehicle group”.
If there is an intention to form only the follow-up type vehicle group (S530: only follow-up type), the inter-vehicle distance is set to 10 m to notify the formation of the vehicle group (S550: output means), and the process returns to S510.
Further, if there is an intention to form a vehicle group including a fuel economy improving vehicle group (when “form recommended vehicle group” or “only fuel efficiency improving vehicle group” is selected) (S530: (Fuel efficiency improvement type or others), the inter-vehicle distance is set to 5 m and notification is made to form a vehicle group (S560: output means), and the process returns to S510. If there is no intention to form a vehicle group (S530: No), it is determined that no vehicle group is formed (S540), and the process returns to S510.
On the other hand, in the process of S520, when the roadside machine information includes information indicating that only the follow-up type vehicle group is formed (S520: only follow-up type), the driver of the host vehicle is similar to the process of S530. It is determined whether or not there is an intention to form a vehicle group (S610: formation determination means). If there is an intention to form a vehicle group including the following vehicle group (when “form recommended vehicle group” or “form only following vehicle group” is selected) (S610: only following type or) In addition, a notification is made to set the inter-vehicle distance to 10 m to form a vehicle group (S630: output means), and the process returns to S510.
If there is an intention to form only the fuel economy improving type vehicle group (S610: fuel efficiency improving type only), it is determined that the vehicle group is not formed (S640), and the process returns to S510.
If there is no intention to form a vehicle group (S610: No), it is determined that no vehicle group is formed (S620), and the process returns to S510.
In the vehicle group control system 200 detailed as described above, when the vehicle-side control unit 16 of the in-vehicle device 1 acquires reference information for setting the inter-vehicle distance in the in-vehicle device reception process, and forms a vehicle group. At the time of determination, the target inter-vehicle distance between the preceding vehicle that travels ahead of the host vehicle and the host vehicle is set according to the reference information.
According to such an in-vehicle device 1, when forming a vehicle group, the inter-vehicle distance can also be set based on the reference information.
In addition, the vehicle-side control unit 16 determines whether or not the inter-vehicle distance condition indicating the condition relating to the inter-vehicle distance that is set in advance in the host vehicle in the in-vehicle device reception process matches the content of the reference information. And the reference information match, it is determined that a vehicle group will be formed, and the target inter-vehicle distance is set according to the reference information. Further, the vehicle-side control unit 16 determines that the vehicle group is formed when the inter-vehicle distance condition does not match the content of the reference information in the in-vehicle device reception process, and sets the target inter-vehicle distance according to the inter-vehicle distance distance condition. Or it determines with not forming a vehicle group.
According to such an in-vehicle device 1, when setting the inter-vehicle distance, priority can be given to the inter-vehicle distance condition set in the own vehicle. Further, when the inter-vehicle distance (inter-vehicle distance condition) set for the host vehicle does not match the acquired reference information, the vehicle group itself may not be formed.
For example, in the above-described embodiment, the vehicle-mounted device 1 is configured not to form a vehicle group when it receives determination information that there is an obstruction factor that inhibits steady running of the vehicle group. The vehicle group may be formed by setting a longer inter-vehicle distance as compared with a case where determination information indicating that there is no factor is received. Specifically, when determining that the vehicle group is to be formed in the in-vehicle device reception process, the vehicle-side control unit 16 also calculates the target inter-vehicle distance between the preceding vehicle that travels ahead of the own vehicle and the own vehicle. If the judgment information indicating that there is a hindrance factor is acquired as the judgment information, the target inter-vehicle distance is set to be longer than when the judgment information indicating that there is no hindrance factor is acquired. Good.
In this configuration, since the vehicle-to-vehicle device 1 has a margin, the acceleration / deceleration of the vehicle on which the in-vehicle device 1 is mounted can be made moderate. Therefore, even when acceleration / deceleration of the vehicle group is required, the riding comfort of this vehicle can be reduced. It can be prevented from deteriorating.
DESCRIPTION OF SYMBOLS 1 ... In-vehicle apparatus, 5 ... Network, 6 ... Roadside machine, 7 ... Traffic control center, 10 ... Location specific part, 11 ... External apparatus connection part, 12 ... Display part, 13 ... Audio | voice output part, 14 ... Database, 15 ... Wireless communication unit, 16 ... car side control unit, 20 ... radio communication unit, 21 ... roadside communication unit, 22 ... intra-area traffic signal information database, 23 ... roadside control unit, 31 ... radar, 32 ... vehicle speed sensor, 33 ... operation process Part, 100, 200 ... vehicle group control system.
A vehicle group formation determination device that determines whether or not to form a vehicle group when performing vehicle group travel that is mounted on a vehicle and the host vehicle travels in the same direction with another vehicle,
Information on whether or not it is recommended to form a vehicle group for each vehicle based on road information corresponding to the traveling direction of the vehicle, which is arranged outside the own vehicle, receives the traveling direction information from each vehicle Own vehicle information transmitting means for transmitting own vehicle information including information on the traveling direction of the own vehicle to an external device that transmits the determination information;
Determination information acquisition means for acquiring determination information representing information necessary for determining whether or not a vehicle group should travel from the outside of the host vehicle from the external device ;
Formation determination means for determining whether or not the own vehicle forms a vehicle group with another vehicle using the determination information;
Output means for outputting a determination result by the formation determination means;
A vehicle group formation determination device comprising:
In the vehicle group formation determination device according to claim 1 ,
Provided with reference information acquisition means for acquiring reference information for setting the inter-vehicle distance,
The formation determination means sets a target inter-vehicle distance between a preceding vehicle that travels ahead of the host vehicle and the host vehicle when determining to form a group of vehicles according to the reference information. Formation determination device.
In the vehicle group formation determination device according to claim 2 ,
The formation determination means includes
It is determined whether or not an inter-vehicle distance condition representing a condition relating to an inter-vehicle distance set in advance in the host vehicle matches the content of the reference information,
It is determined that a vehicle group is formed when the inter-vehicle distance condition matches the content of the reference information, and the target inter-vehicle distance is set according to the reference information.
It is determined that a vehicle group is formed when the inter-vehicle distance condition does not match the content of the reference information, and the target inter-vehicle distance is set according to the inter-vehicle distance condition, or it is determined that no vehicle group is formed. A vehicle group formation determination device.
Whether or not each vehicle forms a vehicle group when performing vehicle group travel in which a plurality of vehicles travel in the same direction, and includes an in-vehicle device mounted on the vehicle and an external device arranged outside the on-vehicle device. A vehicle group formation determination system for determining whether
To the external device, own vehicle information transmitting means for transmitting own vehicle information including information on the traveling direction of the own vehicle;
Determination information acquisition means for acquiring determination information representing information necessary for determining whether or not to drive a vehicle group from the external device ;
Determination information transmission means for transmitting predetermined determination information to a vehicle traveling within a preset range;
A vehicle group formation determination system comprising:
In the vehicle group formation determination system according to claim 4 ,
Whether the determination information transmitting means has a factor (hereinafter referred to as “inhibition factor”) that prevents the vehicle group from traveling at a constant speed when it is assumed that the vehicle traveling within the range forms a vehicle group. And determining whether or not it is recommended that a vehicle traveling within the range form a vehicle group according to the presence or absence of the obstruction factor is transmitted as the determination information. Group formation determination system.
JP2010053184A 2010-03-10 2010-03-10 Vehicle group formation determination device and vehicle group formation determination system Active JP5136579B2 (en)
JP2010053184A JP5136579B2 (en) 2010-03-10 2010-03-10 Vehicle group formation determination device and vehicle group formation determination system
JP2011186907A JP2011186907A (en) 2011-09-22
JP5136579B2 true JP5136579B2 (en) 2013-02-06
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JP2010053184A Active JP5136579B2 (en) 2010-03-10 2010-03-10 Vehicle group formation determination device and vehicle group formation determination system
JP (1) JP5136579B2 (en)
JP2007041751A (en) * 2005-08-02 2007-02-15 Matsushita Electric Ind Co Ltd Group traveling support device
2010-03-10 JP JP2010053184A patent/JP5136579B2/en active Active
JP2011186907A (en) 2011-09-22
US9196158B2 (en) 2015-11-24 Traffic management device and system
US9020660B2 (en) 2015-04-28 Efficient intersection autonomous driving protocol
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