Patent Description:
A bench-top testing method and an actual vehicle testing method are known methods for testing tires. An example of the bench-top testing method is a method to bring a pseudo-surface of a drum into contact with a tire and detect the noise emitted by the tire while the drum is rotating (see Patent Literature <NUM>). On the other hand, in an actual vehicle testing method, various tests are conducted while a vehicle is actually driven around a test course.

JPH04310109A discloses an on-vehicle control part function confirming system comprises a chassis roller which supports rotatably a driving wheel, a flywheel connected directly to the roller, a steering amplifier part which changes the magnetic fields of the guide cables provided at both sides of a test vehicle, a confirmation control panel which gives an optional command to an ATC loop, and a vehicle speed display part which detects the revolution of the roller and displays the vehicle speed. This confirming system is provided out of an unmanned traveling test course. Then the on-road traveling is regenerated through the roller, and the working of each function is confirmed.

<CIT> discloses aystems and methods for operating an automated vehicle such as an autonomous vehicle may include an autonomous guidance system, a method of automatically controlling and autonomous vehicle based on electronic messages from roadside infrastructure or other-vehicles, a method of automatically controlling an autonomous vehicle based on cellular telephone location information, pulsed LED vehicle-to-vehicle (V2V) communication system, a method and apparatus for controlling an autonomous vehicle, an autonomous vehicle with unobtrusive sensors, and adaptive cruise control integrated with a lane keeping assist system. The systems and methods may use information from radar, lidar, a camera or vision/image devices, ultrasonic sensors, and digital map data to determine a route or roadway position and provide for steering, braking, and acceleration control of a host vehicle.

In recent years, in the above-described actual vehicle tests on tires, data has been acquired by mounting tires on a vehicle equipped with an autonomous driving function and driving the vehicle. In the vehicle equipped with an autonomous driving function, the vehicle position and obstacles around the vehicle are detected based on the detection results of sensors installed in the vehicle or on the course, and the driving of the vehicle is controlled based on these detection results.

Courses for tire testing often include banked sections having a curved shape and an inclined road surface that slopes upward from the inner periphery of the curve to the outer periphery so that the vehicle can change the driving direction without reducing the speed of the vehicle. The vehicle is required to maintain a relatively high speed in the banked section, even though the field of view is limited due to the shape of the banked section. The number of vehicles driving on the banked section is therefore usually limited to one. In view of these limitations, demand exists for technology that can improve the driving safety of vehicles in a banked section.

In light of the above problems, it is an aim of the present disclosure to provide a control method, a control device, a control system, and a tire testing method that can improve the driving safety of vehicles in a banked section.

A control method according to claim <NUM>.

A control device according to claim <NUM>.

A control system according to claim <NUM>.

A tire testing method according to an embodiment includes a step of controlling, in accordance with the above-described control method, the vehicle to drive on the course, and a step of acquiring test data of tires mounted on the vehicle driving on the course. The course is a course for testing the tires.

According to the present disclosure, a control method, a control device, a control system, and a tire testing method that can improve the driving safety of vehicles in a banked section can be provided.

Embodiments of the present disclosure are described below through examples with reference to the drawings. In each drawing, the same reference sign indicates the same or equivalent components.

<FIG> is a block diagram illustrating an example configuration of a vehicle <NUM> that includes a control device <NUM> according to an embodiment of the present disclosure. The vehicle <NUM> includes tires <NUM> and drives on a course <NUM>, illustrated in <FIG>, for testing the tires <NUM>. Details of the course <NUM> will be described later.

As illustrated in <FIG>, the vehicle <NUM> includes an engine <NUM> as a power source, a power transmission device <NUM>, a braking device <NUM>, a steering device <NUM>, tires <NUM>, and a first battery <NUM>. The power transmission device <NUM> includes a transmission or the like. The braking device <NUM> includes brakes or the like. The steering device <NUM> includes a steering wheel or the like. The vehicle <NUM> may include a motor instead of the engine <NUM> as a power source, or may include both the engine <NUM> and a motor.

The vehicle <NUM> is autonomously driven by the control system <NUM>, described below. The autonomous driving level may, for example, be from level <NUM> to <NUM> as defined by the Society of Automotive Engineering (SAE).

The vehicle <NUM> starts the engine <NUM> using electric power from the first battery <NUM>. The vehicle <NUM> may include a variety of electrical devices or electronic devices. The vehicle <NUM> may operate the electrical devices or electronic devices using electric power from the first battery <NUM> or the electric power of an alternator that generates electric power using power from the engine <NUM>. The first battery <NUM> may be a secondary battery, such as a lead-acid battery or a lithium-ion battery.

The vehicle <NUM> further includes the control device <NUM> and an on-board sensor 12a.

The control device <NUM> controls autonomous driving of the vehicle <NUM> by controlling the engine <NUM>, the power transmission device <NUM>, the braking device <NUM>, and the steering device <NUM>. The control device <NUM> includes a controller <NUM>. The controller <NUM> may include an arithmetic logic unit such as a central processing unit (CPU). The controller <NUM> may include a storage device such as a memory. The control device <NUM> may include a storage apart from the controller <NUM>.

The controller <NUM> acquires detection results from all or a portion of a plurality of sensors <NUM> (the on-board sensor 12a and a fixed point sensor 12b, described below) and detects the position of the vehicle <NUM> and obstacles around the vehicle <NUM> based on the acquired detection results. The controller <NUM> controls the driving of the vehicle <NUM> based on the detection results of the position of the vehicle <NUM> and the obstacles around the vehicle <NUM>.

The sensors <NUM> monitor the vehicle <NUM> or the course <NUM> and detect information about the vehicle <NUM> or the course <NUM>. A plurality of sensors <NUM> is provided to detect various types of information about the vehicle <NUM> or the course <NUM>. The sensors <NUM> may include the on-board sensor 12a mounted on the vehicle <NUM> and the fixed point sensor 12b installed along the course <NUM>. The on-board sensor 12a mainly acquires information about the vehicle <NUM> on which the on-board sensor 12a is mounted. The information detected by the on-board sensor 12a may include information about the state of the vehicle <NUM>, such as the position or the speed of the vehicle <NUM>. The information detected by the on-board sensor 12a may include information about the conditions around the vehicle <NUM>. The on-board sensor 12a may acquire information from various meters mounted on the vehicle <NUM>, such as a speedometer, a tachometer, a fuel meter, or an odometer. The on-board sensor 12a may include a Global Positioning System (GPS) sensor that detects the position of the vehicle <NUM> using a positioning system such as GPS. The on-board sensor 12a may include a speed sensor that detects the speed of the vehicle <NUM> using GPS. The on-board sensor 12a may include a camera, such as a monochrome camera or a stereo camera, that captures images of the area around the vehicle <NUM>. The on-board sensor 12a may include a Light Detection and Ranging (LiDAR) sensor that detects a surrounding object and the distance to the surrounding object by emitting electromagnetic waves, such as infrared waves or millimeter waves, and detecting reflected waves that occur when the electromagnetic waves are reflected by the surrounding object. The fixed point sensor 12b mainly acquires information about the course <NUM>. The information about the course <NUM> may include information about conditions on the course <NUM> (for example, the presence or absence of an object such as a vehicle or obstacle). The fixed point sensor 12b may, for example, include a 3D-LiDAR sensor.

The vehicle <NUM> may further include a communication device <NUM>. The communication device <NUM> may include a communication interface, such as a local area network (LAN). The communication device <NUM> may communicate with other devices, such as the fixed point sensor 12b, via the communication interface.

The vehicle <NUM> may further include a second battery <NUM>. The second battery <NUM> may be a primary battery or a secondary battery. The second battery <NUM> may supply electric power to each component, such as the control device <NUM>, the on-board sensor 12a, and the communication device <NUM>.

The control device <NUM>, the sensors <NUM> (on-board sensor 12a and fixed point sensor 12b), the communication device <NUM>, and the second battery <NUM> form the control system <NUM> that controls autonomous driving of the vehicle <NUM>. The control system <NUM> need not include the second battery <NUM>. In this case, each part of the control system <NUM> (the control device <NUM>, the on-board sensor 12a, and the communication device <NUM>) may be supplied with electric power from the first battery <NUM>.

As described above, the vehicle <NUM> is controlled by the control system <NUM> to drive autonomously on the course <NUM>. The course <NUM> is, for example, a course on which the vehicle <NUM> drives to test the tires <NUM>. <FIG> is a plan view of an example of the course <NUM> on which the vehicle <NUM> drives to test the tires <NUM>.

As illustrated in <FIG>, the course <NUM> is a closed circuit course comprising two straight tracks 200a, 200b extending parallel to each other, and semicircular curved tracks 200c, 200d disposed at the ends of the straight tracks 200a, 200b and connected so as to join the ends of both straight tracks 200a, 200b. The vehicle <NUM> drives around the course <NUM>, which is a circuit, in a predetermined direction (counterclockwise in <FIG>).

The course <NUM> is divided into a plurality of sections that are provided according to driving rules. For example, the course <NUM> includes a test section <NUM> that has a position P1 as a starting point and a position P2 as an ending point. The position P1 and the position P2 are included in the straight track 200a. Therefore, the test section <NUM> is a straight section. The test section <NUM> is a section for performing a test of the tires <NUM>. The test of the tires <NUM> is, for example, a pass by noise (PBN) test. The pass-by noise test is conducted based on a predetermined standard for testing the tires <NUM>. The predetermined standard may, for example, be ECE R117-<NUM>, which is an international standard relating to tire unit noise regulation. The road surface in the test section <NUM> may be a road surface based on the ISO <NUM> standard. The test data in the pass-by noise test includes the noise level of driving noise generated by friction between the tires <NUM> and the road surface during driving of the vehicle <NUM> on which the tires <NUM> are mounted. In the pass-by noise test, the test data is acquired in such a way that the driving noise of the vehicle <NUM> does not include the driving noise of the engine <NUM> or the motor of the vehicle <NUM>. To do so, the control device <NUM> stops the engine <NUM> or motor before the test section <NUM> (ignition off) and controls the driving of the vehicle <NUM> so that the vehicle <NUM> passes through the test section <NUM> in this state. The driving of the vehicle <NUM> with the engine <NUM> or the motor stopped is also referred to as coasting. The control device <NUM> drives the engine <NUM> or the motor (ignition on) after the vehicle <NUM> passes through the test section <NUM>. Test data based on ECE R117-<NUM> includes the noise level of driving noise acquired by driving the vehicle <NUM> at eight or more test speeds over approximately equal intervals in a range of ±<NUM>/h relative to a reference speed. After new tires <NUM> have been mounted on the vehicle <NUM> and before the test of the tires <NUM> is started, a break-in run is performed with the vehicle <NUM>. During the break-in run, the vehicle <NUM> is driven for a predetermined distance. The distance driven during the break-in run is determined by a predetermined standard. The test of the tires <NUM> is not limited to a pass-by noise test and may be a different test.

In the case of a pass-by noise test, microphones are arranged on both sides, in the width direction, of the road surface of the test section <NUM>, and the vehicle <NUM> travels along the center of the road surface of the test section <NUM> at a predetermined speed. Each of the microphones arranged on the sides of the road surface detects the noise level of the driving noise of the vehicle <NUM> while the vehicle <NUM> is driving on the test section <NUM>, and acquires the noise level as test data of the tires <NUM>.

During the pass-by noise test, it is required that no obstructing objects (including other vehicles) be present or enter within a predetermined distance (such as <NUM>) while the vehicle <NUM> is driving through the test section <NUM> for acquisition of test data. That is, there is a driving rule stating that in the test section <NUM>, the vehicle <NUM> travels a predetermined route at a predetermined speed for the test, and if another vehicle is traveling in the test section <NUM>, the vehicle <NUM> should not be in the test section <NUM> or come within a predetermined distance from the test section <NUM>.

The course <NUM> further includes an adjustment section <NUM>, a banked section <NUM>, and an acceleration section <NUM>.

The adjustment section <NUM> has the position P2 as a starting point and a position P3 as an ending point. The position P3 is the position where the straight track 200b and the curved track 200d are connected. The adjustment section <NUM> includes a section of the straight track 200a after the test section <NUM>, the curved track 220c, and the straight track 200b. That is, the adjustment section <NUM> is a section connected to the ending point of the test section <NUM> and the starting point of the banked section <NUM>, described below. In the adjustment section <NUM>, there is a driving rule stating that the vehicle <NUM> may drive at any speed along any route. In the adjustment section <NUM>, the vehicle <NUM> can also overtake and be overtaken by other vehicles. In the adjustment section <NUM>, the order of vehicles entering the test section <NUM> is adjusted, and other vehicles performing a test are avoided.

The banked section <NUM> has the position P3 as a starting point and a position P4 as an ending point. The position P4 is the position where the straight track 200a and the curved track 200d are connected. In the banked section <NUM>, for example, an inclination such that the road surface slopes upward from the inner periphery of the curve to the outer periphery is provided. That is, the banked section <NUM> has, for example, a curved shape, and the road surface is inclined so as to slope upward from the inner periphery of the curve to the outer periphery. As a result of this inclination, the vehicle <NUM> drives on the outside of the semicircular corner in the banked section <NUM> and maintains a constant speed (such as <NUM>/h) by using centrifugal force.

In the banked section <NUM>, the vehicle is required to maintain a relatively high speed, even though the view from the vehicle is restricted due to the shape of the banked section <NUM>. Therefore, for the sake of safety, only one vehicle at a time is allowed to drive on the banked section <NUM>. A driving rule thus states that the vehicle travels on the banked section <NUM> while maintaining a constant speed on the outside of the road surface and does not enter the banked section <NUM> if another vehicle is traveling on the banked section <NUM>. In accordance with this driving rule, the control device <NUM> causes the vehicle <NUM> to stop so as not to enter the banked section <NUM> if there is another vehicle or an obstacle in the banked section <NUM>.

The acceleration section <NUM> has the position P4 as a starting point and the position P1 as an ending point. That is, the acceleration section <NUM> is a section connected to the starting point (position P1) of the test section <NUM>. The distance of the acceleration section <NUM> is determined according to factors such as the speed required for testing the tires <NUM> in the test section <NUM>, the type of the tires <NUM> mounted on the vehicle <NUM>, the load of the vehicle <NUM>, and the performance for acceleration of the vehicle <NUM>. In the acceleration section <NUM>, the control device <NUM> accelerates the vehicle <NUM> at a predetermined acceleration rate, for example, to the speed required upon entering the test section <NUM>. Accordingly, there is a driving rule indicating to accelerate in the acceleration section <NUM> to the speed predetermined for the test.

In this way, the course <NUM> includes a plurality of sections established according to the driving rules.

Next, a control method for the vehicle <NUM> according to the present embodiment will be described.

<FIG> is a flowchart illustrating an example of operations of the control device <NUM> and a control method of the vehicle <NUM> according to the present embodiment. In <FIG>, a case in which the vehicle <NUM> enters the banked section <NUM> after driving through the adjustment section <NUM> is described as an example. That is, it is assumed that the control device <NUM> recognizes that the vehicle <NUM> is approaching the banked section <NUM>. Whether the vehicle <NUM> is approaching the banked section <NUM> can be recognized by, for example, detecting the position of the vehicle <NUM> from the detection results of the sensors <NUM>.

The controller <NUM> acquires the detection results of the sensors <NUM> (step S11). The control device <NUM> of the present embodiment acquires detection results from a plurality of sensors <NUM>, including the on-board sensor 12a provided in the vehicle <NUM> and the fixed point sensor 12b provided on the course <NUM>.

Next, the controller <NUM> determines whether there is another vehicle in the banked section <NUM> based on the detection results of the sensors <NUM> (step S12). Whether there is another vehicle in the banked section <NUM> can, for example, be determined based on the detection results of the 3D-LiDAR sensors installed around the banked section <NUM>. Also, whether there is another vehicle in the banked section <NUM> can, for example, be determined from images captured by a stereo camera mounted on the vehicle <NUM>.

The controller <NUM> may set a weighting (confidence level) for the plurality of sensors <NUM> and use the weighting and the detection results of the sensors <NUM> to detect the position of the vehicle <NUM> and/or obstacles around the vehicle <NUM>. Accordingly, the controller <NUM> may, for example, detect the position of the vehicle <NUM> and/or obstacles around the vehicle <NUM> using only the detection result of a sensor <NUM> with a heavier weighting among the plurality of sensors <NUM>.

When it is determined that no other vehicle is in the banked section <NUM> (step S12: No), the controller <NUM> causes the vehicle <NUM> to enter the banked section <NUM> (step S13). Specifically, the controller <NUM> causes the vehicle <NUM> to drive on the outside of the road surface of the banked section <NUM> while maintaining a constant speed (such as <NUM>/h).

When it is determined that another vehicle is in the banked section <NUM> (step S12: Yes), the controller <NUM> stops the vehicle <NUM> at a stopping position P5, which is located ahead of the vehicle <NUM> in the travel direction at a predetermined distance from the starting point (position P3) of the banked section <NUM>, as illustrated in <FIG> (step S14). The stopping position P5 may be an inner course on the road surface in the adjustment section <NUM> so that other vehicles can overtake the vehicle <NUM>. The stopping position P5 is a position from which the vehicle <NUM> stopped at the stopping position P5 can accelerate to the predetermined speed (such as <NUM>/h) required for driving in the banked section <NUM> before the vehicle <NUM> enters the banked section <NUM>. After stopping the vehicle <NUM> at the stopping position P5, the controller <NUM> returns to the processing of step S11. Ahead of the vehicle <NUM> in the travel direction refers to the side closer from the viewpoint of the travel direction of the vehicle <NUM>. Accordingly, the position P5 is closer than the position P3 from the viewpoint of the vehicle <NUM> driving on the course <NUM>.

As described with reference to <FIG>, a control method of the vehicle <NUM> according to the present embodiment includes an acquisition step of acquiring a detection result of the sensor <NUM> that detects information about the vehicle <NUM> or the course <NUM>, and a control step of stopping the vehicle <NUM> so that the vehicle <NUM> does not enter the banked section <NUM> when it is determined that there is another vehicle in the banked section <NUM> based on the detection result of the sensor <NUM>. In this way, the vehicle <NUM> does not enter the banked section <NUM> while there is another vehicle in the banked section <NUM>, thereby improving the driving safety of the vehicle <NUM> in the banked section <NUM>.

The control of the vehicle <NUM> by the control device <NUM> in the present embodiment is not limited to entry into the banked section <NUM>, described above. The control device <NUM> may control the driving of the vehicle <NUM> according to the driving rules in each section included in the course <NUM>. Other examples of the control of the vehicle <NUM> by the control device <NUM> are described below.

As described above, the controller <NUM> may use a weighting for the plurality of sensors <NUM> and the detection results of the sensors <NUM> to detect the position of the vehicle <NUM> and obstacles around the vehicle <NUM>. In this case, the controller <NUM> may change the weighting for the plurality of sensors <NUM>. Specifically, the controller <NUM> may change the weighting for the plurality of sensors <NUM> at the stopping position P5.

The banked section <NUM> has a shape in which the road surface is curved and inclined. Therefore, the detection accuracy may be affected in the banked section <NUM>, depending on the type of the sensor <NUM>, and a decrease in the detection accuracy or detection failure may occur. When such failure occurs, it becomes difficult to detect the position of the vehicle <NUM> and obstacles around the vehicle <NUM>. Driving on the banked section <NUM> in such a state is not desirable in terms of safety. Therefore, by changing the weighting of the plurality of sensors <NUM> between the banked section <NUM> and sections other than the banked section <NUM>, the position of the vehicle <NUM> and obstacles around the vehicle <NUM> can be detected using the detection results of sensors <NUM> whose detection accuracy tends not to be affected even in the banked section <NUM>.

By aligning the stopping position P5 of the vehicle <NUM> with the position at which the weighting for the plurality of sensors <NUM> is changed, a control section based on the presence or absence of another vehicle in the banked section <NUM> overlaps with a control section that uses the weighting for the plurality of sensors <NUM>. Therefore, the control section in which these controls are performed can be shortened, and a longer section can be used to adjust the driving speed, driving order, and the like of the vehicle. This enables tests to be performed efficiently.

As described above, the course <NUM> includes the test section <NUM> and the acceleration section <NUM> connected to the starting point (position P1) of the test section <NUM>. There is a driving rule stating that in the test section <NUM>, the vehicle <NUM> travels a predetermined route at a predetermined speed for the test, and if another vehicle is traveling in the test section <NUM>, the vehicle <NUM> should not be in the test section <NUM> or come within a predetermined distance from the test section <NUM>. There is also a driving rule indicating to accelerate in the acceleration section <NUM> to the speed predetermined for the test in the test section <NUM>. The controller <NUM> may control the driving of the vehicle <NUM> based on these driving rules. For example, the controller <NUM> controls the driving of the vehicle <NUM> to satisfy the driving rules in the acceleration section <NUM> and the test section <NUM> by adjusting the timing for starting from the stopped state at the stopping position P5.

Specifically, the controller <NUM> may accelerate the vehicle <NUM> in the acceleration section <NUM> to the speed required for testing in the test section <NUM>, and when there is another vehicle in the test section <NUM>, the controller <NUM> may control the vehicle <NUM> so as not to come within a predetermined distance (such as <NUM>) from the test section <NUM>. In this way, when the vehicle <NUM> is to enter the test section <NUM>, the vehicle <NUM> can be accelerated to the speed required for the test, and the vehicle <NUM> can be prevented from interfering with the test of another vehicle.

When another vehicle is conducting a pass-by noise test, the engine or motor of the other vehicle is stopped before the test section <NUM>, and once the other vehicle has passed through the test section <NUM>, the engine or motor of the other vehicle is driven. In this case, if the vehicle <NUM> passes through the test section <NUM> at high speed after the other vehicle passes through the test section <NUM> and before the speed of the other vehicle increases, the vehicle <NUM> may rear-end the other vehicle in the adjustment section <NUM> in the present embodiment.

To address this issue, when the vehicle <NUM> enters and passes through the test section <NUM> after another vehicle has passed through the test section <NUM>, the controller <NUM> controls the vehicle to stay apart from the other vehicle by a distance for avoiding a collision with the other vehicle ahead. Accordingly, even when there is no other vehicle in the banked section <NUM> while the vehicle <NUM> is stopped at the stopping position P5, the controller <NUM> may be configured not to start the vehicle <NUM> until the distance from another vehicle ahead becomes the distance for avoiding a collision with the other vehicle. In this way, even during a test involving turning the ignition off and on, the vehicle <NUM> can be prevented from rear-ending another vehicle ahead.

The distance for avoiding a collision between the vehicle <NUM> and the other vehicle ahead can, for example, be calculated based on driving scenarios that specify the driving course, driving speed, and the like of the other vehicle ahead and the vehicle <NUM>. The driving scenarios of the vehicle <NUM> and the other vehicle can, for example, be acquired from the server <NUM> described below.

As described above, the course <NUM> also includes the adjustment section <NUM> connected to the ending point (position P2) of the test section <NUM> and the starting point (position P3) of the banked section <NUM>. In the adjustment section <NUM>, there is a driving rule stating that the vehicle <NUM> may drive at any speed along any route. In the adjustment section <NUM>, the controller <NUM> permits overtaking of other vehicles and overtaking by other vehicles.

In an actual vehicle test, a plurality of vehicles (including vehicles controlled by autonomous operation and vehicles operated by a driver) may simultaneously drive on the course <NUM>, and various tests may be performed. By overtaking of other vehicles and overtaking by other vehicles being permitted in the adjustment section <NUM>, the driving order and driving distance of the plurality of vehicles performing tests can be adjusted, and the tests can be performed efficiently.

<FIG> illustrates an example configuration of a tire testing system <NUM> for acquiring test data of the tires <NUM> mounted on the vehicle <NUM> driving on the course <NUM>.

As illustrated in <FIG>, the tire testing system <NUM> includes a server <NUM> and a measurement device <NUM>.

The measurement device <NUM> acquires test data of tires <NUM> mounted on the vehicle <NUM> traveling on the course <NUM>. In the case of a pass-by noise test, the measurement device <NUM> is a microphone provided at both ends in the width direction of the road surface of the test section <NUM>. The measurement device <NUM> outputs the acquired test data to the server <NUM>.

The server <NUM> acquires the test data acquired from the measurement device <NUM>. The server <NUM> includes a communication interface for communicating with the communication device <NUM> mounted on the vehicle <NUM>, and may communicate via the communication interface with the vehicle <NUM> (control system <NUM>) that includes the communication device <NUM>. The number of control systems <NUM> communicating with the server <NUM> may be one, or may be two or more.

The server <NUM> manages the test data of the tires <NUM>. The server <NUM> transmits driving conditions (driving scenarios) of the vehicle <NUM> for testing the tires <NUM> to the vehicle <NUM> on which the tires <NUM> to be tested are mounted. The driving conditions of the vehicle <NUM> for testing the tires <NUM> are also referred to as test conditions. The test conditions may include driving rules for each section (test section <NUM>, adjustment section <NUM>, banked section <NUM>, and acceleration section <NUM>). The test conditions may include information regarding a predetermined standard. The test conditions may include a reference speed of the vehicle <NUM> at which the test data is to be acquired. The test conditions may include the number of pieces of test data to be acquired. The test conditions may include a reference for determining whether the acquired test data is normal. As the control device <NUM> drives the vehicle <NUM> based on the test conditions, the test data of the tires <NUM> mounted on the vehicle <NUM> is acquired by the measurement device <NUM>.

The control device <NUM> may acquire the test data from the server <NUM> and determine whether the acquired test data is normal based on the test conditions. When the control device <NUM> determines that the test data is not normal, the control device <NUM> may cause the vehicle <NUM> to drive through the test section <NUM> to reacquire the test data. The control device <NUM> may cause the vehicle <NUM> to drive so as to reacquire only the test data determined not to be normal. The control device <NUM> may cause the vehicle <NUM> to drive so as to reacquire all the test data included in the test conditions. When determining that the acquired test data is normal, the control device <NUM> may terminate the control of the driving of the vehicle <NUM> based on the test conditions. By the control device <NUM> terminating the control of the driving of the vehicle <NUM> based on the determination result for the test data, the probability of redoing the test of the tires <NUM> is reduced. As a result, the efficiency of the test of the tires <NUM> is enhanced.

The server <NUM> may determine whether the acquired test data is normal. The control device <NUM> may acquire a determination result indicating whether the test data is normal from the server <NUM>. When the control device <NUM> acquires a determination result indicating that the test data is not normal from the server <NUM>, the control device <NUM> may cause the vehicle <NUM> to drive through the test section <NUM> to reacquire the test data. When the control device <NUM> acquires a determination result indicating that the test data is normal from the server <NUM>, the control device <NUM> may terminate the control of the driving of the vehicle <NUM> based on the test conditions. When determining that the acquired test data is normal, the server <NUM> may transmit an instruction to the control device <NUM> to terminate the control of the driving of the vehicle <NUM> based on the test conditions. The control device <NUM> may terminate the control of the driving of the vehicle <NUM> based on the test conditions in response to the instruction from the server <NUM>. With this configuration, the efficiency of the test of the tires <NUM> is enhanced.

<FIG> is a flowchart illustrating a tire testing method using the tire testing system <NUM> illustrated in <FIG>. In <FIG>, an example in which the controller <NUM> determines whether the test data is normal will be used.

According to the control method of the present embodiment, the controller <NUM> controls the vehicle <NUM> to drive on the course <NUM> (step S21).

The measurement device <NUM> acquires test data when the vehicle <NUM> drives through the test section <NUM> (step S22) and outputs the test data to the server <NUM>. The server <NUM> acquires the test data of the tires <NUM> outputted from the measurement device <NUM> and transmits the acquired test data to the control device <NUM> installed in the vehicle <NUM> on which the tires <NUM> are mounted.

The controller <NUM> receives the test data transmitted from the server <NUM> and determines whether the test data is normal (step S23). The controller <NUM> may determine whether the test data is normal based on the test conditions.

When it is determined that the test data is normal (step S23: Yes), the controller <NUM> terminates the process after acquisition of all necessary test data.

When it is determined that the test data is not normal (step S23: No), the controller <NUM> causes the vehicle <NUM> to drive through the test section <NUM> so that the measurement device <NUM> can reacquire the test data (step S24).

In this way, a control method of the vehicle <NUM> according to the present embodiment includes an acquisition step of acquiring a detection result of the sensor <NUM> that detects information about the vehicle <NUM> or the course <NUM>, and a control step of stopping the vehicle <NUM> so that the vehicle <NUM> does not enter the banked section <NUM> when it is determined that there is another vehicle in the banked section <NUM> based on the detection result of the sensor <NUM>.

Furthermore, the control device <NUM> of the present embodiment includes the controller <NUM>. The controller <NUM> acquires a detection result of the sensor <NUM> that detects information about the vehicle <NUM> or the course <NUM>. The controller <NUM> stops the vehicle <NUM> so that the vehicle <NUM> does not enter the banked section <NUM> when determining that there is another vehicle in the banked section <NUM> based on the acquired detection result of the sensor <NUM>.

The control system <NUM> according to the present embodiment includes the control device <NUM> for controlling the vehicle <NUM> that has the tires <NUM> mounted thereon and drives autonomously on the course <NUM>, and a sensor <NUM> that detects information about the vehicle <NUM> or the course <NUM>. The control device <NUM> includes the controller <NUM> that acquires the detection result of the sensor <NUM> and stops the vehicle <NUM> so that the vehicle <NUM> does not enter the banked section <NUM> when determining that there is another vehicle in the banked section <NUM> based on the acquired detection result of the sensor <NUM>.

A tire testing method according to the present embodiment includes a step of controlling, in accordance with the above-described control method, the vehicle <NUM> to drive on the course <NUM>, and a step of acquiring test data of the tires <NUM> mounted on the vehicle <NUM> driving on the course <NUM>. The course <NUM> is a course for testing the tires <NUM>.

Accordingly, the vehicle <NUM> does not enter the banked section <NUM> while there is another vehicle in the banked section <NUM>, thereby improving the driving safety of the vehicle <NUM> in the banked section <NUM>.

Claim 1:
A control method for controlling a vehicle (<NUM>) that has tires (<NUM>) mounted thereon and drives autonomously on a course (<NUM>),
the course including a banked section (<NUM>),
the control method comprising:
an acquisition step (S11) of acquiring a detection result of a sensor (12a, 12b), the sensor being mounted on the vehicle or installed along the course, that detects information about the vehicle and other vehicles on the course, and detecting a position of the vehicle and other vehicles on the course based on the detection result; and characterized by
a control step of stopping the vehicle (S14) so that the vehicle does not enter the banked section when it is determined that there is another vehicle in the banked section based on the detection result of the sensor;
wherein the vehicle is stopped at a stopping position, located ahead of the vehicle in a travel direction at a predetermined distance from a starting point of the banked section, when it is determined that there is another vehicle in the banked section.