JP2012238169A - Platooning control device - Google Patents

Abstract

A row running control device capable of reducing a situation where a row is divided is provided.
A convoy travel control apparatus 100 includes a control unit 101, a communication unit 102, an acquisition unit 103, a storage unit 104, a convoy determination unit 105, an information generation unit 106, a travel route selection unit 107, a travel guide unit 108, and the like. Prepare. The communication unit 102 receives signal information of the external device signal lamp. The acquisition unit 103 acquires the speed and position of the vehicle in the formation, the length of the formation, and the like. The formation determination unit 105 determines whether the formation is divided at the intersection based on the received signal information, the acquired formation length, the speed and position of the vehicle in the formation. When the formation determination unit 105 determines that the formation is divided, the information generation unit 106 generates control information for controlling traveling so that the formation is not divided.
[Selection] Figure 2

Description

  The present invention relates to a row running control device for running a plurality of vehicles in a row.

  Conventionally, a plurality of vehicles traveling on a highway or the like may preferably be traveled in a formation as a single vehicle group from the viewpoint of safety or smooth traffic. In order to perform platooning, for example, signals for driving control are transmitted and received from the leading vehicle to the following vehicle by inter-vehicle communication.

  As an example of such platooning, for example, when the preceding vehicle leaves the platoon and cannot receive data from the preceding vehicle, the subsequent vehicle becomes the leading vehicle and quickly re-forms the platoon. A row running control device that can be used is disclosed (see Patent Document 1).

Japanese Patent No. 3358403

  However, in the row running control device of Patent Document 1, even if the position of the own vehicle changes due to the departure of the front vehicle from the row, the row can be reformed, but the original row running is performed. There is no disclosure of a method for continuing running in a maintained state. When running in a row on a general road as well as on an expressway, there are many factors that cause the row to be divided, and a technique that can maintain the row running even if such a factor occurs has been desired.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a row running control device that can reduce the situation where a row is divided.

  A platooning control apparatus according to a first aspect of the present invention is a platooning control apparatus for platooning a plurality of vehicles, and receiving signal information indicating whether or not the vehicle is allowed to pass through a point where travel of the vehicle is restricted from an external device. Means for obtaining the length of the convoy, speed obtaining means for obtaining the speed of the vehicle, position obtaining means for obtaining the position of the vehicle, received signal information, and the obtained convoy Based on the length, speed and position of the vehicle, determination means for determining whether or not the platoon is divided at the point, and when determining that the platoon is divided by the determination means, so that the platoon is not divided And generating means for generating control information for controlling traveling.

  In the row running control device according to the second invention, in the first invention, the determination means is such that the leading vehicle of the row can pass the point by the received signal information, and vehicles other than the leading vehicle are in the point. If the vehicle cannot pass through the vehicle, the formation is determined to be divided, and the generation means stops the leading vehicle at the point, or moves the last vehicle of the formation to the point. It is configured to generate control information to pass through.

  In the first invention or the second invention, the row running control device according to the third invention is based on the road information including the right turn point or the left turn point and a predetermined priority order. Selection means for selecting, and guide means for guiding the platoon to travel along the travel route selected by the selection means, the selection means is a length of a road section divided by the right turn point or the left turn point Is configured to select the one travel route by lowering the priority of the travel route shorter than the length of the platoon.

  The row running control device according to a fourth aspect of the present invention is the row running control device according to the third aspect, wherein the selection means is configured to select the one running route by excluding a running route in which the row makes a right turn or a left turn at a plurality of locations. It is characterized by being.

  In the first aspect of the invention, signal information indicating whether or not a vehicle is restricted from traveling (for example, an intersection or a railroad crossing) is received from an external device, and the length of the platoon and the number of vehicles constituting the platoon are determined. Get speed and position. The signal information includes, for example, a signal lamp color display time, a signal lamp color switching time, and the like. The position of the vehicle may be, for example, the distance from the point, or may be the position of the traveling point of the vehicle when the position of the point is known in advance. The determining means determines whether the platoon is divided at the point based on the received signal information and the acquired platoon length, vehicle speed and position, and the generating means divides the platoon If it is determined, control information for controlling the running is generated so that the formation is not divided.

  For example, when traveling to an intersection at a certain speed, if the signal light color changes from blue to red (yellow) in the middle of the platoon, the control information for deceleration so that the leading vehicle in the platoon can stop before the intersection Or control information for acceleration at an acceleration within an allowable range so that the last vehicle in the platoon can pass through the intersection. By receiving the signal information, it is possible to prevent the formation from being divided due to switching of the signal light color such as an intersection.

  In the second aspect of the invention, the determination means can determine whether the leading vehicle in the platoon can pass the point by the received signal information and no vehicle other than the leading vehicle can pass the point. If any of the following vehicles excluding the leading vehicle among the vehicles constituting the vehicle cannot pass the point, it is determined that the platoon is divided. Then, control information for deceleration is generated so as to stop the leading vehicle at the point, or control information for acceleration is generated so that the last vehicle in the formation passes through the point. As a result, it is possible to prevent a situation where the formation is divided due to switching of the signal light color such as an intersection.

  In the third invention, the selection means selects one travel route from a plurality of travel routes based on road information including a right turn point or a left turn point and a predetermined priority. That is, a starting point and a destination point of a convoy are acquired in advance, and a route having the shortest distance to the destination or a route having the shortest time to the destination is selected as a priority from a plurality of routes. Select etc. The guide means guides the convoy to travel along the selected travel route. And a selection means lowers the priority of the travel route in which the length of the road section divided by the right turn point or the left turn point is shorter than the length of the platoon, and selects one travel route. For example, when the length of the road section between adjacent right turn points or left turn points is shorter than the length of the platoon, the priority order of the road section is lowered to make it difficult to select the road section as a travel route.

  If a travel route that includes a road section shorter than the length of the platoon is selected, the driver of the preceding vehicle will follow the driver when the platoon turns right or left on the upstream or downstream side of the short road section. Thus, it is impossible to visually check whether the vehicle is traveling, which gives the driver anxiety. Also, if the platoon turns right or left on the upstream and downstream sides of the road section that is shorter than the length of the platoon, there is a possibility that the driving trajectory may be greatly shifted between the leading vehicle and the following vehicle. If another vehicle interrupts in the middle, the platooning will be disturbed, and as a result, the platooning cannot be maintained. By making it difficult to select a travel route that includes a road section shorter than the length of the convoy, the convoy travel can be maintained, and the situation where the convoy is divided can be reduced. It also gives the driver a sense of security.

  In the fourth aspect of the invention, the selection means selects one travel route by excluding the travel route in which the platoon makes a right turn or a left turn at a plurality of locations. For example, when the platoon turns right or left on the upstream side and the downstream side of the road section shorter than the length of the platoon, the platoon makes a right turn or a left turn at a plurality of locations. By not selecting a travel route including such a road section, the convoy travel can be maintained, and the situation where the convoy is divided can be reduced. It also gives the driver a sense of security.

  According to the present invention, it is possible to prevent a situation where the formation is divided.

It is a schematic diagram which shows an example of platooning. It is a block diagram which shows an example of a structure of the convoy travel control apparatus of this Embodiment. It is explanatory drawing which shows an example of the traveling control by the row | line | column traveling control apparatus of this Embodiment. It is explanatory drawing which shows the other example of the traveling control by the row | line | column traveling control apparatus of this Embodiment. It is explanatory drawing which shows an example which selects the driving | running route of the platoon by the platoon traveling control apparatus of this Embodiment. It is explanatory drawing which shows an example of the driving | running route excluded by the convoy travel control apparatus of this Embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a row running control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an example of a row running, and FIG. 2 is a block diagram showing an example of the configuration of the row running control device 100 of the present embodiment. In the example of FIG. 1, the intersection S is given as an example as a point where the row running may be restricted (restricted). It is assumed that the signal lamp 200 and the traffic signal controller 201 are installed at the intersection S, and the vehicles 301 to 305 constituting the platoon are traveling toward the intersection S.

  The convoy travel control apparatus 100 of the present embodiment is configured as, for example, an in-vehicle device mounted on a vehicle (for example, the leading vehicle 301) in the convoy. The row running control device 100 is not limited to being mounted on a vehicle, but may be configured as a server that performs traffic control or the like, or configured as a road device (for example, an optical beacon) installed on the road. You can also Hereinafter, description will be given assuming that the convoy travel control device 100 is configured as an in-vehicle device.

  The traffic signal controller 201 has a transmission function and, for example, transmits signal information of the signal lamp device 200 (display time of each lamp color, switching time of the lamp color, etc.) to the platooning control apparatus 100. The transmission of the signal information of the signal lamp device 200 is not limited to the transmission from the traffic signal controller 201, and may be transmitted from another server or a central device.

  As shown in FIG. 2, the convoy travel control apparatus 100 includes a control unit 101 that controls the entire apparatus, a communication unit 102, an acquisition unit 103, a storage unit 104, a convoy determination unit 105, an information generation unit 106, and a travel route selection unit 107. And a travel guide unit 108.

  The communication unit 102 receives signal information of the signal lamp 200 for the platoon traveling toward the intersection S from an external device (for example, a traffic signal controller 201, a server or a central device not shown). The signal information includes, for example, information such as a green signal (including a left turn blue arrow and a right turn blue arrow), a yellow signal, a red signal, a display time, a switching time, and the like, and indicates whether or not a train can pass the intersection S It is.

  The acquisition unit 103 acquires the speed and position of a vehicle (for example, the first vehicle 301) in the platoon, the length of the platoon, and the like. The vehicle speed can be obtained from a vehicle speedometer or the like. When running in a row, the other vehicles that make up the row are also running at the same speed, so the speed of one vehicle in the row may be acquired. The speed may be acquired from each vehicle in the platoon by inter-vehicle communication and averaged. Moreover, the position of the vehicle can be obtained by measuring the position at a predetermined cycle by providing the vehicle with a GPS receiver, road information, and the like. The length of the platoon can be obtained from the vehicle length, the average inter-vehicle distance, and the number of vehicles when the number of vehicles constituting the platoon is determined in advance.

  The storage unit 104 stores road information for navigation. The road information includes information such as the position of the intersection, the position information of the road section between adjacent intersections, the distance of the road section, the presence or absence of a signal lamp at the intersection, and the identification information of the signal lamp installed at the intersection. Including.

  The formation determination unit 105 has a function as determination means for determining whether or not the formation is divided at a point such as an intersection (a place where the formation is restricted). The formation determination unit 105 determines whether the formation is divided at the intersection based on the received signal information, the acquired formation length, the speed and position of the vehicle in the formation. Note that the division is divided means that the leading vehicle 301 and the following vehicle are divided, the division between vehicles in the formation, or the like.

  The information generation unit 106 has a function as a generation unit that generates control information for controlling the running of the formation. When the formation determination unit 105 determines that the formation is divided, the information generation unit 106 generates control information for controlling traveling so that the formation is not divided.

  For example, when each vehicle constituting the platoon travels toward the intersection S at a certain speed, when the signal light color changes from blue to red (yellow) in the middle of the platoon, the leading vehicle 301 in the platoon is in front of the intersection S. Control information for deceleration is generated so that the vehicle can stop at the vehicle speed, or control information for acceleration is generated at an acceleration within an allowable range so that the last vehicle 305 of the formation can pass the intersection S.

  A vehicle (for example, the leading vehicle) equipped with the convoy travel control device 100 automatically decelerates or accelerates by controlling the acceleration / deceleration mechanism (accelerator or brake) based on the control information generated by the information generator 106. To do. In addition, a vehicle equipped with the convoy travel control device 100 transmits the control information generated by the information generating unit 106 to other vehicles in the convoy using, for example, inter-vehicle communication. Thereby, when the leading vehicle 301 is accelerated or decelerated, the following vehicle can also follow the leading vehicle 301 and accelerate or decelerate. Instead of automatically accelerating or decelerating, the driver may be notified of an acceleration or deceleration instruction.

  As described above, by receiving the signal information, it is possible to prevent a situation in which the platoon is divided due to switching of the signal lamp color such as an intersection.

  FIG. 3 is an explanatory diagram showing an example of travel control by the row travel control device 100 of the present embodiment. In FIG. 3, the horizontal axis indicates time, the signal lamp color of the signal lamp device 200 at the intersection S is switched, and the vertical axis indicates the distance from the intersection S. The solid line in FIG. 3 represents the running state of the leading vehicle 301 and the last vehicle 305 in the platoon before the traveling control is performed, and the broken line represents the leading vehicle 301 and the last tail in the platoon after the traveling control (acceleration) is performed. The traveling state of the vehicle 305 is represented.

  As shown by the solid line in FIG. 3, before the traveling control is performed, the leading vehicle 301 reaches the intersection S with a green light, and therefore can pass through the intersection S. On the other hand, when the last vehicle 305 arrives at the intersection S, the signal light color is red, so that some of the following vehicles including the last vehicle 305 cannot pass through the intersection S. As a result, The convoy will be divided at the intersection S.

  In this case, the platoon determination unit 105 can divide the platoon because the leading vehicle 301 of the platoon can pass the intersection S and the subsequent vehicle of the leading vehicle 301 cannot pass the intersection S according to the received signal information. It is determined that.

  The information generation unit 106 generates control information for acceleration. As a result, as shown by the broken line in FIG. 3, each vehicle including the last vehicle 305 in the platoon can pass through the intersection S at the time when the green signal ends (or just before the red signal switches). It is possible to prevent the formation from being divided.

  FIG. 4 is an explanatory view showing another example of the traveling control by the convoy traveling control device 100 of the present embodiment. In FIG. 4, the horizontal axis represents time, the signal lamp color of the signal lamp 200 at the intersection S is switched, and the vertical axis represents the distance from the intersection S. The solid line in FIG. 4 represents the running state of the leading vehicle 301 and the last vehicle 305 in the row before the running control, and the broken line represents the leading vehicle 301 and the last vehicle in the row after running control (deceleration). The traveling state of the vehicle 305 is represented.

  As shown by the solid line in FIG. 4, before the traveling control is performed, the leading vehicle 301 reaches the intersection S with a green light, and therefore can pass through the intersection S. On the other hand, when the last vehicle 305 arrives at the intersection S, the signal light color is red, so that some of the following vehicles including the last vehicle 305 cannot pass through the intersection S. As a result, The convoy will be divided at the intersection S.

  In this case, the platoon determination unit 105 can divide the platoon because the leading vehicle 301 of the platoon can pass the intersection S and the subsequent vehicle of the leading vehicle 301 cannot pass the intersection S according to the received signal information. It is determined that.

  The information generation unit 106 generates control information to decelerate. As a result, as shown by the broken line in FIG. 4, all the vehicles from the first vehicle 301 to the last vehicle 305 of the formation can be stopped at the intersection S at the start of the red signal, and the formation is divided at the intersection S. The situation can be prevented beforehand.

  In the above example, an intersection is mentioned as a point where the platooning is restricted, but the point where the platoon may be divided is not limited to the intersection. Forms can be applied. In this case, based on an operation plan of a train or a train, signal information such as a time at which a target level crossing alarm (signal) generates an alarm sound is generated, and the generated signal information is transmitted to the platooning control apparatus 100. Just send it.

  Next, a case where a travel route from a departure point to a destination point is selected and a train is guided (navigated) to the destination point will be described.

  FIG. 5 is an explanatory diagram showing an example of selecting the travel route of the convoy by the convoy travel control device 100 of the present embodiment. The travel route selection unit 107 has a function as a selection unit that selects one travel route from a plurality of travel routes based on road information including a right turn point or a left turn point and a predetermined priority.

  Specifically, the travel route selection unit 107 acquires the starting point and the destination point of the convoy in advance, and, as a priority order, for example, a route with the shortest distance to the destination, Select the route that takes the shortest time to the destination.

  The travel guide unit 108 has a function as a guide unit that guides the platoon to travel along the travel route selected by the travel route selection unit 107. For example, the travel guide unit 108 constitutes a part of the navigation system, and displays the current position on the road, the travel direction, the arrival time to a predetermined point, the traffic jam, etc. by displaying characters or drawings in the form of a driver or voice. Information can be provided.

  The travel route selection unit 107 selects one travel route by lowering the priority of the travel route in which the length of the road section divided at the right turn point or the left turn point is shorter than the length of the platoon. For example, as shown in FIG. 5, when the length of the road section L between adjacent right turn points or left turn points is shorter than the length of the platoon, the priority order of the road section L is lowered and the road section L is used as a travel route. Make it difficult to select.

  Specifically, as shown in FIG. 5, assuming that the travel route A and the travel route B are selected as the route having the shortest distance or the shortest time which is a predetermined priority, the travel route A including the road section L is selected. Lowering the priority, instead of traveling route A passing through road section L, traveling without the road section L, the length of the road section between adjacent right turn points or left turn points is longer than the length of the platoon The route B is selected.

  If a travel route that includes a road section shorter than the length of the platoon is selected, the driver of the preceding vehicle will follow the driver when the platoon turns right or left on the upstream or downstream side of the short road section. Thus, it is impossible to visually check whether the vehicle is traveling, which gives the driver anxiety. Also, if the platoon turns right or left on the upstream and downstream sides of the road section that is shorter than the length of the platoon, there is a possibility that the driving trajectory may be greatly shifted between the leading vehicle and the following vehicle. If another vehicle interrupts in the middle, the platooning will be disturbed, and as a result, the platooning cannot be maintained. By making it difficult to select a travel route that includes a road section shorter than the length of the convoy, the convoy travel can be maintained, and the situation where the convoy is divided can be reduced. It also gives the driver a sense of security.

  FIG. 6 is an explanatory diagram illustrating an example of a travel route that is excluded by the convoy travel control apparatus 100 according to the present embodiment. As shown in FIG. 6, the travel route selection unit 107 selects one travel route by eliminating the travel route that makes a right turn or a left turn at a plurality of locations (in the example of FIG. 6, the three-way intersection S <b> 1 and the intersection S <b> 2). . For example, when the platoon turns right or left on the upstream side and the downstream side of the road section shorter than the length of the platoon, the platoon makes a right turn or a left turn at a plurality of locations. That is, by not selecting a travel route including a road section as shown in FIG. 6, it is possible to maintain the formation running and reduce the situation where the formation is divided. In addition, a sense of security can be given to the driver.

  In the above-described embodiment, the example in which the number of vehicles constituting the platoon is five has been described. However, the number of vehicles is not limited to five, and the number of vehicles constituting the platoon is, for example, 3-6. It may be about one or seven or more. As the number of vehicles that make up a platoon increases, there is a higher possibility that the platooning will be divided due to various factors. Therefore, the use of the platooning control device 100 of this embodiment reduces the situation where the platooning is divided. can do.

  When the convoy travel control apparatus 100 is configured as a server or the like without being mounted on a vehicle, the travel information generated by the information generation unit 106 may be transmitted to the convoy vehicle (for example, the leading vehicle). In this case, the leading vehicle that has received the travel information controls the travel of the host vehicle based on the travel information, and performs an instruction to travel following the subsequent vehicle through inter-vehicle communication, thereby Traveling can be maintained.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 101 Control part 102 Communication part 103 Acquisition part 104 Storage part 105 Convoy determination part 106 Information generation part 107 Travel route selection part 108 Travel guidance part

Claims (4)

In a row running control device for running a plurality of vehicles in a row,
Receiving means for receiving, from an external device, signal information indicating whether or not the vehicle is allowed to pass through a point where travel of the vehicle is restricted;
A procession length acquisition means for acquiring the procession length;
Speed acquisition means for acquiring the speed of the vehicle;
Position acquisition means for acquiring the position of the vehicle;
Determining means for determining whether the convoy is divided at the point based on the received signal information and the obtained convoy length, vehicle speed and position;
A convoy travel control apparatus comprising: generating means for generating control information for controlling traveling so that the convoy is not divided when the determination means determines that the convoy is divided. The determination means includes
If the leading vehicle of the platoon can pass the point according to the received signal information and no vehicle other than the leading vehicle can pass the point, it is determined that the platoon is divided. ,
The generating means includes
The platooning according to claim 1, wherein control information is generated so that the leading vehicle is stopped at the point or the last vehicle of the platoon is allowed to pass through the point. Control device. A selection means for selecting one travel route from a plurality of travel routes based on road information including a right turn point or a left turn point and a predetermined priority;
Guidance means for guiding the platoon to travel along the travel route selected by the selection means,
The selection means includes
The length of a road section divided at the right turn point or the left turn point is configured to select the one travel route by lowering the priority of the travel route shorter than the length of the platoon. The row running control device according to claim 1 or claim 2. The selection means includes
4. The convoy travel control apparatus according to claim 3, wherein the convoy travel control device is configured to select the one travel route by excluding the travel route in which the convoy is making a right turn or a left turn at a plurality of locations.

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