JP2019008587A - Automatic cooperation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the safety of vehicle traveling when an abnormality occurs in an information source (sensors). SOLUTION: A first vehicle 1A having a function capable of unmanned automatic driving regardless of a manual driving operation is automatically linked with a second vehicle 1B capable of performing a plurality of operations of acceleration, steering and braking. When the determination unit 21B that determines the abnormality of the detection device 9B that detects the information related to the traveling of the second vehicle 1B and the determination unit 21B determine the abnormality of the detection device 9B in the automatic cooperation system 100 that is driven by According to the transmission unit 23B that transmits a signal notifying the abnormality of the detection device 9B to the first vehicle 1A, the command unit 24A that transmits a driving command for coordinating the second vehicle 1B with the first vehicle 1A, and this driving command. It is provided with a control unit 23B for automatically driving the second vehicle 1B. [Selection diagram] Fig. 1

Description

  The present invention relates to a vehicle (first vehicle) having an automatic traveling system existing in the vicinity when an abnormality occurs in a sensor of the vehicle (second vehicle) capable of performing a plurality of operations of acceleration, steering, and braking. ) To an automatic cooperation system that automatically sends a second vehicle in cooperation with the first vehicle.

  Conventionally, a vehicle equipped with a support system that supports a manual driving operation by a driver has been put into practical use. For example, an automatic brake system for avoiding a collision and a cruise control system for keeping the vehicle speed constant are known. In recent years, development of an automatic travel system that automatically travels a vehicle instead of a manual driving operation by a driver has been promoted. A vehicle equipped with an automatic travel system can travel automatically regardless of a manual driving operation, and therefore can travel without the driver's involvement (ie, unattended). Further, for example, a tracking support device has been proposed in which a vehicle having an automatic traveling system determines a tracking target vehicle from candidate vehicles existing in front of the vehicle and follows the tracking target vehicle by automatic driving ( Patent Document 1).

Japanese Patent Laying-Open No. 2015-141641

  By the way, the vehicle provided with the automatic traveling system has a plurality of sensors, and performs automatic driving using information obtained by these sensors. For this reason, if an abnormality occurs somewhere in the sensors serving as the information source and automatic driving cannot be continued, it may be necessary to handle driving by an occupant instead of the automatic driving system. However, there are cases where it is difficult for a driver who is requested to take action to immediately grasp the situation at that time and take an appropriate action. Even if the vehicle is equipped with the above-mentioned support system instead of the automatic driving system, the information source (sensors) is abnormal when the driver is not much involved in the driving operation (not concentrating on the driving operation). Similar problems may occur when this occurs.

  This case has been devised in view of such problems, and provides an automatic linkage system that improves safety by causing the vehicle to run in cooperation with another vehicle when an abnormality occurs in the information source. One of the purposes. The present invention is not limited to this purpose, and is a function and effect derived from each configuration shown in the embodiment for carrying out the invention described later, and has another function and effect that cannot be obtained by conventional techniques. is there.

(1) The automatic linkage system disclosed herein is capable of performing a plurality of operations of acceleration, steering, and braking on a first vehicle having a function capable of unattended automatic travel regardless of manual driving operation. In an automatic cooperation system for automatically driving a vehicle in cooperation with each other, a determination unit that is provided in the second vehicle and detects an abnormality of a detection device that detects information related to the traveling of the second vehicle, and provided in the second vehicle And a transmitter that transmits a signal indicating the abnormality of the detection device to the first vehicle when the abnormality of the detection device is determined by the determination unit, and the first vehicle receives the signal. A command unit that transmits a driving command for causing the second vehicle to cooperate with the first vehicle, and the second vehicle that is provided in the second vehicle and that receives the driving command, according to the driving command. Linked running It comprises a control unit, the to.

(2) It is preferable to provide the search part provided in said 1st vehicle, and searching the place where said 2nd vehicle can stop.
(3) It is preferable that the command unit transmits the driving command for causing the first vehicle and the second vehicle to run in a coordinated manner until the searchable unit finds a place where the stop is possible.
(4) It is preferable that the said instruction | command part transmits the said driving | operation instruction | command for stopping the said 2nd vehicle to the said discovered location, when the said stopable part is discovered by the said search part.
(5) The first vehicle is provided with a peripheral sensor that detects a surrounding situation of the first vehicle, and the search unit uses the information detected by the peripheral sensor to determine the place where the vehicle can stop. It is preferable to search.
(6) It is preferable that the search unit searches for a place where the vehicle can be stopped using at least one of information stored in a navigation system incorporating map data and information stored in a cloud server.

(7) It is preferable that the command unit transmits the driving command using information detected by the detection device of the first vehicle.
(8) The first vehicle is provided with a first surrounding sensor that detects a surrounding situation of the first vehicle, and the detection device includes a second surrounding sensor that detects the surrounding situation of the second vehicle. The command unit causes the first vehicle and the second vehicle to cooperate so that the first peripheral sensor can detect a range that cannot be detected by an abnormality of the second peripheral sensor. It is preferable to transmit the operation command for the purpose.
(9) When the said control part is receiving the said driving | operation command, it is preferable to alert | report to the circumference | surroundings that it is carrying out cooperation driving | running | working.

  According to the disclosed automatic cooperation system, even if an abnormality occurs in a detection device (information source) provided in a vehicle, an emergency signal is transmitted from the vehicle (second vehicle), and the first vehicle that receives the emergency signal Since the second vehicle is controlled and linked to the host vehicle (first vehicle), the safety of traveling of the second vehicle can be improved.

It is a block diagram which illustrates the whole structure of the automatic cooperation system which concerns on embodiment. 3 is a flowchart illustrating a control procedure performed in the second vehicle in FIG. 1. It is a flowchart which illustrates the procedure of control implemented with the 1st vehicle of FIG.

  An automatic cooperation system as an embodiment will be described with reference to the drawings. The embodiment described below is merely an example, and there is no intention of excluding various modifications and technical applications that are not explicitly described in the following embodiment.

[1. Overview of automatic linkage system]
The automatic linkage system according to the present embodiment is an automatic traveling system that exists in the vicinity when an abnormality occurs somewhere in a plurality of sensors provided in a vehicle capable of performing a plurality of operations of acceleration, steering, and braking. This is a system in which an emergency signal requesting rescue is transmitted to another vehicle equipped with the above, and the latter vehicle causes the former vehicle to travel together.

  The latter vehicle (hereinafter referred to as “first vehicle”) is a vehicle including an automatic traveling system having a function capable of performing unmanned automatic traveling regardless of a manual driving operation. On the other hand, the former vehicle (hereinafter referred to as “second vehicle”) may be a vehicle equipped with an automatic traveling system having the same function as the first vehicle, or a vehicle having a lower automation level than the first vehicle. It may be. As an example of the latter, the vehicle is automatically driven in place of the driver's manual driving operation by performing all of acceleration, steering and braking on the vehicle, but driving is performed when an abnormality occurs in the in-vehicle system. There is a vehicle equipped with a control system that requires manual operation by a person. Further, for example, the vehicle may be equipped with a control system capable of performing a plurality of operations of acceleration, steering, and braking at the same time, although the vehicle cannot basically travel unless the driver is involved. . The second vehicle only needs to be configured to perform at least a plurality of operations of acceleration, steering, and braking.

  In addition, “cooperation” here means a state in which the first vehicle and the second vehicle travel together. In addition to the state where the vehicle speed is not 0, the “travel” includes a state for stopping the second vehicle (taking the vehicle speed to 0). Further, “the first vehicle and the second vehicle travel together” means that the second vehicle travels in the vicinity of the first vehicle. For example, the first vehicle and the second vehicle move in the front-rear direction. It means running in a row, running in a horizontal row on the left and right, and running in an oblique positional relationship. In addition, when the first vehicle and the second vehicle deviate back and forth, either may be in front. For example, the second vehicle may travel following the first vehicle, or the second vehicle may travel ahead in front of the first vehicle.

  The automatic traveling system is a function (system) for automatically driving the vehicle in place of the driver's manual driving operation by performing all of acceleration, steering and braking on the vehicle. Since the first vehicle equipped with the automatic traveling system can automatically travel (can perform unmanned automatic driving) regardless of the manual driving operation, for example, only the vehicle can move without the driver.

  The second vehicle is configured to be communicable with the first vehicle, and configured to be able to travel according to the driving command when receiving the driving command from the first vehicle. The driving command includes at least a command related to vehicle speed, acceleration / deceleration, and steering angle, and includes detailed information (command) so that the second vehicle can be driven without manual driving operation.

  In the automatic cooperation system of this embodiment, a signal (hereinafter referred to as “emergency signal”) indicating abnormality of the sensor (detection device) is transmitted from the second vehicle. When this emergency signal is received by the first vehicle, the first vehicle transits to a driving mode for rescue of the second vehicle (hereinafter referred to as “rescue mode”), and a driving command is sent from the first vehicle to the second vehicle. Is sent. The second vehicle that has received the driving command travels according to the driving command. That is, in the automatic linkage system, even if the second vehicle does not have an automatic travel system, the first vehicle controls the second vehicle, so that the second vehicle is as if it could be an unmanned automatic driving vehicle. Can be run. The rescue mode is one of the vehicle travel modes, and is a mode for cooperating with automatic cooperation control described later.

  The abnormality of the sensor means a state where the system (control device) cannot normally acquire information detected by the sensor. For example, the sensor may not be able to detect information normally due to damage to the sensor or the effect of snow, wind, rain, dirt, etc., or the sensor may not be able to output normal information due to a failure in the sensor output system. Can be mentioned. In addition, a state in which information from the sensor cannot be normally transmitted due to a failure in a path (a harness, a communication line of an in-vehicle network network, etc.) connecting the sensor and the system is also included. A combination of these states is also included in the “sensor abnormality” described above.

  The emergency signal is a notification indicating that a sensor abnormality has occurred in the second vehicle, and is transmitted from the second vehicle to the first vehicle. In addition, the emergency signal of this embodiment illustrates the unilateral notification which requests rescue to the first vehicle (transitions to the rescue mode). That is, when the first vehicle receives an emergency signal, it actively (forcefully) heads for the rescue of the second vehicle. Note that the emergency signal is not limited to this, and may include, for example, a notification for obtaining cooperation permission of the second vehicle (a notification for requesting cooperation) in addition to the unilateral notification described above. In this case, the owner and the occupant of the first vehicle may be notified that the emergency signal has been received, and the owner or the like may be selected.

  The emergency signal includes information indicating where an abnormality has occurred among a plurality of sensors provided in the second vehicle. In the automatic linkage system of the present embodiment, the first vehicle that is the transmission destination of the signal that notifies the abnormality of the sensor is a vehicle that exists in the vicinity of the second vehicle among vehicles equipped with the automatic travel system, or the second vehicle It is a vehicle which is driving automatically or is scheduled to drive automatically on the travel route.

  As a use scene of the automatic cooperation system, for example, when the second vehicle is traveling, there is a case where an abnormality occurs in a sensor that detects the surrounding situation of the second vehicle. In this case, automatic driving by the second vehicle alone using information on the surrounding situation obtained by the sensor of the second vehicle becomes difficult. However, when there is a first vehicle equipped with an automatic travel system near the second vehicle, by using information obtained by a sensor that detects a surrounding situation provided in the first vehicle, The second vehicle can be moved in cooperation with the first vehicle while detecting the surrounding situation of the second vehicle. For example, the second vehicle can be caused to follow the first vehicle and guided to a place where the second vehicle can be stopped, or the second vehicle can be stopped at a place where the second vehicle can be stopped. In particular, when the second vehicle is traveling in a state where the driver of the second vehicle is not concentrating on driving operations (for example, during automatic driving or following traveling), the surrounding conditions of the second vehicle are detected. The case where abnormality occurs in the sensor to perform. In this case as well, the second vehicle can travel in cooperation with the first vehicle, and the travel can be continued without requiring an instantaneous response by the driver.

  In addition, as another use scene of the automatic cooperation system, there is a case where an abnormality occurs in a sensor that detects the surrounding state of the second vehicle when the second vehicle is temporarily stopped (temporarily stopped). Specifically, there may be a case where the vehicle stops temporarily before crossing a traffic signal or crossing at an intersection, when it is stopped due to a traffic jam, or when it is temporarily stopped to pass the oncoming vehicle. . Even if a sensor abnormality occurs in such a situation, a stop such as a shoulder on the road lane that can hinder traffic by moving the second vehicle linked to the first vehicle to move. The second vehicle can be stopped at a place where the vehicle can be stopped.

  First, the configuration of the first vehicle that receives the emergency signal in the automatic cooperation system will be described, and then the configuration of the second vehicle that transmits the emergency signal will be described. Furthermore, each control structure of the 1st vehicle and the 2nd vehicle which comprise the automatic cooperation system of this embodiment is explained in full detail.

[2. Device configuration]
As shown in FIG. 1, the automatic cooperation system 100 is comprised by each component with which the 1st vehicle 1A and the 2nd vehicle 1B are equipped.

  The first vehicle 1A of the present embodiment includes sensors 11A to 18A for detecting information related to the own vehicle, devices 5A to 7A for operating the vehicle (acceleration, braking, steering), and information for the passengers. Is provided with a notification device 8A. Further, the first vehicle 1A includes a control device 2A (hereinafter referred to as “first control device 2A”) for controlling the operation state of the own vehicle, a communication device 3A for acquiring information other than the own vehicle, and navigation. System 4A is provided.

  The vehicle speed sensor 11A and the acceleration sensor 12A detect the vehicle speed and acceleration of the first vehicle 1A, respectively. The steering angle sensor 13A detects the steering angle of the steering. The brake sensor 14A and the accelerator sensor 15A detect the depression amounts of the brake pedal and the accelerator pedal. The front sensor 16A is, for example, a camera, a radar, an ultrasonic sensor, or the like, and acquires all information in front of the first vehicle 1A. The side sensor 17A is also a camera, a radar, an ultrasonic sensor, or the like, for example, and acquires all information on the side and rear of the first vehicle 1A. Information detected by each of the sensors 11A to 17A is transmitted to the first control device 2A. In the present embodiment, these sensors 11A to 17A that detect information related to travel of the first vehicle 1A are collectively referred to as a “first detection device 9A”. Further, in the first detection device 9A, the front sensor 16A and the side sensor 17A that detect the surrounding situation of the first vehicle 1A are collectively referred to as a “first surrounding sensor 10A”.

  The operation screen 18A is one of the elements constituting the navigation system 4A and is provided in the vehicle interior. The navigation system 4A incorporates detailed map data, and uses the signal from the GPS satellite and map data received by the communication device 3A to detect (recognize) the current position of the first vehicle 1A and Route guidance etc. This map data includes information on a place where the vehicle can stop. A stoppable place is a place that does not hinder traffic even if the vehicle is temporarily stopped, and includes, for example, a shoulder, a shelter, an emergency parking zone, and a parking lot. On the operation screen 18A, for example, an image (map information) in which the current position of the first vehicle 1A, a planned travel route, and the like are superimposed on a map, a destination list (character information), and the like are displayed. For example, when a destination is manually selected (input) from information displayed on the operation screen 18A, the destination information is transmitted to the navigation system 4A.

  The drive device 5A is a drive source (engine or electric motor) of the first vehicle 1A, a transmission mechanism, or the like. The output of the drive device 5A is adjusted by a first control unit 23A, which will be described later, and thereby drive control of the first vehicle 1A is performed.

  The braking device 6A is a braking device or a regenerative braking system that applies a braking force to the first vehicle 1A. The braking device 6A operates through control of a brake actuator (not shown) mounted on the first vehicle 1A by the first control unit 23A, and thereby braking control of the first vehicle 1A is performed.

  The steering device 7A is an electric power steering device that assists the steering operation by the driver. The steering device 7A operates through control of a steering actuator (not shown) mounted on the first vehicle 1A by the first control unit 23A, and thereby steering control of the first vehicle 1A is performed.

  The notification device 8A is a display or audio device provided in the passenger compartment. For example, the notification device 8A may be provided as a dedicated display near the meter, and the operation screen 18A or the navigation system 4A described above functions as the notification device 8A. You may have it. The operating state of the notification device 8A is controlled by the first control device 2A.

  The communication device 3A is an electronic control device that transmits and receives information by communicating with a communicable target other than the own vehicle. Examples of objects with which the communication device 3A communicates include a GPS satellite, a cloud server 50, a roadside device disposed on a road, an external engine or facility, and other vehicles. The communication device 3A transmits the received information to the first control device 2A, and transmits information corresponding to a command from the first control device 2A to each target.

  The first control device 2A is an electronic control device that integrally controls various devices mounted on the host vehicle. The first control device 2A is configured as, for example, an LSI device or an embedded electronic device in which a microprocessor, ROM, RAM, and the like are integrated, and is connected to a communication line of an in-vehicle network provided in the own vehicle. The first control device 2A of the present embodiment automatically controls the first vehicle 1A by controlling the devices 5A to 7A using various information transmitted from the communication device 3A, the navigation system 4A, and the sensors 11A to 18A. To run (without manual operation).

  Next, the configuration of the second vehicle 1B will be described. As shown in FIG. 1, in the second vehicle 1B of the present embodiment, the sensors 11B to 18B for detecting information related to the own vehicle and the own vehicle are activated (acceleration, braking, steering) as in the first vehicle 1A. Devices 5 </ b> B to 7 </ b> B for causing the vehicle to occupy and a notification device 8 </ b> B for notifying the passenger of information. That is, in this embodiment, the case where the 1st vehicle 1A and the 2nd vehicle 1B are provided with the same (same kind) sensors 11-18 and the apparatuses 5-8 is illustrated. However, since the first vehicle 1A can perform unmanned automatic driving, the performance of the first detection device 9A mounted on the first vehicle 1A may be higher than that of the second vehicle 1B, for example. In addition, the first vehicle 1A may be equipped with a plurality of the same sensors so that backup can be performed even if an abnormality occurs somewhere in the first detection device 9A, for example. Hereinafter, like the first vehicle 1A, the sensors 11B to 17B that detect information related to the traveling of the second vehicle 1B are collectively referred to as a “second detection device 9B”. In the second detection device 9B, the front sensor 16B and the side sensor 17B that detect the surrounding situation of the second vehicle 1B are collectively referred to as a “second surrounding sensor 10B”.

  Further, the second vehicle 1B includes a control device 2B (hereinafter referred to as “second control device 2B”) for controlling the operating state of the own vehicle, a communication device 3B for acquiring information other than the own vehicle, and navigation. System 4B is provided. The communication device 3B and the navigation system 4B are configured similarly to the communication device 3A and the navigation system 4A described above.

  The 2nd control apparatus 2B is an electronic control apparatus comprised similarly to said 1st control apparatus 2A, and is connected to the communication line of the vehicle-mounted network network provided in the own vehicle. The 2nd control apparatus 2B of this embodiment implements automatic cooperation control, when abnormality of the 2nd detection apparatus 9B is determined. The automatic linkage control means that an emergency signal is transmitted from the second vehicle 1B to another vehicle having an automation level equal to or higher than the automation level of the second vehicle 1B (that is, the first vehicle 1A), and the emergency signal is received (approved). ), The first vehicle 1A is used to move the second vehicle 1B as if it were a vehicle capable of unmanned automatic driving. This automatic cooperation control is started when the abnormality of the second detection device 9B is determined by the second control device 2B in a state where the driver is not concentrated on the driving operation, and the second vehicle 1B can stop. Finish when you stop at the place. When the second control device 2B receives a driving command from the first vehicle 1A, the second control device 2B automatically controls the devices 5B to 7B according to the driving command to automatically control the second vehicle 1B (according to a manual driving operation). Drive).

[3. Control configuration]
In the automatic cooperation system 100 of the present embodiment, a determination unit 21B, a transmission unit 22B, and a second control unit 23B are provided in the second control device 2B as elements for performing the automatic cooperation control, and an acquisition unit 21A, a search unit 22A, a first control unit 23A, and a command unit 24A are provided in the first control device 2A. These elements indicate some functions of a program executed in the automatic cooperation system 100, and are assumed to be realized by software. However, some or all of the functions may be realized by hardware (electronic circuit), or may be realized by using software and hardware in combination.

  In addition, the communication devices 3A and 3B of the first vehicle 1A and the second vehicle 1B of the present embodiment include GPS receivers 31A and 31B, vehicle-to-vehicle communication units 32A and 32B, road-to-vehicle communication units 33A and 33B, and cloud communication. Parts 34A and 34B are provided, respectively. These elements 31 </ b> A to 34 </ b> A and 31 </ b> B to 34 </ b> B are also elements (part of the functions of the program) for performing the above-described automatic cooperation control, and may be realized by software or hardware. . In addition, since the corresponding elements (for example, the GPS receiving unit 31A and the GPS receiving unit 31B) provided in each of the communication devices 3A and 3B have the same configuration, in the following description, in the communication device 3A of the first vehicle 1A. The provided elements 31A to 34A will be described as an example.

  The GPS receiver 31A is an information terminal of the satellite positioning system, and acquires information on the current position of the own vehicle (that is, the first vehicle 1A) from the GPS satellite. The inter-vehicle communication unit 32A performs communication with other vehicles existing around the own vehicle, and transmits and receives each other's information. For example, vehicle speed information and position information of each vehicle, road traffic information that each vehicle has known so far, and the like are transmitted to each other.

  The road-to-vehicle communication unit 33A communicates with roadside devices such as optical beacons and wireless communication devices installed in advance in roads, parking lots, etc., and road traffic information (for example, parking lot availability information and road congestion) Information (such as information on the current position of the vehicle).

  The cloud communication unit 34A communicates with the cloud server 50, receives (acquires) information stored (accumulated) in the cloud server 50, and transmits information related to the vehicle. The cloud server 50 stores individual vehicle information (for example, fixed information such as the vehicle automation level and owner information, and fluctuation information such as the driving state and the planned driving route) in association with the vehicle number (ID). Yes. Moreover, the map data is stored in the cloud server 50 of this embodiment similarly to the navigation system 4A.

  Next, each element 21A-24A and 21B-23B provided in the first control device 2A and the second control device 2B will be described.

  The determination unit 21B determines whether or not the driver of the second vehicle 1B is concentrated on the driving operation, and determines the abnormality of the second detection device 9B when not concentrated. When the determination unit 21B determines that the second detection device 9B is abnormal, processing by the transmission unit 22B or the like is executed in order to perform automatic cooperation control. An example of a method for determining whether or not the driver is concentrating on driving operation is a method based on the travel mode of the second vehicle 1B. Specifically, if the driver can travel without being involved in the driving operation (automatic driving mode or follow-up traveling mode using the cruise control system), it is determined that the driver is not concentrating on driving operation. Is done. Further, for example, the determination may be made on the basis of an image or video captured by an in-vehicle camera.

  Moreover, a well-known technique can be utilized as a determination method of abnormality of the 2nd detection apparatus 9B. For example, when the information detected by the second detection device 9B is out of a predetermined normal range, it is determined that the second detection device 9B is abnormal. Also, when the information from the second detection device 9B cannot be acquired (in the case of a communication failure), it is determined that the second detection device 9B is abnormal. Furthermore, when the information detected by the second detection device 9B does not change for a predetermined time, it is determined that the second detection device 9B is abnormal.

  Further, the determination unit 21B of the present embodiment determines whether or not the operation of the actuator provided in the second vehicle 1B is normal. Examples of the actuator determined here include a brake actuator and a steering actuator. When the determination unit 21B determines that the operation of the actuator is normal, the automatic linkage control is continued. On the other hand, when it is determined that the operation of the actuator is not normal, the second vehicle 1B cannot travel, so the automatic linkage control is forcibly terminated.

  A known technique can be used as a method for determining the operation of the actuator. For example, when the second control device 2B gives an operation instruction to each actuator and the actuator operates according to the instruction, it is determined that the operation of the actuator is normal.

  The transmission unit 22B transmits the emergency signal to the first vehicle 1A. In addition, when the emergency signal includes a notification for obtaining cooperation permission of the second vehicle 1B in addition to the notification for transition to the rescue mode, the “emergency signal is approved” transmitted from the first vehicle 1A side. It is preferable to provide a function of receiving a “notification indicating that this has been done (permission notification)”.

  The acquisition unit 21A receives (acquires) an emergency signal transmitted from the transmission unit 22B of the second vehicle 1B. When receiving the emergency signal, the acquiring unit 21A sets the travel mode of the first vehicle 1A to the rescue mode. Moreover, 21 A of acquisition parts of this embodiment acquire the various information (sensor information) detected with the 2nd detection apparatus 9B of the 2nd vehicle 1B.

  When the above emergency signal is received by the acquisition unit 21A (when the rescue mode is set), the search unit 22A is a place suitable for stopping the second vehicle 1B that is the source of the emergency signal (stop) Searchable locations, hereinafter referred to as “locations where parking is possible”). This search method is not particularly limited. For example, a stopable place may be searched (searched) using information (peripheral situation) detected by the first peripheral sensor 10A and the second peripheral sensor 10B. That is, information about the surroundings of the first vehicle 1A and the second vehicle 1B is obtained using a camera, a radar, etc., there is a sufficiently wide space where the second vehicle 1B can stop, and there are no obstacles. A method of searching for a place where the vehicle can be stopped may be adopted by confirming the above.

  Further, a stopable place may be searched using information stored in the navigation system 4A or information stored in the cloud server 50. In this search, information on the current positions of the first vehicle 1A and the second vehicle 1B obtained through the GPS receivers 31A and 31B is used. Note that the search unit 21A may perform a search by combining the above-described search method using the surrounding situation and the search method using the navigation system 4A or the cloud server 50. For example, first, a candidate for a stoppable place is searched using the navigation system 4A or the cloud server 50, and after traveling to a hit candidate position, whether or not the candidate position is suitable as a stoppable place using the surrounding situation. May be determined. By performing the combination in this way, it is possible to search for a stoppable place efficiently and appropriately.

  The first control unit 23A controls the devices 5A to 7A using the information acquired by the communication device 3A and the navigation system 4A and the various information detected by the first detection device 9A, thereby controlling the first vehicle 1A. It is for automatic operation. When the rescue mode is set by the acquisition unit 22A and the stoppable place is searched by the search unit 22A, the first control unit 23A of the present embodiment can set the stoppable place and stop the first vehicle 1A. By moving to the place, the second vehicle 1B is directed to a place where it can be stopped.

  The command unit 24A, when the rescue mode is set, the information acquired by the communication device 3A and the navigation system 4A, the information detected by the first detection device 9A, and the second vehicle 1B acquired by the acquisition unit 22A Using this sensor information, a driving command for causing the second vehicle 1B to travel in cooperation with the first vehicle 1A is transmitted. The command unit 24A of the present embodiment transmits an operation command for causing the second vehicle 1B to follow the first vehicle 1A. In addition, when the first vehicle 1A and the second vehicle 1B arrive at the stoppable place that is the destination, the command unit 24A of the present embodiment separates (leaves) the second vehicle 1B from the first vehicle 1A, An operation command for stopping the second vehicle 1B is transmitted.

  Further, the command unit 24A grasps information (hereinafter referred to as “missing information”) that can no longer be detected due to the abnormality of the second detection device 9B based on the sensor information of the second vehicle 1B acquired by the acquisition unit 22A. Then, if the missing information is information that should be detected by the second peripheral sensor 10B (ie, missing information related to the surrounding situation), it is determined whether or not it can be detected by the first peripheral sensor 10A. To do.

  For example, sensing information such as sensing ranges and sensing distances of the first peripheral sensor 10A and the second peripheral sensor 10B, mounting positions of the first peripheral sensor 10A and the second peripheral sensor 10B on the vehicle body, the first vehicle 1A and the second vehicle Based on the relative positional relationship with 1B or the like, it is determined whether or not the first vehicle 1A can compensate for the missing information related to the surrounding situation. The command unit 24A adjusts the relative positional relationship between the first vehicle 1A and the second vehicle 1B until it is determined that the first vehicle 1A can compensate for missing information related to the surrounding situation. That is, a driving command for linking the first vehicle 1A and the second vehicle 1B is transmitted so that the range that cannot be detected by the second peripheral sensor 10B is in a relative positional relationship that can be detected by the first peripheral sensor 10A. To do. Thereby, since the non-sensing range of the second vehicle 1B is covered by the first vehicle 1A, the safety during the cooperative traveling of the second vehicle 1B is improved.

  For example, when an abnormality occurs in the front sensor 16B of the second vehicle 1B, the command unit 24A determines that “the front information of the second vehicle 1B is missing information”, and the second vehicle 1B A driving command is transmitted so as to follow the vehicle immediately after the vehicle 1A. In this case, the side sensor 17A of the first vehicle 1A covers the front range of the second vehicle 1B and covers the range between the first vehicle 1A and the second vehicle 1B. By performing cooperative traveling so as to maintain such a positional relationship, the non-sensingable range of the second vehicle 1B is efficiently covered.

  When the missing information is not related to the surrounding situation but is, for example, vehicle speed information or acceleration information, the command unit 24A operates so as to keep the distance between the first vehicle 1A and the second vehicle 1B constant. By transmitting the command, each piece of information detected by the vehicle speed sensor 11A and the acceleration sensor 12A of the first vehicle 1A may be regarded as the vehicle speed and acceleration of the second vehicle 1B.

  In addition, the command unit 24A of the present embodiment transmits a driving command so that the inter-vehicle distance between the first vehicle 1A and the second vehicle 1B becomes a length that prevents interruption of other vehicles. That is, when the command unit 24A causes the second vehicle 1B to travel in cooperation with the first vehicle 1A, the third vehicle cannot interrupt the first vehicle 1A and the second vehicle 1B. A driving command is transmitted to the second vehicle 1B so as to maintain a shorter inter-vehicle distance than usual.

  When receiving a driving command from the command unit 24A of the first vehicle 1A, the second control unit 23B (control unit) causes the second vehicle 1B to travel in cooperation according to the driving command. That is, the second vehicle 1B is caused to travel automatically (regardless of the manual driving operation) by controlling the devices 5B to 7B of the second vehicle 1B so that the second vehicle 1B travels according to the driving command. That is, the second control unit 23B does not control the second vehicle 1B based on the information detected by the second detection device 9B while receiving the driving command, but from the first vehicle 1A. The second vehicle 1B is caused to travel according to the driving command.

  In addition, when the second vehicle 1B is traveling in cooperation with the first vehicle 1A, the second control unit 23B of the present embodiment informs the public that the vehicle is traveling in cooperation. For example, the lights of the second vehicle 1B (headlights, tail lamps, etc.) are blinked, or the characters “automatic driving” are displayed at a position where they can be seen from outside the vehicle.

[4. flowchart]
2 and 3 are examples of flowcharts implemented in the automatic cooperation system 100 described above. The flow of FIG. 2 shows the control content implemented in the 2nd control apparatus 2B, and the flow of FIG. 3 shows the control content implemented in the 1st control apparatus 2A. The flow in FIG. 2 is always performed at a predetermined calculation cycle when the main power supply (ignition switch or power switch) of the second vehicle 1B is on. On the other hand, the flow of FIG. 3 is started when an emergency signal is received, and is executed at a predetermined calculation cycle. In this flow, it is assumed that various types of information detected by the communication devices 3A and 3B and the detection devices 9A and 9B are acquired as needed.

  First, in the second vehicle 1B, it is determined whether or not the driver is concentrated on the driving operation (step S10). If the driver is concentrated, this flow is returned. On the other hand, if it is not concentrated, it is determined whether there is an abnormality in the second detection device 9B (step S11). If there is no abnormality anywhere in the second detection device 9B, this flow is returned, and if any of the second detection devices 9B is determined to be abnormal (the abnormality of the second detection device 9B) is determined. Proceed to step S12.

  In step S12, it is determined whether the operation of the actuator is normal. If the operation of the actuator is not normal, the automatic linkage control is forcibly terminated (step S18), and this flow is terminated. On the other hand, when the operation of the actuator is normal, the process proceeds to step S13, and an emergency signal is transmitted to the first vehicle 1A by the transmission unit 22B (step S13), and sensor information is transmitted (step S14). ). When the first vehicle 1A receives the emergency signal, the flow of FIG. 3 is performed in the first control device 2A.

  That is, as shown in FIG. 3, in the first control device 2A, when an emergency signal is received, the rescue mode is set (step T11), and the movement of the second vehicle 1B that is the transmission source of the emergency signal is started. (Step T12). If it is determined that the second vehicle 1B has been recognized (step T13), a search for a place where the vehicle can be stopped is subsequently performed (step T14). Furthermore, missing information is grasped based on the sensor information transmitted from the second control device 2B (step T15), a driving command is transmitted based on the grasped missing information and the like, and the own vehicle (first vehicle 1A) is also transmitted. Automatic operation is performed (step T16). On the other hand, in 2nd control apparatus 2B, as shown in FIG. 2, cooperation driving | running | working is implemented according to the received driving | operation command (step S15).

  As shown in FIG. 3, in the first control apparatus 1A, it is determined whether or not the vehicle has arrived at a stoppable location (step T17), and the process of step T16 is repeated until the stopable location is reached. Then, when the vehicle arrives at a place where the vehicle can be stopped, an operation command for stopping the second vehicle 1B is transmitted to the location, the second vehicle 1B is disconnected from the own vehicle (first vehicle 1A) (step T18), and the rescue mode is set. After canceling (step T19), this flow is terminated.

  As shown in FIG. 2, in the second vehicle 1B in which the cooperative traveling is performed, it is determined whether or not the vehicle is separated at a stoppable place (step S16). This flow is finished.

[5. effect]
(1) In the automatic linkage system 100 described above, the first vehicle 1A remotely controls the second vehicle 1B in accordance with an emergency signal from the second vehicle 1B to link it to the own vehicle (first vehicle 1A). Even if an abnormality occurs in the second detection device 9B, the second vehicle 1B can be linked in accordance with the operation command of the first vehicle 1A.

  Thereby, for example, even if the front sensor 16B, the side sensor 17B, or the like breaks down during the traveling of the second vehicle 1B, it is possible to continue safe traveling without requiring an instantaneous response by the driver. In addition, for example, it is possible to earn time from traveling by the control system of the second vehicle 1B until the driver takes over the driving operation. Thus, according to the automatic linkage system 100, even if an abnormality occurs in the second detection device 9B (information source) in a state where the driver is not concentrated on the driving operation, the vehicle (second vehicle 1B) With the help of the first vehicle 1A that has received the transmitted emergency signal, safety can be improved.

  (2) In the above-described automatic cooperation system 100, the search unit 22A searches for a place where the second vehicle 1B can stop, so a place where the second vehicle 1B can stop safely is found and It can be stopped. As a result, it is possible to prevent the other vehicles from being obstructed.

  (3) In the automatic linkage system 100 described above, the command unit 24A transmits a driving command for causing the first vehicle 1A and the second vehicle 1B to run in a coordinated manner until a place where the vehicle can be stopped is found. As a result, the second vehicle 1B can be guided until a place where the vehicle can be stopped is found and the vehicle arrives at the place.

  (4) In the automatic linkage system 100 described above, when a place where the stop can be stopped is found by the search unit, the command unit 24A issues a driving command for stopping the second vehicle 1B at a place where it is determined that the stop is possible. Send. Thus, the 2nd vehicle 1B can be made to stand by in a stop position by stopping the 2nd vehicle 1B.

  (5) In the automatic cooperation system 100 mentioned above, it is determined whether there exists a place where the search part 21A can stop using the information obtained by 10 A of 1st periphery sensors. Thereby, even if there is an abnormality in the second surrounding sensor 10A of the second vehicle 1B, the surrounding situation can be detected by the first surrounding sensor 10A and the vehicle can be stopped at an appropriate position.

  (6) In the automatic cooperation system 100 mentioned above, 21 A of search parts search the place which can stop using at least one of the information accumulate | stored in a navigation system, and the information accumulate | stored in a cloud server. Thereby, it becomes easy to find a place where the vehicle can be stopped by searching for a place where the vehicle can be stopped from a wider range.

  (7) In the automatic linkage system 100 described above, the command unit 24A transmits an operation command using information detected by the first detection device 9A. In this way, by using the information obtained by the first detection device 9A, even if an abnormality occurs in the second detection device 9B, it is possible to improve safety by acquiring information related to traveling. .

  (8) In the above-described automatic cooperation system 100, the first vehicle 1A includes the first peripheral sensor 10A, and the second vehicle 1B includes the second peripheral sensor 10B. The command unit 24A travels between the first vehicle 1A and the second vehicle 1B so that the first peripheral sensor 10A can detect the range that cannot be detected due to the abnormality of the second peripheral sensor 10B. The operation command for making it transmit is transmitted. Thus, by traveling so as to cover the range in which the second peripheral sensor 10B can no longer be detected by the first peripheral sensor 10A, the blind spot of the sensor can be reduced and safety can be improved.

  (9) In the above-described automatic linkage system 100, the second control unit 2B notifies the surroundings that the vehicle is running in cooperation when the driving command is received. It is possible to know the running state and improve safety.

[6. Others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and the like, and various modifications can be made without departing from the spirit of the present invention.
In the above-described embodiment, the case where the driving command is transmitted so that the second vehicle 1B travels following the first vehicle 1A is illustrated. On the contrary, the second vehicle 1B leads the first vehicle 1A. An operation command may be transmitted. In this case, for example, when an abnormality occurs in the side sensor 17B of the second vehicle 1B, the range behind the second vehicle 1B can be covered by the side sensor 17A. Furthermore, the driving command may be transmitted so that the first vehicle 1A and the second vehicle 1B run in parallel. In this case, the side range of the second vehicle 1B can be covered by the side sensor 17A.

  Moreover, in the automatic cooperation control mentioned above, although the case where the inter-vehicle distance of the 1st vehicle 1A and the 2nd vehicle 1B was maintained short to such an extent that another vehicle cannot interrupt, the inter-vehicle distance is the same as normal control. There may be. Moreover, you may abbreviate | omit the display which shows that it is carrying out cooperation driving | running | working.

  Moreover, it is preferable to notify the driver or owner of the first vehicle 1A and the second vehicle 1B of the start of the cooperative travel and the end of the cooperative travel at the start of the cooperative travel and the end of the cooperative travel. Moreover, it is preferable to notify the driver or owner of the second vehicle 1B that an abnormality has occurred in the sensor when determining the abnormality of the sensor. Such notification can be performed, for example, by displaying on the operation screens 18A and 18B. Further, the communication devices 3A and 3B can further include an inter-pedestrian communication unit, and can communicate with a communication device (for example, a mobile phone, a smartphone, a wireless information terminal, etc.) possessed by the owner.

  In the above-described automatic cooperation control, the case where the automatic cooperation control is terminated by stopping at a place where the vehicle can stop is exemplified. However, the driver of the second vehicle 1B intervenes and the driver manually operates instead of the automatic driving. Control may be terminated by driving. In this case, it is possible to notify the first vehicle 1A that the driver has started driving, and the first vehicle 1A that has received this notification can cancel the automatic linkage control.

  Moreover, in the automatic cooperation control mentioned above, the case where the driving | operation command to the 1st vehicle 1A automatic driving | operation and the 2nd vehicle 1B is given using the information obtained by 10 A of 1st periphery sensors and the 2nd periphery sensor 10B. Although illustrated, information obtained by other than the first vehicle 1A and the second vehicle 1B may be used. For example, information obtained by a peripheral sensor provided on another vehicle traveling around the second vehicle 1B can be used. Alternatively, information obtained by a peripheral sensor provided in another vehicle traveling ahead can be used on the travel route of the second vehicle 1B. In these cases, the first vehicle 1A and another vehicle are obtained by other vehicles by communicating via the inter-vehicle communication unit 32A, the road-vehicle communication unit 33A, the cloud communication unit 34A, and the like. The information can be used by the first vehicle 1A.

  Moreover, in the automatic cooperation control mentioned above, the determination part 21B illustrated the case where the driver | operator of the 2nd vehicle 1B determined whether the abnormality of the 2nd detection apparatus 9B was determined while determining whether the driver | operator concentrated on driving operation. . The determination unit 21B may determine an abnormality of the second detection device 9B without determining whether or not the driver of the second vehicle 1B is concentrated on the driving operation. And when abnormality of the 2nd detection apparatus 9B is determined, you may make it the transmission part 22B transmit an emergency signal.

  In the above-described automatic cooperation control, the case where the automatic cooperation control is forcibly terminated when the determination unit 21B determines that the operation of the actuator is not normal is illustrated. When the determination unit 21B determines that the operation of some of the actuators is not normal and determines that the operation of the other actuators is normal, the second operation is performed using the actuator whose operation is determined to be normal. The vehicle 1B may be controlled. In this case, the transmission unit 22B transmits the determination result by the determination unit 21B to the first vehicle 1A. The acquisition unit 21A acquires the determination result transmitted from the transmission unit 22B. Then, command unit 24A transmits an operation command to operate the actuator whose operation is determined to be normal based on the determination result acquired by acquisition unit 22A.

1A 1st vehicle 1B 2nd vehicle 2A 1st control device 2B 2nd control device 4B Navigation system 9A 1st detection device 9B 2nd detection device (detection device)
10A First peripheral sensor (peripheral sensor)
10B 2nd surrounding sensor 21A acquisition part 21B determination part 22A search part 22B transmission part 23A 1st control part 23B 2nd control part (control part)
24A Command unit 50 Cloud server 100 Automatic cooperation system

Claims (9)

An automatic linkage system for automatically driving a second vehicle capable of performing a plurality of operations of acceleration, steering, and braking with respect to a first vehicle having a function capable of unmanned automatic driving regardless of manual driving operation. In
A determination unit that is provided in the second vehicle and that performs abnormality determination of a detection device that detects information related to travel of the second vehicle;
A transmission unit that is provided in the second vehicle and that transmits a signal indicating an abnormality of the detection device to the first vehicle when the determination unit determines that the detection device is abnormal;
A command unit that is provided in the first vehicle and transmits a driving command for linking the second vehicle to the first vehicle when the signal is received;
An automatic linkage system, comprising: a control unit that is provided in the second vehicle and causes the second vehicle to travel in cooperation with the driving command when the driving command is received. The automatic cooperation system according to claim 1, further comprising a search unit that is provided in the first vehicle and searches for a place where the second vehicle can stop. The command unit transmits the driving command for causing the first vehicle and the second vehicle to run in a coordinated manner until the location where the stop is possible is found by the search unit. Item 3. The automatic cooperation system according to item 2. The said instruction | indication part transmits the said driving | operation instruction | command for stopping the said 2nd vehicle to the said discovered location when the said stopable place is discovered by the said search part, The said instruction | command is characterized by the above-mentioned. The automatic cooperation system according to 2 or 3. The first vehicle is provided with a peripheral sensor for detecting a peripheral situation of the first vehicle,
The automatic search system according to any one of claims 2 to 4, wherein the search unit searches for a place where the vehicle can be stopped using information detected by the peripheral sensor. The search unit searches for a place where the vehicle can be stopped using at least one of information stored in a navigation system incorporating map data and information stored in a cloud server. Item 6. The automatic cooperation system according to any one of Items 2 to 5. The said instruction | command part transmits the said driving | operation instruction | command using the information detected by the said detection apparatus which said 1st vehicle has, The automatic cooperation of any one of Claims 1-6 characterized by the above-mentioned. system. The first vehicle is provided with a first peripheral sensor for detecting a surrounding situation of the first vehicle,
The detection device includes a second surrounding sensor that detects a surrounding situation of the second vehicle,
The command unit is configured to link the first vehicle and the second vehicle so that the first peripheral sensor can detect a range that cannot be detected by an abnormality of the second peripheral sensor. The automatic cooperation system according to claim 1, wherein the operation command is transmitted. The said cooperation part alert | reports to the circumference | surroundings that it is carrying out cooperation driving | running | working, when the said driving | operation command is received, The automatic cooperation system of any one of Claims 1-8 characterized by the above-mentioned. .

Images