JP2019189031A - Travel-in-column system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a platoon traveling system capable of appropriately coping with interruption of a platoon of a general vehicle. A platoon traveling system has a vehicle control system mounted on each of a plurality of vehicles CS1, CS2, CS3 forming a platoon. The vehicle control system includes a front monitoring sensor that monitors the front of the host vehicle, and a control device that controls traveling of the host vehicle. The control device causes the host vehicle to follow the host vehicle based on the detection result of the front monitoring sensor when an interruption to the front of the host vehicle in the formation of the general vehicle CO is detected. When it is detected that the general vehicle CO travels in a direction (arrow X1) that deviates from the traveling route Rx of the platoon, the control device travels in the platoon when it is detected that the general vehicle CO has left the platoon. Based on the route Rx, platooning is resumed through wireless communication with the preceding vehicle to be formed. [Selection diagram] Fig. 4

Description

  The present invention relates to a row running system.

  2. Description of the Related Art Conventionally, as described in Patent Document 1, for example, a technique for causing a plurality of vehicles to perform a platooning through execution of inter-vehicle distance control using inter-vehicle communication in a plurality of vehicles is known.

JP 2012-30666 A

  When running in a convoy, a general vehicle may interrupt the convoy. For example, in a situation where a general vehicle joins a lane in which a plurality of vehicles are running in a platoon from a merging path, an interruption into the platoon is likely to occur.

  An object of the present invention is to provide a platooning system that can appropriately cope with an interruption to a platoon of a general vehicle.

  A convoy travel system that can achieve the above object includes a vehicle control system mounted on each of a plurality of vehicles that form the convoy, and the vehicle control system includes a vehicle that is connected to the preceding vehicle through wireless communication with the preceding vehicle. The host vehicle is controlled to follow. The vehicle control system includes a sensor that monitors at least the front of the host vehicle and a control device that controls traveling of the host vehicle. The control device causes the host vehicle to follow the general vehicle based on the detection result of the sensor when an interruption to the front of the host vehicle in the platoon of the general vehicle that does not constitute the platoon is detected through the sensor. In addition, when it is detected that the general vehicle travels in a direction deviating from a preset travel route of the platoon through the sensor, the control device detects that the general vehicle has escaped from the platoon through the sensor. Is detected, the platooning is resumed through wireless communication with the preceding vehicle to form a platoon based on the traveling route.

  When a general vehicle that does not constitute a platoon has entered the platoon, the vehicle located behind the general vehicle follows the general vehicle based on the detection result of the sensor. For this reason, when a general vehicle travels in a direction deviating from the travel route of the platoon, there is a possibility that the vehicle that should originally form the platoon may travel in a direction deviating from the travel route following the general vehicle.

  In this regard, according to the above configuration, when it is detected that the general vehicle travels in a direction deviating from the travel route of the convoy, when the general vehicle exits from the convoy, the travel route of the convoy set in advance is set. Based on this, the platooning is resumed through wireless communication with the preceding vehicle to form the platoon. As described above, according to the row running system having the above-described configuration, it is possible to appropriately cope with the interruption of the general vehicle to the row.

  In the above-mentioned platooning system, when the control device detects that the general vehicle has exited from the platoon through the sensor, the control device causes the host vehicle to travel autonomously and sets the host vehicle relative to the preceding vehicle. It is preferable to resume the row running through the wireless communication after approaching the vehicle-to-vehicle distance.

  This is because it is conceivable that the general vehicle will be interrupted again between the preceding vehicle to be reunited and the host vehicle by the time the vehicle that has been interrupted by the general vehicle resumes platooning.

  In the above-mentioned platooning system, when the own vehicle approaches the inter-vehicle distance set with respect to the preceding vehicle, when the authentication through wireless communication with the preceding vehicle is established, It is preferable to resume the platooning.

According to this configuration, it is possible to restart the platooning after confirming that the vehicle that has been interrupted by the ordinary vehicle is a preceding vehicle that should form a platoon.
In the above-mentioned platooning system, it is preferable that the control device decelerates the own vehicle when the general vehicle to be interrupted in front of the own vehicle in the platoon is detected through the sensor.

  According to this configuration, when a general vehicle to be interrupted into the platoon is detected, the vehicle that is about to be interrupted in front of the host vehicle increases the inter-vehicle distance from the preceding vehicle by decelerating. Let Thereby, a general vehicle can be caused to enter the platoon more safely.

  According to the row running system of the present invention, it is possible to appropriately cope with an interruption to the row of general vehicles.

The lineblock diagram showing the outline of one embodiment of a convoy travel system. The block diagram of the vehicle control system in one embodiment. (A) is a schematic diagram which shows the state of a formation when a general vehicle is going to interrupt a formation, (b) is a schematic diagram which shows the state of a formation when a general vehicle interrupts the formation. (A) is a schematic diagram showing the state of the platoon when a general vehicle that has interrupted the platoon exits the platoon, and (b) is a schematic diagram showing the state of the platoon when restarting the platooning.

Hereinafter, an embodiment of the row running system will be described.
As shown in FIG. 1, the convoy travel system 10 includes a vehicle control system 11 that is mounted on each of a plurality (three in this case) of vehicles CS1, CS2, and CS3 that form a convoy.

  As shown in FIG. 2, the vehicle control system 11 includes an ECU (electronic control unit) 20, a front monitoring sensor 21, a rear monitoring sensor 22, a side monitoring sensor 23, a vehicle speed sensor 24, an acceleration sensor 25, a GPS receiver 26, and A vehicle-to-vehicle communication device 27 is provided. The vehicle control system 11 also has a throttle actuator 31, a brake actuator 32, and a steering actuator 33.

  The front monitoring sensor 21 is provided in the front part of the vehicle, monitors the front of the host vehicle, and detects the inter-vehicle distance between the vehicle traveling immediately before the host vehicle and the host vehicle. The rear monitoring sensor 22 is provided in the rear part of the vehicle, monitors the rear of the host vehicle, and detects an inter-vehicle distance between the vehicle traveling immediately after the host vehicle and the host vehicle. The side monitoring sensor 23 is provided on the side of the vehicle, and monitors the side of the host vehicle and detects the distance between the vehicle traveling on the side of the host vehicle and the host vehicle. These monitoring sensors (21, 22, 23) include, for example, a laser radar or a millimeter wave radar, and a camera.

  The vehicle speed sensor 24 detects the traveling speed of the host vehicle. The acceleration sensor 25 detects the longitudinal acceleration of the host vehicle. The GPS receiver 26 receives a positioning signal from a GPS (Global Positioning System) artificial satellite, and detects the position (latitude, longitude) and direction of the host vehicle based on the received positioning signal. The inter-vehicle communication device 27 performs wireless communication between vehicles.

  The throttle actuator 31 adjusts the amount of fuel supplied to the engine through adjustment of the throttle opening. The brake actuator 32 adjusts the braking force for decelerating the vehicle through the brake. The steering actuator 33 steers the left and right wheels by driving the steering rod (steering shaft) in the axial direction.

  The ECU 20 controls the vehicle as a whole. The ECU 20 controls the output of the engine through the throttle actuator 31. The ECU 20 increases the amount of fuel supplied to the engine through the throttle actuator 31 when accelerating the vehicle, and decreases the amount of fuel supplied to the engine through the throttle actuator 31 when decelerating the vehicle. Further, the ECU 20 controls the braking force of the vehicle through the brake actuator 32. The ECU 20 controls the vehicle speed and the inter-vehicle distance through the throttle actuator 31 and the brake actuator 32. Further, the ECU 20 controls the turning angle of the vehicle (tire turning angle) through the steering actuator 33.

  The ECU 20 exchanges information such as vehicle travel data and identification information (ID) with other vehicles equipped with the inter-vehicle communication device 27 through the inter-vehicle communication device 27. The travel data is information related to the travel state of the host vehicle, and includes information such as the position, speed, acceleration, and direction (travel direction) of the host vehicle. The identification information includes vehicle identification information unique to the own vehicle and platoon identification information unique to the platoon to which the own vehicle belongs.

  The ECU 20 executes ACC (Adaptive Cruise Control) control. In the ACC control, the distance from the preceding vehicle (including a general vehicle) is measured through the front monitoring sensor 21, and the acceleration / deceleration and stop of the preceding vehicle are followed while maintaining a preset inter-vehicle distance and speed. Control for traveling. In the ACC control, a deviation in the vehicle width direction between the preceding vehicle and the own vehicle is detected through the front monitoring sensor 21 (laser radar, camera), and the steering of the own vehicle is controlled so as to eliminate the detected deviation.

  For example, when the preceding vehicle is not detected during execution of the ACC control, the ECU 20 controls the vehicle so that the vehicle travels while maintaining the set vehicle speed. Further, when a preceding vehicle that travels at a speed lower than the set vehicle speed is detected, the ECU 20 performs follow-up control so that the inter-vehicle distance from the preceding vehicle is maintained at a preset inter-vehicle distance. The ECU 20 controls the acceleration of the vehicle so that the inter-vehicle distance from the preceding vehicle does not become smaller than the preset inter-vehicle distance. That is, when the vehicle speed of the preceding vehicle is lower than the set vehicle speed, the ECU 20 reduces the vehicle speed of the host vehicle and maintains the inter-vehicle distance.

  The ECU 20 executes CACC (Cooperative Adaptive Cruise Control) control. CACC refers to control for a plurality of vehicles to travel in a row in cooperation with vehicles before and after the host vehicle on the same lane through wireless communication. In platooning, a plurality of vehicles equipped with the vehicle control system 11 travel in tandem so as to form a platoon while maintaining a constant inter-vehicle distance and a constant speed on the same lane without interposing a general vehicle between them. That means.

  In the CACC control, the acceleration of the host vehicle is controlled based on information about other vehicles in the platoon obtained through inter-vehicle communication. Thereby, the own vehicle follows so that the inter-vehicle distance with the vehicle immediately before in the platoon may be maintained at the target inter-vehicle distance. Vehicles CS <b> 1 to CS <b> 3 that form a platoon mutually exchange information such as specifications of the own vehicle and travel data through the inter-vehicle communication device 27. That is, the vehicle control system 11 of all the vehicles CS1 to CS3 that form the platoon shares information such as specifications and travel data of all the vehicles CS1 to CS3 that form the platoon.

  For example, when the brake is operated on the leading vehicle in the platoon, the information is transmitted to all the vehicles in the platoon. All the vehicles in the platoon will automatically decelerate at an appropriate timing while maintaining the inter-vehicle distance. When the leading vehicle accelerates, the degree of acceleration of the leading vehicle is transmitted to all the vehicles in the platoon. All vehicles in the formation automatically accelerate to maintain the inter-vehicle distance and speed throughout the formation.

  The ECU 20 executes autonomous traveling control. The autonomous traveling control refers to control for autonomously traveling following a predetermined traveling route while recognizing the surrounding environment of the host vehicle through various sensors, not following the preceding vehicle. By executing the autonomous traveling control, the host vehicle autonomously travels on the determined traveling route while avoiding obstacles detected through the monitoring sensors (21 to 23).

<Operation of platooning system>
Next, the operation of the row running system will be described. When a formation is formed, a travel route is set in advance. Information indicating the travel route is stored in the storage device of the ECU 20.

  As shown in FIG. 3A, for example, when three vehicles CS1, CS2 and CS3 are running in a row through the execution of CACC control, the two following vehicles are driven according to the running state of the leading vehicle CS1. The traveling state of the vehicles CS2 and CS3 is controlled. The leading vehicle CS1 may be driven manually by the driver, or may travel while maintaining the set vehicle speed through execution of ACC control. The ECU 20 of the subsequent vehicles CS2 and CS3 controls the traveling state of the vehicles CS2 and CS3 so as to follow the leading vehicle CS1.

  Incidentally, the vehicles CS2 and CS3 other than the leading vehicle CS1 of the platoon may travel following the preceding vehicle based on the traveling state of the vehicle traveling immediately before the host vehicle. In this case, the traveling state of the second vehicle CS2 in the platoon is controlled based on the traveling state of the leading vehicle CS1. The traveling state of the third vehicle CS3 in the platoon is controlled based on the traveling state of the vehicle CS2 immediately before it.

  Here, when the vehicles CS1 to CS3 are traveling in a platoon, there is a concern that the general vehicle CO may be interrupted in the platoon. For example, a situation is assumed in which a general vehicle CO that joins the lane in which the vehicles CS1 to CS3 are traveling in a row is interrupted in the row.

Therefore, the platooning system 10 deals with the interruption of the general vehicle CO into the platoon as follows.
As shown in FIG. 3A, here, a situation is assumed in which the general vehicle CO is interrupted between the first vehicle CS1 and the second vehicle CS2 in the platoon.

  The presence of the general vehicle CO that is about to be interrupted between the vehicle CS1 and the vehicle CS2 is detected by at least one of the vehicles CS1 and CS2 that travels before and after the general vehicle CO. The presence of the general vehicle CO is transmitted to all vehicles that form a platoon through inter-vehicle communication.

  As indicated by a two-dot chain line in FIG. 3A, when a general vehicle CO that is about to be interrupted between the vehicle CS1 and the vehicle CS2 is detected, the subsequent two vehicles CS2 and CS3 are Deceleration control is executed in cooperation with each other through communication. That is, by increasing the inter-vehicle distance between the leading vehicle CS1 and the second vehicle CS2, the general vehicle CO is allowed to enter between the leading vehicle CS1 and the second vehicle CS2. This is a response in anticipation that the general vehicle CO actually interrupts between the leading vehicle CS1 and the second vehicle CS2. Thereby, the general vehicle CO can be safely interrupted between the leading vehicle CS1 and the second vehicle CS2. For this reason, traveling safety is ensured.

Next, a traveling state when the general vehicle CO actually interrupts between the leading vehicle CS1 and the second vehicle CS2 will be described.
The presence of the general vehicle CO that has been interrupted between the vehicle CS1 and the vehicle CS2 is detected by at least one of the vehicles CS1 and CS2 that travels before and after the general vehicle CO. When it is detected that the general vehicle CO has interrupted between the vehicles forming the formation, the presence of the general vehicle CO is transmitted to all the vehicles forming the formation through inter-vehicle communication. When the interruption of the general vehicle CO into the platoon is detected, the vehicles CS1 to CS3 that should originally form the platoon travel as follows.

  As shown in FIG. 3B, the leading vehicle CS1 travels at an arbitrary set speed. The leading vehicle CS1 transmits travel data such as the position, speed, and direction of the host vehicle to the vehicles CS2 and CS3 located behind the host vehicle in the formation through inter-vehicle communication. The vehicles CS2 and CS3 traveling behind the general vehicle CO follow the leading vehicle CS1 based on the traveling data of the leading vehicle CS1 traveling ahead of the general vehicle CO while maintaining a safe inter-vehicle distance from the general vehicle CO. Then run. Vehicles CS2 and CS3 travel so that the inter-vehicle distance and speed with leading vehicle CS1 are kept as constant as possible.

  However, depending on the product specifications of the platooning traveling system 10, when the interruption of the general vehicle CO ahead of the host vehicle is detected, the control for driving the host vehicle following the preceding vehicle is changed from the CACC control to the ACC control. A control program of the ECU 20 may be constructed so as to be switched. In this case, the vehicle CS2 traveling immediately after the general vehicle CO is based on the detection result of the front monitoring sensor 21 of the own vehicle, and the distance between the general vehicle CO traveling ahead and the own vehicle is a safe distance according to the speed. The vehicle follows the general vehicle CO while keeping the distance. Further, the vehicle CS3 located immediately after the vehicle CS2 travels following the vehicle CS2 traveling immediately before the host vehicle based on the detection result of the front monitoring sensor 21 of the host vehicle.

In this case, there are concerns about the following.
As indicated by an arrow X1 in FIG. 4A, for example, when the general vehicle CO that has been interrupted between the leading vehicle CS1 and the second vehicle CS1 changes course to a branch road and exits the platoon, this general vehicle Following the CO, the vehicles CS2 and CS3 may change course to the branch road. This is because the ACC control is simply control for causing the host vehicle to follow the preceding vehicle based on the detection result of the forward monitoring sensor 21.

  Then, the vehicles CS2 and CS3 that should form a convoy with the vehicle CS1 travel in a direction that is different from the target direction of the convoy, that is, a direction deviating from the normal travel route of the convoy, so that the convoy is divided. Is concerned.

Therefore, the platooning traveling system 10 deals with the following when the general vehicle CO that has been interrupted into the platoon has left the platoon.
The vehicle CS2 traveling behind the general vehicle CO monitors the behavior or travel locus of the general vehicle CO traveling in front of the host vehicle through the front monitoring sensor 21 of the host vehicle. In addition, the vehicle CS2 should follow the general vehicle CO based on information such as the position and direction (traveling direction) of the host vehicle acquired through the GPS receiver 26 and the travel route of the formation set in advance. Detect situations that are not. The situation that should not follow the general vehicle CO is a situation in which the general vehicle CO travels in a direction deviating from the normal travel route of the platoon.

  When a situation that should not follow the general vehicle CO is detected, the vehicle CS2 switches the travel control of the host vehicle from the follow travel control to the general vehicle CO to the autonomous travel control. As indicated by an arrow X2 in FIG. 4A, the vehicle CS2 does not follow the general vehicle CO, but autonomously travels according to a preset normal travel route Rx. The vehicle CS2 is a normal travel route based on the position and direction (traveling direction) of the host vehicle acquired through the GPS receiver 26 and the surrounding information of the host vehicle acquired through the monitoring sensors (21, 22, 23). Drive following Rx.

The vehicle CS3 located behind the vehicle CS2 travels following the vehicle CS2 ahead through the execution of the ACC control.
As shown in FIG. 4B, the vehicle CS2 executes acceleration control after the general vehicle CO has left the platoon. This is because the vehicle CS2 catches up with the preceding vehicle CS1 in the formation. Then, when the vehicle CS2 approaches the leading vehicle CS1 to the appropriate inter-vehicle distance set for performing the platooning, authentication is performed between the leading vehicle CS1 and the following vehicles CS2 and CS3 through inter-vehicle communication. Done.

  For example, when the head vehicle CS1 detects a vehicle that follows the vehicle with a proper inter-vehicle distance behind the host vehicle through the rear monitoring sensor 22, the head vehicle CS1 sends a response request S1 including identification information stored in the host vehicle. Wireless transmission through inter-vehicle communication. Subsequent vehicles CS2 and CS3 recognize based on the identification information included in response request S1 that the currently following vehicle CS1 is a target vehicle that forms a platoon with the own vehicle. Then, the vehicles CS2 and CS3 wirelessly transmit a response signal S2 including identification information stored in the host vehicle as a response to the response request S1 through inter-vehicle communication. The leading vehicle CS1 recognizes that the vehicles CS2 and CS3 are target vehicles that form a platoon with the own vehicle based on the identification information included in the response signal S2. The vehicles CS2 and CS3 switch the traveling control of the host vehicle from autonomous traveling control to CACC control after transmitting the response signal S2. Thereafter, the vehicles CS2 and CS3 are configured so that the inter-vehicle distance and speed between the leading vehicle CS1 and the second vehicle CS2 are kept constant based on the traveling data of the leading vehicle CS1 received through inter-vehicle communication. Follow and drive.

<Effect of Embodiment>
Therefore, according to the present embodiment, the following effects can be obtained.
(1) When it is detected that the general vehicle CO travels in a direction deviating from the travel route Rx of the platoon, when the general vehicle CO leaves the platoon, the vehicle located behind the general vehicle CO Based on the travel route Rx, the convoy travel is restarted through wireless communication with the preceding vehicle to form the convoy. In this way, it is possible to appropriately cope with an interruption to the convoy of the general vehicle CO.

  (2) It is conceivable that the general vehicle CO will be interrupted again between the preceding vehicle and the own vehicle to form the formation again until the vehicle located behind the general vehicle CO resumes the formation traveling. For this reason, when the ECU 20 of the vehicle that has been interrupted by the general vehicle CO detects that the general vehicle CO has escaped from the platoon through the front monitoring sensor 21, the vehicle 20 autonomously travels and moves the host vehicle to the preceding vehicle. After the vehicle is approached to the set inter-vehicle distance Lx, the row running through the wireless communication is resumed. Therefore, it is possible to prevent the platooning through the wireless communication from being interrupted by restarting the platooning through the wireless communication and then interrupting the general vehicle CO again.

  (3) The ECU 20 of the vehicle that is interrupted by the general vehicle CO, when the host vehicle approaches the inter-vehicle distance Lx that is set with respect to the preceding vehicle, when authentication through wireless communication with the preceding vehicle is established, Resume platooning via wireless communications. Thereby, after confirming that the vehicle that has been interrupted by the general vehicle CO is a preceding vehicle that should form a convoy, the convoy travel through wireless communication can be resumed.

  (4) When a general vehicle CO to be interrupted into the convoy is detected by any one of the vehicles CS1 to CS3 that form the convoy, the vehicle of the convoy traveling behind the general vehicle CO to be interrupted Increases the inter-vehicle distance between the vehicles in the preceding row by decelerating. Accordingly, the general vehicle CO is allowed to enter between the vehicle in the preceding row and the vehicle in the row located behind the general vehicle CO. Thereby, the general vehicle CO can be more safely entered between the vehicle located in front of the general vehicle CO and the vehicle located behind the general vehicle CO. Therefore, higher safety with respect to the surrounding traffic environment is ensured. In addition, the merchantability of the convoy travel system is improved.

<Other embodiments>
In addition, you may implement this Embodiment as follows.
A vehicle in a row located behind a general vehicle CO that is about to interrupt the row is allowed to enter the general vehicle CO by increasing the inter-vehicle distance from the vehicle in the preceding row. It is not necessary to positively allow the general vehicle CO to enter. That is, the vehicle in the platoon located behind the general vehicle CO to be interrupted into the platoon does not have to decelerate.

  -When the general vehicle CO gets out of the platoon, the vehicle interrupted by the general vehicle CO resumes the platooning through the inter-vehicle communication after approaching the preceding vehicle to the predetermined inter-vehicle distance Lx. However, as long as it is within the communicable range of the inter-vehicle communication, the vehicle interrupted by the general vehicle CO may resume the convoy travel through the inter-vehicle communication when the general vehicle CO leaves the convoy.

  After the general vehicle CO exits the platoon, when the vehicle that has been interrupted by the general vehicle CO approaches the preceding vehicle up to a predetermined inter-vehicle distance Lx, an authentication response request S1 from the preceding vehicle that has detected the approach Was sent wirelessly. However, the response request S1 may be wirelessly transmitted from the subsequent vehicle approaching the preceding vehicle to the preceding vehicle. In this case, the response signal S2 is wirelessly transmitted from the preceding vehicle that receives the response request S1.

  DESCRIPTION OF SYMBOLS 10 ... Convoy travel system, 11 ... Vehicle control system, 20 ... ECU (control apparatus), 21 ... Front monitoring sensor, 22 ... Back monitoring sensor, 23 ... Side monitoring sensor, 32 ... Brake actuator, CS1, CS2, CS3 ... Vehicles (composing a platoon), CO ... General vehicles (not forming a platoon).

Claims (4)

A vehicle control system that is mounted on each of a plurality of vehicles forming a convoy, wherein the vehicle control system controls the host vehicle so that the host vehicle follows the preceding vehicle through wireless communication with the preceding vehicle. A system,
The vehicle control system includes a sensor that monitors at least the front of the host vehicle, and a control device that controls the traveling of the host vehicle.
The control device causes the host vehicle to follow the general vehicle based on a detection result of the sensor when an interruption to the front of the host vehicle is detected in the platoon of the general vehicle that does not constitute the platoon through the sensor. When the general vehicle is detected to travel in a direction deviating from a predetermined driving route of the platoon, the driving route is detected when the general vehicle is detected to have exited the platoon through the sensor. A convoy travel system that resumes convoy travel through wireless communication with the preceding vehicle to form a convoy. In the row running system according to claim 1,
When the control device detects that the general vehicle has exited from the platoon through the sensor, the control device causes the host vehicle to travel autonomously and causes the host vehicle to approach a set inter-vehicle distance with respect to the preceding vehicle. A convoy travel system that resumes convoy travel through wireless communication. In the row running system according to claim 2,
The control device restarts the row running through the wireless communication when authentication through the wireless communication with the preceding vehicle is established when the own vehicle approaches the set inter-vehicle distance with respect to the preceding vehicle. Traveling system. In the row running system according to any one of claims 1 to 3,
The control device is a platooning system that decelerates the host vehicle when the general vehicle is detected to interrupt the front of the host vehicle in the platoon through the sensor.