JP2022002028A - Rank travel management system and rank travel management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily and highly accurately estimate a procession state. An inter-vehicle communication device (10) is a platooning management system for platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle travel in a row. The acquisition unit 11 that acquires an image related to the identification of the first vehicle, which is captured by the camera 81 provided in the second vehicle, and the first vehicle managed by the first vehicle are shown. The information is compared with the information shown in the image related to the identification of the first vehicle acquired by the acquisition unit 11, and shown in the information showing the first vehicle and the image related to the identification of the first vehicle. It includes a map generation unit 13 that generates a platoon map indicating that the second vehicle is traveling behind the first vehicle when the information matches. [Selection diagram] Fig. 2

Description

The present invention relates to a platooning management system and a platooning management method for platooning of vehicles.

Conventionally, there is known a technique for managing a platoon state (order of each vehicle included in a platoon, etc.) by sharing information on vehicles traveling in a platoon, for example, by inter-vehicle communication (see, for example, Patent Document 1).

JP-A-2019-144992

Here, in the estimation of the formation state, for example, the position information of the vehicle acquired based on the GPS information or the sensor information is used. The accuracy of the vehicle position information acquired in this way may be low. Due to the use of vehicle position information with low accuracy, it is possible that the formation status cannot be accurately grasped and that it takes time to grasp the formation status.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a platooning management system and a platooning management method capable of estimating a platooning state easily and with high accuracy.

The platooning management system according to one aspect of the present invention is a platooning management system relating to platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle are continuously traveled. In the system, an acquisition unit that acquires an image related to the identification of the first vehicle, which is imaged by an image pickup device provided in the second vehicle, and a first vehicle managed by the first vehicle. The information shown is compared with the information shown in the image relating to the identification of the first vehicle acquired by the acquisition unit, and is shown in the information indicating the first vehicle and the image relating to the identification of the first vehicle. It includes a map generation unit that generates a platoon map indicating that the second vehicle is traveling behind the first vehicle when the information matches.

In the platooning management system according to one aspect of the present invention, the information shown in the image relating to the identification of the vehicle in front taken from the vehicle behind and the information indicating the vehicle in front managed by the vehicle in front are used. If they match, a platoon map is generated showing that the vehicle behind is running just behind the vehicle in front. In this way, instead of simply using the information acquired by imaging or the like, it is determined that the information shown in the image related to the identification of the captured vehicle matches the information indicating the vehicle that is managed in advance. By generating the platoon map based on the matched information, the platoon state (order of each vehicle included in the platoon, etc.) can be estimated with high accuracy. Then, the formation state can be easily estimated by a simple process of comparing the information managed in advance with the information shown in the captured image. As described above, according to the platooning management system according to one aspect of the present invention, the platooning state can be estimated easily and with high accuracy.

The acquisition unit acquires an image of the license plate at the rear end of the first vehicle as an image relating to the identification of the first vehicle, and the map generation unit is information indicating the first vehicle of the first vehicle. The number may be compared with the number shown in the image of the license plate. In this way, it is possible to estimate the formation state more easily and with high accuracy by determining the matching of the information related to the vehicle based on the information of the number that uniquely identifies the vehicle. In addition, when the number shown in the image of the captured license plate and the number managed in advance are determined to match, for example, when a disguised license plate is used (to impersonate). In the case of), since the numbers do not match, it is possible to process the vehicle that is trying to spoof without being included in the platoon, and it is possible to improve security.

The acquisition unit acquires an image relating to the identification of the second vehicle, which is captured by the image pickup device provided in the first vehicle, and the map generation unit is the second vehicle managed in the second vehicle. The information indicating the second vehicle is compared with the information shown in the image relating to the identification of the second vehicle acquired by the acquisition unit, and is shown in the information indicating the second vehicle and the image relating to the identification of the second vehicle. A platoon map showing that the second vehicle is running behind the first vehicle may be generated only if the information further matches. In this way, the match between the information shown in the image relating to the identification of the rear vehicle captured from the vehicle in front and the information indicating the rear vehicle managed by the rear vehicle is further determined and matched. Only when this is done, the platoon state can be estimated with higher accuracy by generating a platoon map showing that the vehicle behind is traveling immediately behind the vehicle in front.

A third vehicle included in the plurality of vehicles is traveling behind the second vehicle, and the acquisition unit relates to the identification of the second vehicle, which is imaged by the image pickup device provided in the third vehicle. The image is acquired, and the map generation unit has information indicating the second vehicle managed in the second vehicle, and a second image taken by the image pickup device provided in the third vehicle acquired by the acquisition unit. The second vehicle is compared with the information shown in the image relating to the identification of the second vehicle, and when the information indicating the second vehicle and the information shown in the image relating to the identification of the second vehicle match. You may generate a platoon map showing that a third vehicle is running behind the vehicle. As described above, by the same processing as in the case of the above-mentioned two vehicles, the platoon state can be easily and highly accurately estimated even for the platooning including three or more vehicles.

The platoon running management system described above may further include a vehicle control unit that controls a plurality of vehicles so as to have the running order shown in the platoon map. As a result, it is possible to suitably control the platooning of a plurality of vehicles based on the platooning map showing the platooning state with high accuracy.

When the destination of the first vehicle and the destination of the third vehicle match, the map generator platoons so that the third vehicle travels in front of the second vehicle and behind the first vehicle. You may modify the map. For example, if the destination of the first vehicle and the destination of the third vehicle are the same and the destination of the second vehicle is before the destination of the first vehicle, simply try to join the formation. If the first vehicle, the second vehicle, and the third vehicle are formed in the order of the timing, the formation needs to be reformed at the timing when the second vehicle leaves the formation. In this regard, when the destination of each vehicle is taken into consideration and the destination of the first vehicle and the destination of the third vehicle match, the third vehicle is in front of the second vehicle and behind the first vehicle. When the second vehicle leaves the platoon by modifying the platoon map to run on the platoon and controlling each vehicle to have the running order shown in the platoon map, the platoon as described above No need to reshape. As described above, by modifying the platoon map in consideration of the destination of the vehicle, efficient platoon formation can be performed.

When the weight of the third vehicle is heavier than the weight of the second vehicle, the map generator makes the platoon map so that the third vehicle runs in front of the second vehicle and behind the first vehicle. May be modified. In this way, by modifying the platoon map so that a heavy vehicle travels in front, the platoon is formed so that the vehicle in front has a longer braking distance during emergency braking in platooning. be able to. This makes it possible to avoid collisions between vehicles forming a formation.

The platooning management method according to one aspect of the present invention is a platooning management method relating to platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle are continuously traveled. The method is to acquire an image relating to the identification of the first vehicle, which is captured by an image pickup device provided in the second vehicle, and to show the first vehicle managed in the first vehicle. The information is compared with the information shown in the image relating to the identification of the first vehicle, and when the information indicating the first vehicle and the information shown in the image relating to the identification of the first vehicle match. , Generates a platoon map showing that the second vehicle is running behind the first vehicle.

According to the present invention, the formation state can be estimated easily and with high accuracy.

It is a figure which shows typically the vehicle which provided the vehicle-to-vehicle communication device which concerns on this embodiment. It is a figure explaining the function of the vehicle-to-vehicle communication device which concerns on this embodiment. It is a figure which shows an example of a formation. It is a figure which shows an example of the generated formation map. It is a figure which shows an example of vehicle-to-vehicle communication information. It is a figure which shows an example of the generated formation map. It is a figure which shows an example of vehicle-to-vehicle communication information. It is a figure which shows an example of the generated formation map. It is a figure which shows an example of vehicle-to-vehicle communication information. It is a figure which shows an example of the generated formation map. It is a figure which shows an example of vehicle-to-vehicle communication information. It is a figure explaining the traveling order change based on the modified formation map. It is a figure explaining the traveling order change based on the modified formation map. It is a flowchart which shows the formation process of a formation map.

Hereinafter, various embodiments will be described in detail with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals, and duplicate explanations for the same or corresponding parts will be omitted.

FIG. 1 is a diagram schematically showing a vehicle 1 provided with an inter-vehicle communication device 10 (formation running management system) according to the present embodiment. The vehicle 1 is a vehicle that can be included in a platoon running platoon in which a plurality of vehicles travel in a row. In platooning, all vehicles 1 included in the platoon may be driven by automatic driving, or only some vehicles 1 included in the platoon (for example, the leading platoon leader vehicle 1A) may be driven by manual driving. Vehicle 1 may travel by automatic driving. The vehicle 1 is provided with an inter-vehicle communication device 10, an ETC on-board unit 50, a camera 80 (imaging device), and license plates NP1 and NP2.

The license plate NP1 is a license plate provided at the front end of the vehicle 1. The license plate NP2 is a license plate provided at the rear end of the vehicle 1. The camera 80 is an image pickup device that continuously images the surroundings of the vehicle 1 while traveling. The camera 80 includes a camera 81 provided at the front end portion of the vehicle 1 and a camera 82 provided at the rear end portion of the vehicle 1. The camera 81 takes an image of the front of the vehicle 1 from the front end of the vehicle 1. The camera 81 is provided at a position where the license plate NP2 of the vehicle 1 running in front of the installed vehicle 1 can be imaged. The camera 82 images the rear of the vehicle 1 from the rear end of the vehicle 1. The camera 82 is provided at a position where the license plate NP1 of the vehicle 1 running behind the installed vehicle 1 can be imaged. The cameras 81 and 82 transmit the image pickup result (captured image) to the vehicle-to-vehicle inter-vehicle communication device 10 of the vehicle 1. The ETC on-board unit 50 is a wireless communication device that transmits vehicle information for payment of tolls on a highway to an antenna of a tollhouse. In the present embodiment, the ETC on-board unit 50 uses information indicating vehicle 1 (equipped vehicle 1) among the managed vehicle information, specifically, the number indicated on the license plates NP1 and NP2 between vehicles. It is transmitted to the communication device 10.

The vehicle-to-vehicle communication device 10 is a device that controls platooning in which a plurality of vehicles 1 travel in a row by communicating with each other with the vehicle-to-vehicle communication device 10 of another vehicle 1. FIG. 2 is a diagram illustrating the function of the vehicle-to-vehicle communication device 10. As shown in FIG. 2, the vehicle-to-vehicle communication device 10 includes an acquisition unit 11, a storage unit 12, a map generation unit 13, and a vehicle control unit 14 as its functions. Hereinafter, an example of the function of the inter-vehicle communication device 10 of the leading platoon leader vehicle 1A among the plurality of vehicles 1 will be described. The functions described below may be possessed by following vehicles (following vehicles 1B, 1C, 1D shown in FIG. 3) other than the platoon leader vehicle 1A. That is, in the platooning, the process such as map generation does not necessarily have to be performed by the leading platoon leader vehicle 1A, and may be performed by the following vehicle.

The acquisition unit 11 is provided by the camera 81 provided on the vehicle 1 (second vehicle; the following vehicle 1B in the example shown in FIG. 3) traveling behind the platoon leader vehicle 1A (first vehicle) which is the own vehicle. The captured image relating to the identification of the platoon leader vehicle 1A is acquired from the vehicle-to-vehicle communication device 10 of the vehicle 1 traveling behind. The acquisition unit 11 acquires, for example, an image of the license plate NP2 at the rear end of the platoon leader vehicle 1A as an image relating to the identification of the platoon leader vehicle 1A. Further, the acquisition unit 11 captures an image of the vehicle 1 traveling behind (the following vehicle 1B in the example shown in FIG. 3) captured by the camera 82 provided in the platoon leader vehicle 1A, which is the own vehicle. , Obtained from the camera 82. The acquisition unit 11 acquires, for example, an image of the license plate NP1 at the front end of the vehicle 1 traveling behind as an image relating to the identification of the vehicle 1 traveling behind.

The acquisition unit 11 is a vehicle 1 (following vehicle in the example shown in FIG. 3) traveling further behind the vehicle 1 (following vehicle 1B in the example shown in FIG. 3) traveling behind the platoon leader vehicle 1A which is the own vehicle. An image relating to the identification of the vehicle 1 (following vehicle 1B in the example shown in FIG. 3) captured by the camera 81 provided in 1C) is acquired from the vehicle-to-vehicle communication device 10 of the vehicle 1 traveling further behind. .. The acquisition unit 11 acquires, for example, an image of the license plate NP2 at the rear end of the vehicle 1 as an image related to the identification of the vehicle 1. Further, the acquisition unit 11 further travels rearward, which is captured by a camera 82 provided in the vehicle 1 (the following vehicle 1B in the example shown in FIG. 3) traveling behind the platoon leader vehicle 1A, which is the own vehicle. An image relating to the identification of the vehicle 1 (the following vehicle 1C in the example shown in FIG. 3) is acquired from the vehicle-to-vehicle communication device 10 of the vehicle 1 traveling behind. The acquisition unit 11 acquires, for example, an image of the license plate NP1 at the front end of the vehicle 1 traveling further behind as an image relating to the identification of the vehicle 1 traveling further behind. In this way, even when a plurality of vehicles 1 are running in a row behind the platoon leader vehicle 1A, the license plate NP1 related to each vehicle 1 is communicated with the vehicle-to-vehicle communication device 10 of each vehicle 1. , The image of NP2 is acquired.

The acquisition unit 11 is also shown on the information indicating each vehicle 1, specifically, the license plates NP1 and NP2, from the inter-vehicle communication device 10 of each vehicle 1 traveling in a row (that is, included in the formation). Get the number. The acquisition unit 11 further acquires the destination information and the vehicle weight of each vehicle 1 from the inter-vehicle communication device 10 of each vehicle 1 traveling in a row. The acquisition of this information may be performed only once when the formation is formed, or may be performed periodically at predetermined time intervals. The acquisition unit 11 stores various acquired information in the storage unit 12.

The storage unit 12 stores various information acquired by the acquisition unit 11. That is, the storage unit 12 is the image pickup result (license plates NP1, NP2 of the vehicle 1 traveling in front or behind) of each vehicle 1 included in the platoon acquired by the vehicle-to-vehicle communication, and each included in the platoon. The number of vehicle 1, destination information, vehicle weight, etc. are stored.

The map generation unit 13 generates a platoon map showing the platoon status of a plurality of vehicles 1 included in the platoon. As shown in FIG. 10, for example, the platoon map is a table in which the number information, destination information, and vehicle weight of the vehicle 1 in each order (traveling order) in the platoon are associated. The map generation unit 13 generates a formation map based on the information stored in the storage unit 12. The map generation unit 13 stores the generated formation map in the storage unit 12.

The map generation unit 13 has, for example, the number of the platoon leader vehicle 1A (information indicating the platoon leader vehicle 1A), which is the own vehicle acquired from the ETC in-vehicle device 50, and the vehicle traveling behind, which is stored in the storage unit 12. When the numbers are compared with the numbers shown in the license plate NP2 image of the platoon leader vehicle 1A (the image relating to the identification of the platoon leader vehicle 1A) captured by the camera 81 provided in 1, and these numbers match. , Generates a platoon map showing that vehicle 1 (following vehicle 1B in the example shown in FIG. 3) is traveling behind the platoon leader vehicle 1A, which is the own vehicle. Specifically, as shown in FIG. 6, for example, the map generation unit 13 provides a platoon map in which the number information of the following vehicle 1B, the destination information, and the vehicle weight are associated with each other as the information of the second platoon. Generate.

The map generation unit 13 is shown not only in the matching of the numbers shown in the image captured by the camera 81 of the vehicle 1 traveling behind, but also in the image captured by the camera 82 of the platoon leader vehicle 1A which is the own vehicle. You may generate a formation map that includes information on the second vehicle only if you can be sure that the numbers match. That is, the map generation unit 13 is the information indicating the vehicle behind 1 stored in the storage unit 12 (in the example shown in FIG. 3, the information indicating the following vehicle 1B managed by the following vehicle 1B). The number of the vehicle 1 and the vehicle 1 traveling behind (following in the example shown in FIG. 3) imaged by the camera 82 provided in the platoon leader vehicle 1A, which is the own vehicle, stored in the storage unit 12. Compare with the numbers shown in the image of the license plate NP1 which is the image related to the identification of the vehicle 1B), and only when these numbers further match, the vehicle 1 is behind the platoon leader vehicle 1A which is the own vehicle. A platoon map showing that (following vehicle 1B in the example shown in FIG. 3) is running may be generated.

The map generation unit 13 also generates a platoon map for the third and subsequent vehicles when the own vehicle is the head of the platoon (leader vehicle) based on the information acquired by vehicle-to-vehicle communication and stored in the storage unit 12. do. That is, the map generation unit 13 is the information indicating the vehicle behind 1 stored in the storage unit 12 (in the example shown in FIG. 3, the information indicating the following vehicle 1B managed by the following vehicle 1B). The license plate number of the vehicle 1 and the camera 81 stored in the storage unit 12 provided in the vehicle 1 traveling further behind the vehicle 1 behind the vehicle 1 (the following vehicle 1C in the example shown in FIG. 3) captured the image. Compare with the numbers shown in the image of the license plate NP2 of the vehicle 1 behind the platoon leader vehicle 1A, and if these numbers match, the vehicle 1 is further behind the vehicle 1 behind the platoon leader vehicle 1A. A platoon map showing that (following vehicle 1C in the example shown in FIG. 3) is running is generated. Specifically, as shown in FIG. 8, for example, the map generation unit 13 further associates the number information of the following vehicle 1C, the destination information, and the vehicle weight as the information of the third vehicle in the platoon. To generate.

The map generation unit 13 not only matches the numbers shown in the images captured by the camera 81 of the vehicle 1 traveling two behind the platoon leader vehicle 1A, which is its own vehicle, but also one rearward of the platoon leader vehicle 1A. The platoon map including the information of the third vehicle may be generated only when the matching of the numbers shown in the image captured by the camera 82 of the vehicle 1 traveling in the vehicle 1 can be confirmed. That is, the map generation unit 13 uses the information stored in the storage unit 12 indicating the vehicle 1 two behind (in the example shown in FIG. 3, the information indicating the following vehicle 1C managed by the following vehicle 1C). The number of the vehicle 1 two behind and the vehicle 1 traveling two behind (shown in FIG. 3) imaged by the camera 82 provided in the vehicle 1 one behind, which is stored in the storage unit 12. In this example, the numbers shown in the image of the license plate NP1 which is the image related to the identification of the following vehicle 1C) are compared, and only when these numbers further match, the 2 of the platoon leader vehicle 1A which is the own vehicle. A platoon map showing that vehicle 1 (following vehicle 1C in the example shown in FIG. 3) is traveling behind may be generated. In this way, the map generation unit 13 can generate a platoon map for the vehicle 1 two or more behind the own vehicle.

A specific example of the map generation described above will be described with reference to FIGS. 3 to 11. FIG. 3 is a diagram showing an example of a formation. 4, FIG. 6, FIG. 8, and FIG. 10 are diagrams showing an example of the generated formation map, and FIGS. 5, 7, 9, and 11 are vehicle-to-vehicle communication information (acquired by the acquisition unit 11). Information) is an example. The vehicle-to-vehicle communication information is information transmitted / received between the vehicle-to-vehicle communication devices 10 of the vehicle 1 included in the formation.

Here, as shown in FIG. 3, an example will be described in which the following vehicle 1B, the following vehicle 1C, and the following vehicle 1D are sequentially incorporated into the formation in this order, starting with the formation leader vehicle 1A. First, it is assumed that only the information about the formation leader vehicle 1A is stored in the storage unit 12. That is, it is assumed that the vehicle-to-vehicle communication information regarding the formation is only the first number information: 1234, the destination information: point A, and the vehicle weight: 200 kg, as shown in FIG. In this case, the map generation unit 13 generates a formation map including only the information of the first unit shown in FIG.

Subsequently, it is assumed that the following vehicle 1B travels behind the platoon leader vehicle 1A and the following vehicle 1B is incorporated into the platoon. In this case, as shown in FIG. 7, the vehicle-to-vehicle communication information transmitted from the first platoon leader vehicle 1A includes the license plate NP1 of the following vehicle 1B imaged by the camera 82 in addition to the own vehicle information. (Or the number shown in the image of license plate NP1: 5678) is included. Further, as shown in FIG. 7, the vehicle-to-vehicle communication information transmitted from the second following vehicle 1B includes the second vehicle number information: 5678, destination information: point B, vehicle information: 8000 kg, and a camera. The image of the license plate NP2 of the platoon leader vehicle 1A, which is the preceding vehicle captured by 81 (or the number shown in the image of the license plate NP2: 1234), is included. As shown in FIG. 6, the map generation unit 13 generates a platoon map including information on the first and second vehicles based on the above-mentioned vehicle-to-vehicle communication information.

Subsequently, it is assumed that the following vehicle 1C travels behind the following vehicle 1B and the following vehicle 1C is incorporated into the formation. In this case, as shown in FIG. 9, the vehicle-to-vehicle communication information transmitted from the second following vehicle 1B includes the own vehicle information and the preceding vehicle information, as well as the following vehicle 1C imaged by the camera 82. The image of the license plate NP1 (or the number shown in the image of the license plate NP1: 9012) is included. Further, as shown in FIG. 9, the vehicle-to-vehicle communication information transmitted from the following vehicle 1C, which is the third vehicle, includes the third vehicle number information: 9012, destination information: point A, vehicle information: 500 kg, and a camera. An image of the license plate NP2 of the following vehicle 1B, which is an image of the preceding vehicle 81, (or the number shown in the image of the license plate NP2: 5678) is included. As shown in FIG. 8, the map generation unit 13 generates a platoon map including information on the first, second, and third vehicles based on the vehicle-to-vehicle communication information described above.

Subsequently, it is assumed that the following vehicle 1D travels behind the following vehicle 1C and the following vehicle 1D is incorporated into the formation. In this case, as shown in FIG. 11, the vehicle-to-vehicle communication information transmitted from the third following vehicle 1C includes the own vehicle information and the preceding vehicle information, as well as the following vehicle 1D imaged by the camera 82. The image of the license plate NP1 (or the number shown in the image of the license plate NP1: 3456) is included. Further, as shown in FIG. 11, the vehicle-to-vehicle communication information transmitted from the fourth following vehicle 1D includes the fourth vehicle number information: 3456, destination information: C point, vehicle information: 5000 kg, and a camera. An image of the license plate NP2 of the following vehicle 1C, which is the preceding vehicle captured by the 81 (or the number shown in the image of the license plate NP2: 9012), is included. As shown in FIG. 10, the map generation unit 13 generates a platoon map including information on the first, second, third, and fourth vehicles based on the vehicle-to-vehicle communication information described above.

Returning to FIG. 2, the vehicle control unit 14 controls a plurality of vehicles so as to have the traveling order shown in the formation map. The vehicle control unit 14 may control the vehicle together with various control devices of the vehicle 1. The vehicle control unit 14 is, for example, a vehicle based on the modified platoon map when the platoon map is modified by the map generation unit 13 after the platoon map is generated according to the traveling order of the plurality of vehicles 1. 1 is controlled. Hereinafter, the modification of the formation map executed by the map generation unit 13 will be described.

When a platoon map including three or more vehicles 1 is generated, the map generation unit 13 has a destination of a certain vehicle (first vehicle) and a vehicle two or more behind the vehicle (first vehicle). When the destination of the vehicle (3) matches, the third vehicle runs in front of the vehicle (second vehicle) sandwiched between these vehicles and behind the first vehicle. , You may modify the formation map. For example, assume that the formation map shown in FIG. 8 is generated. Now, the destination of the platoon leader car 1A: point A and the destination of the third following car 1C: point A match, and the destination of the second following car 1B sandwiched between these cars. : It is assumed that the point B is in front of the point A. In this case, as shown in FIG. 12, the map generation unit 13 causes the third following vehicle 1C to travel in front of the second following vehicle 1B and behind the platoon leader vehicle 1A. (Ie, to run the second car in the platoon), modify the platoon map. As a result, the vehicle control unit 14 controls the vehicle based on the modified platoon map, so that the first vehicle is the platoon leader vehicle 1A, the second vehicle is the following vehicle 1C, and the third vehicle is the following vehicle 1B. The formation is changed.

When a platoon map including three or more vehicles 1 is generated, the map generation unit 13 is a vehicle (third vehicle) traveling behind the weight of a certain vehicle (second vehicle). ) Is heavy, the platoon map may be modified so that the third vehicle runs in front of the second vehicle and behind the platoon leader vehicle 1A (first vehicle). For example, assume that the formation map shown in FIG. 10 is generated. Now, it is assumed that the weight of the fourth following vehicle 1D traveling behind the third following vehicle 1C is heavier than the weight of 500 kg. In this case, as shown in FIG. 13, the map generation unit 13 causes the fourth following vehicle 1C to travel in front of the third following vehicle 1C and behind the platoon leader vehicle 1A. (Here, to run the third car in the platoon), modify the platoon map. As a result, the vehicle control unit 14 controls the vehicle based on the modified platoon map, and the first vehicle is the platoon leader vehicle 1A, the second vehicle is the following vehicle 1B, the third vehicle is the following vehicle 1D, and the fourth vehicle. : The formation is changed so that it becomes the following vehicle 1C.

Next, the formation map generation process according to the present embodiment will be described with reference to FIG. FIG. 14 is a flowchart showing a formation map generation process.

As shown in FIG. 14, in the platooning management system, first, the front and rear images of the vehicle 1 captured by the camera 80 provided in each vehicle 1 by vehicle-to-vehicle communication, specifically, the front and rear images. An image of the license plate of the vehicle 1 traveling behind is acquired (step S1). Then, it is determined whether or not the number shown in the image of the license plate and the number which is the information indicating the vehicle 1 stored in advance match (step S2), and if they match, the number matches. A platoon map is generated with matching vehicles added to the platoon (step S3). The above is the outline of the formation map generation process.

Finally, the operation and effect of the vehicle-to-vehicle communication device 10 of the platooning management system according to the present embodiment will be described.

The vehicle-to-vehicle communication device 10 according to the present embodiment is a platooning management system for platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle are continuously traveled. The acquisition unit 11 that acquires an image related to the identification of the first vehicle captured by the camera 81 provided in the second vehicle, and the first vehicle managed by the first vehicle. The information shown is compared with the information shown in the image related to the identification of the first vehicle acquired by the acquisition unit 11, and is shown in the information showing the first vehicle and the image related to the identification of the first vehicle. A map generation unit 13 for generating a platoon map indicating that the second vehicle is traveling behind the first vehicle when the information matches the above information is provided.

In the vehicle-to-vehicle inter-vehicle communication device 10 according to the present embodiment, the information shown in the image relating to the identification of the front vehicle 1 captured from the rear vehicle 1 and the front vehicle 1 managed by the front vehicle 1 are displayed. If the information shown matches, a platoon map is generated showing that the vehicle 1 behind is traveling immediately behind the vehicle 1 in front. In this way, instead of simply using the information acquired by imaging or the like, the information shown in the image relating to the identification of the captured vehicle 1 and the information indicating the vehicle 1 managed in advance match. By making a judgment and generating a platoon map based on the matching information, it is possible to estimate the platoon state (order of each vehicle included in the platoon, etc.) with high accuracy. Then, the formation state can be easily estimated by a simple process of comparing the information managed in advance with the information shown in the captured image. As described above, according to the vehicle-to-vehicle communication device 10 according to the present embodiment, the formation state can be estimated easily and with high accuracy.

The acquisition unit 11 acquires an image of the license plate NP2 at the rear end of the first vehicle as an image relating to the identification of the first vehicle, and the map generation unit 13 is information indicating the first vehicle. The number of the vehicle may be compared with the number shown in the image of the license plate NP2. In this way, by determining the match of the information related to the vehicle 1 from the information of the number that uniquely identifies the vehicle 1, the platoon state can be estimated more easily and with high accuracy. In addition, when the number shown in the image of the captured license plate and the number managed in advance are determined to match, for example, when a disguised license plate is used (to impersonate). In the case of), since the numbers do not match, it is possible to process the vehicle that is trying to spoof without being included in the platoon, and it is possible to improve security.

The acquisition unit 11 acquires an image related to the identification of the second vehicle captured by the camera 82 provided in the first vehicle, and the map generation unit 13 is managed in the second vehicle. The information indicating the vehicle and the information shown in the image relating to the identification of the second vehicle acquired by the acquisition unit 11 are compared, and the information indicating the second vehicle and the image relating to the identification of the second vehicle are compared. A platoon map showing that the second vehicle is running behind the first vehicle may be generated only if the information shown in is further matched. As described above, it is further determined that the information shown in the image relating to the identification of the rear vehicle 1 captured from the front vehicle 1 and the information indicating the rear vehicle 1 managed by the rear vehicle 1 match. It is possible to estimate the platoon state with higher accuracy by generating a platoon map showing that the rear vehicle 1 is traveling immediately behind the front vehicle 1 only if they match. can.

A third vehicle included in the plurality of vehicles is traveling behind the second vehicle, and the acquisition unit 11 identifies the second vehicle, which is captured by a camera 81 provided in the third vehicle. The image is acquired, and the map generation unit 13 is imaged by the information indicating the second vehicle managed in the second vehicle and the camera 81 provided in the third vehicle acquired by the acquisition unit 11. The information shown in the image relating to the identification of the second vehicle is compared, and when the information indicating the second vehicle and the information shown in the image relating to the identification of the second vehicle match. You may generate a platoon map showing that the third vehicle is running behind the second vehicle. As described above, by the same processing as in the case of the above-mentioned two vehicles, the platoon state can be easily and highly accurately estimated even for the platooning including three or more vehicles.

The vehicle-to-vehicle communication device 10 described above may further include a vehicle control unit 14 that controls a plurality of vehicles 1 so as to have a traveling order shown in a platoon map. Thereby, it is possible to suitably control the platooning of the plurality of vehicles 1 based on the platooning map showing the platooning state with high accuracy.

When the destination of the first vehicle and the destination of the third vehicle match, the map generation unit 13 makes the third vehicle travel in front of the second vehicle and behind the first vehicle. You may modify the formation map. For example, if the destination of the first vehicle and the destination of the third vehicle are the same and the destination of the second vehicle is before the destination of the first vehicle, simply try to join the formation. If the first vehicle, the second vehicle, and the third vehicle are formed in the order of the timing, the formation needs to be reformed at the timing when the second vehicle leaves the formation. In this regard, when the destination of each vehicle 1 is taken into consideration and the destination of the first vehicle and the destination of the third vehicle match, the third vehicle is in front of the second vehicle and of the first vehicle. As described above, when the platoon map is modified to run behind and each vehicle 1 is controlled so as to have the running order shown in the platoon map, the second vehicle leaves the platoon. There is no need to reshape the formation. As described above, by modifying the platoon map in consideration of the destination of the vehicle 1, efficient platoon formation can be performed.

When the weight of the third vehicle is heavier than the weight of the second vehicle, the map generation unit 13 forms a platoon so that the third vehicle travels in front of the second vehicle and behind the first vehicle. You may modify the map. In this way, by modifying the platoon map so that the heavy vehicle 1 travels in front, the platoon is formed so that the vehicle 1 in front has a longer braking distance at the time of emergency braking in platooning. It can be performed. As a result, it is possible to avoid a collision between the vehicles 1 forming the formation.

1 ... Vehicle, 10 ... Vehicle-to-vehicle communication device (platoon running management system), 11 ... Acquisition unit, 13 ... Map generation unit, 80 ... Camera (imaging device).

Claims (8)

A platooning management system for platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle travel in a row.
An acquisition unit that acquires an image related to the identification of the first vehicle, which is captured by an image pickup device provided on the second vehicle, and an acquisition unit.
The information indicating the first vehicle managed in the first vehicle is compared with the information shown in the image relating to the identification of the first vehicle acquired by the acquisition unit, and the first is described. When the information indicating the vehicle and the information shown in the image relating to the identification of the first vehicle match, the formation indicating that the second vehicle is traveling behind the first vehicle. A platooning management system with a map generator and a map generator. The acquisition unit acquires an image of the license plate at the rear end of the first vehicle as an image relating to the identification of the first vehicle.
The platooning management system according to claim 1, wherein the map generation unit compares the number of the first vehicle, which is information indicating the first vehicle, with the number shown in the image of the license plate. The acquisition unit acquires an image relating to the identification of the second vehicle, which is captured by the image pickup device provided in the first vehicle.
The map generation unit obtains information indicating the second vehicle managed in the second vehicle and information shown in an image related to the identification of the second vehicle acquired by the acquisition unit. By comparison, the second vehicle is behind the first vehicle only when the information indicating the second vehicle and the information shown in the image relating to the identification of the second vehicle further match. The platoon running management system according to claim 1 or 2, which generates a platoon map showing that the vehicle is running. A third vehicle included in the plurality of vehicles is traveling behind the second vehicle.
The acquisition unit acquires an image relating to the identification of the second vehicle, which is captured by the image pickup device provided in the third vehicle.
The map generation unit is the information indicating the second vehicle managed in the second vehicle and the image captured by the image pickup device provided in the third vehicle acquired by the acquisition unit. The information shown in the image relating to the identification of the second vehicle is compared, and when the information indicating the second vehicle and the information shown in the image relating to the identification of the second vehicle match. The platoon running management system according to any one of claims 1 to 3, which generates a platoon map showing that the third vehicle is traveling behind the second vehicle. The platoon running management system according to claim 4, further comprising a vehicle control unit that controls the plurality of vehicles so as to have the running order shown in the platoon map. In the map generation unit, when the destination of the first vehicle and the destination of the third vehicle match, the third vehicle is in front of the second vehicle and behind the first vehicle. The platooning management system according to claim 5, wherein the platooning map is modified so as to travel. When the weight of the third vehicle is heavier than the weight of the second vehicle, the map generation unit causes the third vehicle to move in front of the second vehicle and behind the first vehicle. The platoon running management system according to claim 5, wherein the platoon map is modified to run. It is a platooning management method relating to platooning in which a plurality of vehicles including a first vehicle and a second vehicle traveling behind the first vehicle travel in a row.
Acquiring an image relating to the identification of the first vehicle, which is captured by the image pickup device provided in the second vehicle, and
The information indicating the first vehicle managed in the first vehicle is compared with the information shown in the image relating to the identification of the first vehicle, and the information indicating the first vehicle and the said When the information shown in the image relating to the identification of the first vehicle matches, the formation map showing that the second vehicle is running behind the first vehicle is generated. Formation management method including.

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