JP2000331299A - Column travel device - Google Patents
Column travel deviceInfo
- Publication number
- JP2000331299A JP2000331299A JP11142467A JP14246799A JP2000331299A JP 2000331299 A JP2000331299 A JP 2000331299A JP 11142467 A JP11142467 A JP 11142467A JP 14246799 A JP14246799 A JP 14246799A JP 2000331299 A JP2000331299 A JP 2000331299A
- Authority
- JP
- Japan
- Prior art keywords
- leading vehicle
- vehicle
- operation amount
- driving operation
- following
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、手動運転される
先導車と該先導車に自動追従走行する複数の後続車とを
隊列をなして走行させる隊列走行装置に係るものであ
り、特に、先導車の運転操作量が所定範囲を逸脱した場
合に対処できる隊列走行装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a platoon running device for driving a manually driven leading vehicle and a plurality of succeeding vehicles that automatically follow the leading vehicle in a platoon. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a platoon traveling device capable of coping with a case where a vehicle driving operation amount deviates from a predetermined range.
【０００２】[0002]
【従来の技術】近年、環境問題が大きくクローズアップ
される中で、大気汚染や交通渋滞の問題を改善するため
に電動車両を特定の地域において共用して使用する技術
が提案されてきている。このような共用車両を用いた技
術では、共用車両を貸し出す、あるいは返却するために
共用車両のポート（駐車場）が必要となり、これらのポ
ートには、利用者の利便性を考えてある程度の台数の車
両を配置しておく必要がある。ところで、利用者の利用
時間や利用頻度が各ポートにおいて均一ならば問題ない
が、利用者の利用頻度等に偏りがあり特定のポートにお
いて共用車両が集中した場合には、共用車両が少ないポ
ートに複数の車両を移動する必要がある。このように複
数の車両を移動するために有人運転車両を先導車としこ
れに追従して複数の無人運転車両を後続車とした隊列走
行を行う技術が提案されている（特開平５−１７０００
８号公報参照）。2. Description of the Related Art In recent years, as environmental problems have been greatly increased, there has been proposed a technique of using an electric vehicle in a specific area in order to improve the problem of air pollution and traffic congestion. In such a technology using a shared vehicle, ports (parking lots) for the shared vehicle are required to rent or return the shared vehicle, and these ports have a certain number of ports in consideration of user convenience. Vehicles must be arranged. By the way, there is no problem if the user's use time and use frequency are uniform at each port, but if the use frequency etc. of the user is biased and the shared vehicles are concentrated at a specific port, the port will be You need to move multiple vehicles. In order to move a plurality of vehicles as described above, a technique has been proposed in which a manned driving vehicle is set as a leading vehicle and a plurality of unmanned driving vehicles are followed to perform a platooning following the leading vehicle (Japanese Patent Laid-Open No. 5-17000).
No. 8).
【０００３】具体的には、隊列走行を行うにあたり先頭
となる先導車を後続車が追従する際には、先導車の軌跡
を後続車が追従する方式を用いており、先導車が車々間
通信で得られた車速、舵角、車両位置座標、方位、要求
トルク値及びブレーキ圧等を後続車に送り、後続車はレ
ーダから得られた前車位置、方位情報の補正をかけなが
ら先導車に追従して走行するものである。[0003] Specifically, when a following vehicle follows a leading vehicle in platooning, a method is used in which the trailing vehicle follows the trajectory of the leading vehicle. The obtained vehicle speed, steering angle, vehicle position coordinates, direction, required torque value, brake pressure, etc. are sent to the following vehicle, and the following vehicle follows the leading vehicle while correcting the preceding vehicle position and direction information obtained from the radar. It is the one that travels.
【０００４】[0004]
【発明が解決しようとする課題】運転者による有人運転
の先導車に追従して複数の後続車を無人で自動運転して
効率よく複数の車両を移動できる点で有利であるが、先
導車の運転操作が最大域で行われた場合、例えばハンド
ルのフル転舵、アクセルペダルの１００％の踏み込み加
速、フルブレーキングが行われた場合は、先導車と後続
車の運動性能が同一であるとすると、上記運転操作の最
大域においては、後続車の追従性能が低下するという問
題がある。すなわち、先導車が運転操作の最大域で操作
をした場合は後続車は最大性能で追従しようとするが、
先導車が操作してからの制御遅れ時間、誤差等が積み重
なり追従性が低下してしまうのである。そこで、この発
明は、後続車の追従性を損なわないように走行すること
が可能な隊列走行装置を提供するものである。It is advantageous in that a plurality of succeeding vehicles can be automatically driven unmannedly by following a leading vehicle driven by a driver and a plurality of vehicles can be moved efficiently. When the driving operation is performed in the maximum range, for example, when the steering wheel is fully steered, the accelerator pedal is fully depressed by 100%, and the full braking is performed, it is assumed that the leading vehicle and the following vehicle have the same kinetic performance. Then, there is a problem that the following performance of the following vehicle is reduced in the maximum range of the driving operation. In other words, if the leading vehicle operates in the maximum range of driving operation, the following vehicle will try to follow with the maximum performance,
The control delay time, error, and the like after the operation of the leading vehicle are accumulated, and the followability is reduced. Therefore, the present invention provides a platoon traveling device that can travel without impairing the followability of a following vehicle.
【０００５】[0005]
【課題を解決するための手段】上記課題を解決するため
に、請求項１に記載した発明は、運転者により手動運転
される先導車（例えば、実施形態における先導車Ｓ）と
該先導車に自動追従走行する複数の後続車（例えば、実
施形態における後続車Ｋ）とを隊列をなして走行させる
隊列走行装置において、先導車の運転操作量を検出する
操作量検出手段（例えば、実施形態における操作量検出
手段５）と、この操作量検出手段により検出された先導
車の運転操作量を後続車が追従できる限界操作量に対応
する閾値と比較する比較手段（例えば、実施形態におけ
る比較手段６）を設け、前記比較手段による比較の結
果、先導車の運転操作量が前記閾値を越えている場合に
先導車に警報を発することを特徴とする。In order to solve the above-mentioned problems, the invention described in claim 1 is directed to a leading vehicle (for example, the leading vehicle S in the embodiment) which is manually driven by a driver, and the leading vehicle. In a platoon traveling device that drives a plurality of following vehicles (for example, the following vehicle K in the embodiment) that automatically follow and travel in a platoon, an operation amount detection unit that detects a driving operation amount of a leading vehicle (for example, in the embodiment) An operation amount detection unit 5) and a comparison unit that compares the driving operation amount of the leading vehicle detected by the operation amount detection unit with a threshold value corresponding to a limit operation amount that a following vehicle can follow (for example, the comparison unit 6 in the embodiment). ) Is provided, and when the driving operation amount of the leading vehicle exceeds the threshold as a result of the comparison by the comparing means, an alarm is issued to the leading vehicle.
【０００６】このように構成することで、操作量検出手
段により検出された先導車の運転操作量と後続車の限界
操作量に対応する閾値とを比較手段により比較し、先導
車の運転操作量が前記閾値を越えている場合は先導車に
警報を発することで、先導車に注意を喚起し先導車に運
転操作量を少なくすることを促す。With this configuration, the driving operation amount of the leading vehicle detected by the operation amount detecting means is compared with the threshold value corresponding to the limit operation amount of the following vehicle by the comparing means, and the driving operation amount of the leading vehicle is compared. When the threshold value exceeds the threshold value, a warning is issued to the leading vehicle to alert the leading vehicle and urge the leading vehicle to reduce the driving operation amount.
【０００７】請求項２に記載した発明は、前記警報を発
するのに加えて前記比較手段の比較結果に基づいて先導
車の運転操作量が前記閾値を越えた時点からの時間を計
測するタイマー手段（例えば、実施形態におけるタイマ
ー手段８）を設け、タイマー手段による計測時間が所定
時間を越えた場合に後続車を停止させることを特徴とす
る。According to a second aspect of the present invention, in addition to the alarm, the timer means measures the time from the time when the driving operation amount of the leading vehicle exceeds the threshold based on the comparison result of the comparing means. (For example, the timer means 8 in the embodiment) is provided, and when the time measured by the timer means exceeds a predetermined time, the following vehicle is stopped.
【０００８】このように構成することで、操作量検出手
段により検出された先導車の運転操作量と後続車の限界
操作量に対応する閾値とを比較手段により比較し、先導
車の運転操作量が前記閾値を越えると、警報を発するの
に加えてその時点でタイマー手段による計測を行い、タ
イマー手段による計測時間が所定時間を越えた場合は後
続車を停止させて、後続車の安全を確保する。With this configuration, the driving operation amount of the leading vehicle detected by the operation amount detecting unit is compared with the threshold value corresponding to the limit operation amount of the following vehicle by the comparing unit, and the driving operation amount of the leading vehicle is compared. When the value exceeds the threshold, in addition to issuing an alarm, measurement is performed by the timer means at that time, and when the time measured by the timer means exceeds a predetermined time, the following vehicle is stopped to secure the safety of the following vehicle. I do.
【０００９】請求項３に記載した発明は、運転者により
手動運転される先導車と該先導車に自動追従走行する複
数の後続車とを隊列をなして走行させる隊列走行装置に
おいて、先導車の運転操作量を検出する操作量検出手段
と、この操作量検出手段により検出された先導車の運転
操作量を後続車が追従できる限界操作量に対応する閾値
と比較する比較手段とを設け、前記比較手段の比較結果
に基づいて先導車の運転操作量が前記閾値を越えた場合
に、先導車の運転操作量に制限を加えることを特徴とす
る。According to a third aspect of the present invention, there is provided a platooning traveling apparatus for driving a leading vehicle manually driven by a driver and a plurality of succeeding vehicles automatically following the leading vehicle in a platoon. Operating amount detecting means for detecting a driving operation amount, and comparing means for comparing the driving operation amount of the leading vehicle detected by the operation amount detecting means with a threshold value corresponding to a limit operation amount that a following vehicle can follow; When the driving operation amount of the leading vehicle exceeds the threshold based on the comparison result of the comparing means, the driving operation amount of the leading vehicle is limited.
【００１０】このように構成することで、操作量検出手
段により検出された先導車の運転操作量と後続車の限界
操作量に対応する閾値とを比較手段により比較し、先導
車の運転操作量が前記閾値を越えると、先導車の運転操
作量に制限を加え、後続車が先導車に追従できない事態
が継続するのを回避する。尚、このように先導車の運転
操作量が制限された場合は、これに追従する後続車に対
して制限された操作量を通知する。[0010] With this configuration, the driving operation amount of the leading vehicle detected by the operation amount detecting means is compared with the threshold value corresponding to the limit operation amount of the following vehicle by the comparing means, and the driving operation amount of the leading vehicle is compared. When the threshold value exceeds the threshold value, the driving operation amount of the leading vehicle is limited, and the situation where the following vehicle cannot follow the leading vehicle is prevented from continuing. When the driving operation amount of the leading vehicle is restricted as described above, the restricted operation amount is notified to a following vehicle that follows the driving operation amount.
【００１１】請求項４に記載した発明は、前記比較手段
による比較の結果先導車の運転操作量が前記閾値を越え
た場合は先導車に警報を発することを特徴とする。この
ように構成することで、先導車の運転操作量が前記閾値
を越えたため、運転操作量が制限されている状態である
ことを知らせることが可能となる。The invention described in claim 4 is characterized in that when the operation amount of the leading vehicle exceeds the threshold value as a result of the comparison by the comparing means, an alarm is issued to the leading vehicle. With this configuration, it is possible to notify that the driving operation amount of the leading vehicle has exceeded the threshold value and the driving operation amount is limited.
【００１２】[0012]
【発明の実施の形態】以下、この発明の実施形態を図面
と共に説明する。図１はこの発明の第１実施形態を機能
ブロック図であり、Ｓは先導車、Ｋは後続車を示す。こ
の第１実施形態の隊列走行装置は、先導車Ｓに車速セン
サ１と、舵角センサ２、ＡＰ（アクセルペダル）センサ
３、ブレーキ圧センサ４からなる操作量検出手段５を設
け、車速センサ１と操作量検出手段５に入力されたデー
タを取り込んで、図示しない走行ＥＣＵに設けられた手
動運転プログラム１７Ａを介してモータ１２、電子制御
タイプのパワーステアリング１３、及びブレーキ１４を
作動させるものである。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a functional block diagram of the first embodiment of the present invention, where S indicates a leading vehicle and K indicates a following vehicle. In the platoon running device according to the first embodiment, a vehicle speed sensor 1, a steering angle sensor 2, an AP (accelerator pedal) sensor 3, and a brake pressure sensor 4 are provided on a leading vehicle S. And the data input to the operation amount detecting means 5 to operate the motor 12, the electronic control type power steering 13 and the brake 14 via a manual operation program 17A provided in a travel ECU (not shown). .
【００１３】また、上記各センサ類からのデータに基づ
いて、これら各データのいずれかが閾値を越えているか
を比較判別する比較手段６と、比較手段６の判別結果に
基づいて警報を発する警報装置７と、前記比較手段６の
判別結果に基づいて前記入力データのいずれかが閾値を
越えている場合にその時間を計測するタイマー手段８
と、タイマー手段８によりカウントされた時間が設定時
間を越えたことを判別する判別手段９と、判別手段９に
よりタイマー手段８のカウント時間が設定時間を超えた
場合に全後続車Ｋの停止を通知する通信装置１５を備え
ている。Further, comparing means 6 for comparing and judging whether any of these data exceeds a threshold value based on the data from each of the sensors, and an alarm for issuing an alarm based on the judgment result of the comparing means 6 A device 7 and a timer means 8 for measuring the time when any of the input data exceeds a threshold value based on the determination result of the comparing means 6
Determining means 9 for determining that the time counted by the timer means 8 has exceeded the set time; and stopping the following vehicles K when the count time of the timer means 8 has exceeded the set time. A communication device 15 for notifying is provided.
【００１４】具体的には、先導車Ｓに設けられた車速セ
ンサ１、舵角センサ２、ＡＰ（アクセルペダル）センサ
３、ブレーキ圧センサ４からの検出データが先導車Ｓの
走行ＥＣＵに取り込まれ、この検出データのうち少なく
とも１つが比較手段６により、例えば走行ＥＣＵの記憶
部等に予め記憶された閾値を越えている場合は、先導車
Ｓに設けられた警報装置７によりを警報を発する。ここ
でこの警報はブザー等の音声によるもの、あるいは警告
ランプ等の表示によるもの、あるいは両者を併用したも
のを採用することができる。More specifically, detection data from a vehicle speed sensor 1, a steering angle sensor 2, an AP (accelerator pedal) sensor 3, and a brake pressure sensor 4 provided in the leading vehicle S are taken into the traveling ECU of the leading vehicle S. If at least one of the detected data exceeds a threshold value stored in advance in, for example, a storage unit of the travel ECU by the comparing means 6, a warning is issued by a warning device 7 provided in the leading vehicle S. Here, the alarm may be a sound by a buzzer or the like, a warning by a warning lamp or the like, or a combination of both.
【００１５】一方、後続車Ｋは先導車Ｓの通信装置１５
からの情報を受ける通信装置１６と、この通信装置１６
の情報に基づいて先導車Ｓに追従するための追従プログ
ラム１７Ｂを備えている。具体的に後続車Ｋは受信した
先導車Ｓの操作量に応じて追従プログラム１７Ｂにより
追従走行する。尚、この追従プログラム１７Ｂは走行Ｅ
ＣＵにより実行されるが、先導車Ｓの運転操作量を模倣
して走行する機能（先導車Ｓの通過した位置における運
転操作量による制御）と先導車Ｓの軌跡上の目標自車位
置と実際の自車位置との偏差により目標位置上になるよ
うに運転操作量を制御する機能を有している。On the other hand, the following vehicle K is the communication device 15 of the leading vehicle S.
Communication device 16 for receiving information from
Is provided with a following program 17B for following the leading vehicle S based on the above information. More specifically, the following vehicle K follows and travels according to the received operation amount of the leading vehicle S by the following program 17B. In addition, the following program 17B
The function executed by the CU to imitate the driving operation amount of the leading vehicle S (control by the driving operation amount at the position where the leading vehicle S has passed) and the target own vehicle position on the trajectory of the leading vehicle S and the actual position Has a function of controlling the driving operation amount so as to be on the target position based on the deviation from the own vehicle position.
【００１６】後続車Ｋは追従プログラム１７Ｂによりモ
ータ１８、パワーステアリング１９、及びブレーキ２０
を自動操作して先導車Ｓに追従するが、前記先導車Ｓの
通信装置１５からの情報を修正するために追従プログラ
ム１７Ｂはレーダ２１により先導車Ｓの図示しないリフ
レクタからの反射波を検出して先導車Ｓとの車間距離を
計測しこれによる補正を行っている。The following vehicle K is driven by a motor 18, a power steering 19, and a brake 20 according to a following program 17B.
Is automatically operated to follow the leading vehicle S. In order to correct information from the communication device 15 of the leading vehicle S, the following program 17B detects a reflected wave from a reflector (not shown) of the leading vehicle S by the radar 21. And measures the inter-vehicle distance with the leading vehicle S, and performs correction based on the measured distance.
【００１７】上記閾値について図２に示す舵角と車速と
の関係を示すグラフ図に基づいて説明する。図２に示す
ように舵角と車速の関係は車速が大きくなると車両がス
リップをし始める操舵角は小さくなることが示されてい
る。図中破線は車両グリップ限界（車速と舵角に関する
限界操作量）を示すもので、この車両グリップ限界から
制御マージンを減算したもの（実線で示す）が舵角と車
速に関する閾値となっている。The above threshold will be described with reference to a graph showing the relationship between the steering angle and the vehicle speed shown in FIG. As shown in FIG. 2, the relationship between the steering angle and the vehicle speed indicates that as the vehicle speed increases, the steering angle at which the vehicle starts to slip decreases. The broken line in the figure indicates the vehicle grip limit (limit operation amount related to the vehicle speed and the steering angle), and the value obtained by subtracting the control margin from the vehicle grip limit (shown by a solid line) is the threshold value for the steering angle and the vehicle speed.
【００１８】つまり図２において先導車Ｓの舵角センサ
２と車速センサ１により検出された舵角と車速とが示す
ポイントが閾値を越えている場合には、同様の仕様を持
つ後続車Ｋにとっても閾値を越えるものとなるので先導
車Ｓに注意を喚起するために警報が発せられるのであ
る。尚、この閾値（以下の各閾値も同様）は走行ＥＣＵ
の記憶部においてマップやテーブルとして記憶させても
良いし、データとして記憶させても良い。That is, in FIG. 2, when the point indicated by the steering angle and the vehicle speed detected by the steering angle sensor 2 and the vehicle speed sensor 1 of the leading vehicle S exceeds the threshold value, the following vehicle K having similar specifications Since the value exceeds the threshold value, an alarm is issued to call attention to the leading vehicle S. This threshold (the same applies to the following thresholds) is determined by the travel ECU.
May be stored as a map or a table, or may be stored as data.
【００１９】上記閾値は舵角と車速に関するものであっ
たが、これに加えて舵角センサ２により検出される舵角
そのものに関する閾値、ＡＰセンサ３によるアクセルペ
ダルの踏み込み量に関する閾値、ブレーキ圧センサ４に
よるブレーキ圧に関する閾値が設定されている。つま
り、舵角に関しては後続車Ｋが先導車Ｓに追従して旋回
できる舵角の限界操作量から制御マージンを減算したも
のが舵角に関する閾値となり、アクセルペダル踏み込み
量に関しては後続車Ｋが先導車Ｓに追従して加速できる
アクセルペダルの踏み込みの限界操作量から制御マージ
ンを減算したものがアクセルペダルの踏み込み量に関す
る閾値となる。The above-mentioned threshold values relate to the steering angle and the vehicle speed. In addition, the threshold value relating to the steering angle itself detected by the steering angle sensor 2, the threshold value relating to the amount of depression of the accelerator pedal by the AP sensor 3, the brake pressure sensor 4, a threshold value relating to the brake pressure is set. That is, the steering angle is obtained by subtracting the control margin from the limit operation amount of the steering angle at which the following vehicle K can turn following the leading vehicle S, and the threshold value regarding the steering angle is obtained. The value obtained by subtracting the control margin from the limit operation amount of the accelerator pedal depression that can be accelerated following the vehicle S is the threshold value related to the accelerator pedal depression amount.
【００２０】また、ブレーキ圧に関しては後続車Ｋが先
導車Ｓに追従して減速できるブレーキの限界操作量から
制御マージンを減算したものがブレーキ圧に関する閾値
となる。そして、先導車Ｓがすえ切りを行ったような場
合は、後続車Ｋが追従することは困難となるため、車速
センサ１と舵角センサ２により車速が一定値以下で舵角
の変化量が一定値以上である場合は２つの値を制御マー
ジンを持たせてすえ切りのための閾値として設定する。As for the brake pressure, a value obtained by subtracting a control margin from a limit operation amount of the brake which allows the succeeding vehicle K to decelerate following the leading vehicle S is a threshold value for the brake pressure. Then, when the leading vehicle S makes a stationary turn, it is difficult for the following vehicle K to follow up. Therefore, the vehicle speed sensor 1 and the steering angle sensor 2 reduce the amount of change in the steering angle when the vehicle speed is below a certain value. If it is equal to or more than a certain value, two values are set as thresholds for stationary cutting with a control margin.
【００２１】そして、図１に示すように警報により先導
車Ｓの運転者に注意を喚起すると共に上記いずれかの閾
値を越えるような運転操作を行った場合は、その時点か
らタイマー手段８のカウントを開始し、カウント開始か
ら設定時間（例えば、２秒）が経過した場合は、通信装
置１５を介して行われている車々間通信によりその旨が
後続車Ｋに通知され全後続車Ｋが停止する。As shown in FIG. 1, when the driver of the leading vehicle S is alerted by a warning and a driving operation exceeding any one of the above thresholds is performed, the counting of the timer means 8 is started from that point. Is started, and when a set time (for example, 2 seconds) elapses from the start of counting, the following vehicle K is notified by the inter-vehicle communication performed via the communication device 15 and all the following vehicles K are stopped. .
【００２２】したがって、先導車Ｓがいずれかの閾値を
越えるような運転操作を行った場合は警報を発すること
で先導車Ｓの運転者の注意を喚起するが、それでも先導
車Ｓが閾値を越える運転を止めない場合は設定時間経過
後、全後続車Ｋを停止させることで後続車Ｋの安全を確
保することができる。Therefore, when the leading vehicle S performs a driving operation that exceeds any of the threshold values, a warning is issued to alert the driver of the leading vehicle S, but the leading vehicle S still exceeds the threshold value. If the driving is not stopped, the safety of the following vehicle K can be ensured by stopping all the following vehicles K after the lapse of the set time.
【００２３】上記先導車Ｓの運転操作に対して警報を発
し最終的に後続車Ｋが全車停止するまでの制御は図３に
示すフローチャートにより行われる。図３においてステ
ップＳ１において、先導車Ｓの各センサ、つまり車速セ
ンサ１、舵角センサ２、ＡＰ（アクセルペダル）センサ
３、ブレーキ圧センサ４により、各検出データを検出
し、ステップＳ２において走行ＥＣＵに上記各センサの
検出データを入力してステップＳ３に進む。ステップＳ
３においては各入力データが上記閾値よりも大きいか否
かを判別する。入力データが閾値以下であると判別され
た場合は終了する。The control from issuing an alarm to the driving operation of the leading vehicle S and finally stopping all the following vehicles K until the following vehicle K stops is performed according to the flowchart shown in FIG. In FIG. 3, in step S1, each detection data is detected by each sensor of the leading vehicle S, that is, the vehicle speed sensor 1, the steering angle sensor 2, the AP (accelerator pedal) sensor 3, and the brake pressure sensor 4, and in step S2, the travel ECU Then, the detection data of each of the above sensors is input, and the process proceeds to step S3. Step S
In step 3, it is determined whether each input data is larger than the threshold value. If it is determined that the input data is equal to or smaller than the threshold, the process ends.
【００２４】入力データが閾値を越えると判別された場
合はステップＳ４に進み先導車Ｓに音声や表示により警
報を出力し、ステップＳ５においてタイマー手段８のカ
ウントを開始する。ステップＳ６においてタイマー手段
８の計測値が設定時間以下であると判別された場合は終
了する。タイマー手段８の計測値が設定時間を越えると
判別された場合は、ステップＳ７に進み車々間通信によ
り全後続車Ｋを停止する旨の通知を出力する。When it is determined that the input data exceeds the threshold value, the process proceeds to step S4, where a warning is output to the leading vehicle S by voice or display, and the counting by the timer means 8 is started in step S5. If it is determined in step S6 that the value measured by the timer means 8 is equal to or shorter than the set time, the process ends. If it is determined that the measured value of the timer means 8 exceeds the set time, the process proceeds to step S7, and a notification that all the following vehicles K are stopped is output by the inter-vehicle communication.
【００２５】したがって、この実施形態においては先導
車Ｓが前記閾値を越える運転操作を行った場合に、先導
車Ｓの運転者に警報を発することで以下に示すような効
果がある。例えば、先導車Ｓが閾値を越えるようなフル
転舵を行った場合は、図４に示すように警報を発しない
と、後続車Ｋの走行軌跡は追従遅れから外側に膨らむよ
うに（鎖線で示す）描かれるが、図５に示すように警報
によりそれに気づいた先導車Ｓが舵角を戻した場合はフ
ル転舵した場合の軌跡（鎖線で示す）より外側に先導車
Ｓの軌跡が膨らむため後続車Ｋがこれに追従することが
できる。Therefore, in this embodiment, when the leading vehicle S performs a driving operation exceeding the threshold value, an alarm is issued to the driver of the leading vehicle S, which has the following effects. For example, in the case where the leading vehicle S has made a full turn so as to exceed the threshold value, unless a warning is issued as shown in FIG. 4, the traveling locus of the following vehicle K may expand outward from the following delay (indicated by a chain line). As shown in FIG. 5, when the leading vehicle S noticed by the warning returns the steering angle, the trajectory of the leading vehicle S expands outside the trajectory (shown by a chain line) when the vehicle is fully steered as shown in FIG. Therefore, the following vehicle K can follow this.
【００２６】また、先導車Ｓが閾値を越えるようなフル
加速を行った場合は、図６に示すように警報を発しない
と、先導車Ｓと後続車Ｋの車間距離がＸである状態がフ
ル加速後にはＸ＋ｄとなって増加するが、図７に示すよ
うに警報によりそれに気づいた先導車Ｓがアクセルペダ
ルを戻した場合は、後続車Ｋは先導車Ｓに追従できるた
めアクセルペダルを戻した後の先導車Ｓと後続車Ｋとの
車間距離はＸを維持することができる。In the case where the leading vehicle S has performed full acceleration exceeding the threshold value, unless the warning is issued as shown in FIG. 6, the state in which the distance between the leading vehicle S and the following vehicle K is X is assumed. After the full acceleration, it increases to X + d, and increases. However, as shown in FIG. 7, when the leading vehicle S notices the warning and returns the accelerator pedal, the following vehicle K can follow the leading vehicle S and returns the accelerator pedal. The inter-vehicle distance between the leading vehicle S and the following vehicle K after the vehicle can maintain X.
【００２７】そして、先導車Ｓが閾値を越えるようなフ
ルブレーキングを行った場合は、図８に示すように警報
を発しないと、先導車Ｓと後続車Ｋの車間距離がＹであ
る状態がフルブレーキング後にはＹ−ｄとなって減少す
るが、図９に示すように警報によりそれに気づいた先導
車Ｓがブレーキペダルを戻した場合は、後続車Ｋは先導
車Ｓに追従できるためブレーキペダルを戻した後の先導
車Ｓと後続車Ｋとの車間距離はＹのまま維持することが
できる。また、図示はしないが、先導車がすえ切りを行
おうとすると警報により先導車の運転者はそれ以上の転
舵を止めるため、後続車はこれに追従することができ
る。In the case where the leading vehicle S has performed the full braking so as to exceed the threshold value, as shown in FIG. 8, unless the warning is issued, the distance between the leading vehicle S and the following vehicle K is Y. Is reduced to Yd after full braking, but as shown in FIG. 9, when the leading vehicle S noticed by the warning returns the brake pedal, the following vehicle K can follow the leading vehicle S. The inter-vehicle distance between the leading vehicle S and the succeeding vehicle K after returning the brake pedal can be maintained at Y. Further, although not shown, when the leading vehicle tries to perform stationary steering, the driver of the leading vehicle stops further steering by an alarm, so that the following vehicle can follow this.
【００２８】次に、この発明の第２実施形態を図１０の
機能ブロック図に基づいて説明する。この実施形態は前
記実施形態における警報を発することにより先導車Ｓの
注意を喚起すると同時に先導車Ｓの運転操作量に制限を
かけるようにしたものである。同図において、先導車Ｓ
が車速センサ１と、舵角センサ２、ＡＰ（アクセルペダ
ル）センサ３、ブレーキ圧センサ４からなる操作量検出
手段５と、車速センサ１と操作量検出手段５に入力され
たデータを取り込んで、走行ＥＣＵに設けられた手動運
転プログラム１７Ａを介してモータ１２、電子制御タイ
プのパワーステアリング１３、及びブレーキ１４を作動
させる点、また、上記各センサ類からのデータに基づい
て、これら各データのいずれかが閾値を越えているかを
比較判別する比較手段６と、比較手段６の判別結果に基
づいて閾値を越えている場合に警報を発する警報装置７
を備えている点は前記第１実施形態と同様である。Next, a second embodiment of the present invention will be described with reference to a functional block diagram of FIG. In this embodiment, the warning of the leading vehicle S is alerted by issuing the warning in the above embodiment, and at the same time, the driving operation amount of the leading vehicle S is limited. In FIG.
Captures data input to the vehicle speed sensor 1, a steering angle sensor 2, an operation amount detection unit 5 including an AP (accelerator pedal) sensor 3, and a brake pressure sensor 4, and data input to the vehicle speed sensor 1 and the operation amount detection unit 5. The operation of the motor 12, the electronic control type power steering 13, and the brake 14 via the manual operation program 17A provided in the travel ECU, and any one of these data based on the data from the above sensors. Comparing means 6 for comparing and determining whether the threshold value exceeds a threshold value, and an alarm device 7 for issuing an alarm when the threshold value is exceeded based on the determination result of the comparing means 6
Is similar to the first embodiment.
【００２９】ここで上記比較手段６の判別結果に基づい
て閾値を越えている場合に警報装置７により警報を発す
ると共に先導車Ｓに手動運転プログラム１７Ａに設けた
制限付与手段１１を介してモータ１２とパワーステアリ
ング１３に対して制限を付与するようになっている。こ
こで制限付与手段１１は走行ＥＣＵの主たる構成となっ
ている。そして、上記制限付与手段１１によりモータ１
２とパワーステアリング１３に制限をかけた場合は、前
記比較手段６による比較結果と共に通信装置１５により
後続車Ｋに送信される。つまり、先導車Ｓのモータ１２
やパワーステアリング１３に制限をかけた場合は、先導
車Ｓに追従する後続車Ｋの走行に影響を与えるため、通
常の先導車Ｓの運転操作量の情報とは別に制限に関する
情報も後続車Ｋに通知するのである。尚、図１０におい
て後続車Ｋについては前記第１実施形態と同様であるの
で、同一部分に同一符号を付して説明は省略する。If the threshold value is exceeded based on the result of the comparison by the comparing means 6, an alarm is issued by the alarm device 7 and the leading vehicle S is controlled by the motor 12 via the restriction applying means 11 provided in the manual operation program 17A. And the power steering 13. Here, the restriction applying means 11 has a main configuration of the traveling ECU. Then, the motor 1
2 and the power steering 13 are transmitted to the succeeding vehicle K by the communication device 15 together with the comparison result by the comparing means 6. That is, the motor 12 of the leading vehicle S
If the power steering 13 is restricted, the following vehicle K following the leading vehicle S is affected. Therefore, in addition to the information on the normal driving operation amount of the leading vehicle S, information on the restriction is also included in the following vehicle K. Notify. Note that, in FIG. 10, the following vehicle K is the same as in the first embodiment, and thus the same portions are denoted by the same reference characters and description thereof will be omitted.
【００３０】ここで、上記先導車Ｓへの制限は、フル加
速のためアクセルペダルを踏み込んだ場合に、モータ１
２の出力がある一定以上増加しないようにしたり、急旋
回のための転舵、あるいは、すえ切りのためフル転舵し
ようとすると、パワーステアリング１３により逆トルク
をかけて転舵を制限するものである。そして、このよう
に制限を加えられた場合、運転者は警報装置７により制
限を受けていることを認識しており、速やかに急激な運
転操作を止めるため、後続車Ｋの追従性に影響を与える
ことはない。Here, the limitation to the leading vehicle S is that the motor 1 is not operated when the accelerator pedal is depressed for full acceleration.
In order to prevent the output of No. 2 from increasing beyond a certain level, or to steer for a sharp turn, or to perform full steering for stationary steering, a reverse torque is applied by the power steering 13 to limit the steering. is there. When the driver is restricted in this way, the driver recognizes that the driver is restricted by the alarm device 7 and stops the sudden driving operation promptly. I will not give.
【００３１】したがって、この実施形態においても先導
車Ｓが前記閾値を越える運転操作を行った場合に、先導
車Ｓの運転者に警報を発すると共に先導車Ｓに運転操作
量の制限を加えることにより、先導車Ｓは後続車Ｋが追
従できる運転操作量で先導するため、後続車Ｋの後続性
に影響を与えることはない。Therefore, also in this embodiment, when the leading vehicle S performs a driving operation exceeding the threshold value, a warning is issued to the driver of the leading vehicle S and the driving operation amount is limited for the leading vehicle S. Since the leading vehicle S leads with the driving operation amount that the following vehicle K can follow, it does not affect the followability of the following vehicle K.
【００３２】[0032]
【発明の効果】以上説明してきたように、請求項１に記
載した発明によれば、操作量検出手段により検出された
先導車の運転操作量と後続車の限界操作量に対応する閾
値とを比較手段により比較し、先導車の運転操作量が前
記閾値を越えている場合は先導車に警報を発すること
で、先導車に注意を喚起し先導車に運転操作量を少なく
することを促すことができるため、運転者がこれにした
がって操作量を少なくすれば先導車に後続車が追従して
走行する隊列走行を乱すことなく後続車を追従させるこ
とができる効果がある。As described above, according to the first aspect of the present invention, the driving operation amount of the leading vehicle detected by the operation amount detecting means and the threshold value corresponding to the limit operation amount of the following vehicle are determined. When the driving operation amount of the leading vehicle exceeds the threshold value, a warning is issued to the leading vehicle to alert the leading vehicle and urge the leading vehicle to reduce the driving operation amount. Therefore, if the driver reduces the operation amount in accordance with this, there is an effect that the following vehicle can follow the leading vehicle without disturbing the platooning in which the following vehicle travels.
【００３３】請求項２に記載した発明によれば、操作量
検出手段により検出された先導車の運転操作量と後続車
の限界操作量に対応する閾値とを比較手段により比較
し、先導車の運転操作量が前記閾値を越えると、警報を
発するのに加えてその時点でタイマー手段による計測を
行い、タイマー手段による計測時間が所定時間を越えた
場合は後続車を停止させることができるため、先導車が
警報に対して何らの処置をしない場合においても、後続
車の安全を確保することができるという効果がある。According to the second aspect of the present invention, the driving operation amount of the leading vehicle detected by the operation amount detecting means is compared with the threshold value corresponding to the limit operation amount of the following vehicle by the comparing means, and the driving amount of the leading vehicle is compared. When the driving operation amount exceeds the threshold value, in addition to issuing an alarm, measurement is performed by the timer means at that time, and when the measurement time by the timer means exceeds a predetermined time, the following vehicle can be stopped, Even when the leading vehicle does not take any action against the warning, there is an effect that the safety of the following vehicle can be ensured.
【００３４】請求項３に記載した発明によれば、操作量
検出手段により検出された先導車の運転操作量と後続車
の限界操作量に対応する閾値とを比較手段により比較
し、先導車の運転操作量が前記閾値を越えると、先導車
の運転操作量に制限を加えることで、自動的に後続車が
先導車に追従できない事態が継続するのを回避すること
ができる効果がある。したがって、運転者は運転にあた
って後続車が追従できるか否かを気にすることなく運転
することができるという効果がある。According to the third aspect of the present invention, the driving operation amount of the leading vehicle detected by the operation amount detecting means is compared with the threshold value corresponding to the limit operation amount of the following vehicle by the comparing means, and the driving amount of the leading vehicle is compared. When the driving operation amount exceeds the threshold value, by limiting the driving operation amount of the leading vehicle, there is an effect that it is possible to prevent a situation in which the following vehicle cannot automatically follow the leading vehicle from continuing. Therefore, there is an effect that the driver can drive without worrying about whether or not the following vehicle can follow the driver.
【００３５】請求項４に記載した発明によれば、先導車
の運転操作量が前記閾値を越えたため、運転操作量が制
限されている場合に、運転操作量が制限されている状態
であることを先導車の運転者に知らせることができるた
め、運転者は運転操作量を速やかに修正することができ
る効果がある。According to the fourth aspect of the present invention, when the driving operation amount of the leading vehicle exceeds the threshold, the driving operation amount is restricted when the driving operation amount is restricted. Can be notified to the driver of the leading vehicle, so that the driver can quickly correct the driving operation amount.
【図１】 第１実施形態の機能ブロック図である。FIG. 1 is a functional block diagram of a first embodiment.
【図２】 第１実施形態の舵角と車速との関係を示すグ
ラフ図である。FIG. 2 is a graph showing a relationship between a steering angle and a vehicle speed according to the first embodiment.
【図３】 第１実施形態のフローチャート図である。FIG. 3 is a flowchart of the first embodiment.
【図４】 先導車のフル転舵に対して警報を出さない場
合の走行軌跡を示す説明図である。FIG. 4 is an explanatory diagram showing a running locus when a warning is not issued for full steering of a leading vehicle.
【図５】 先導車のフル転舵に対して警報を出した場合
の走行軌跡を示す説明図である。FIG. 5 is an explanatory diagram showing a traveling locus when a warning is issued for full steering of a leading vehicle.
【図６】 先導車のフル加速に対して警報を出さない場
合の車間距離状態を示す説明図である。FIG. 6 is an explanatory diagram showing an inter-vehicle distance state when a warning is not issued for full acceleration of a leading vehicle.
【図７】 先導車のフル加速に対して警報を出した場合
の車間距離状態を示す説明図である。FIG. 7 is an explanatory diagram showing an inter-vehicle distance state when a warning is issued for full acceleration of a leading vehicle.
【図８】 先導車のフルブレーキングに対して警報を出
さない場合の車間距離状態を示す説明図である。FIG. 8 is an explanatory diagram showing an inter-vehicle distance state when an alarm is not issued for full braking of a leading vehicle.
【図９】 先導車のフルブレーキングに対して警報を出
した場合の車間距離状態を示す説明図である。FIG. 9 is an explanatory diagram showing an inter-vehicle distance state when an alarm is issued for full braking of a leading vehicle.
【図１０】 第２実施形態の機能ブロック図である。FIG. 10 is a functional block diagram of a second embodiment.
５ 操作量検出手段 ６ 比較手段 ８ タイマー手段 Ｋ 後続車 Ｓ 先導車 5 Operation amount detection means 6 Comparison means 8 Timer means K Subsequent vehicle S Lead vehicle
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ６２Ｄ 113:00 Ｆターム(参考） 3D032 CC01 CC19 CC21 DA03 DA23 DA88 DA92 DA93 DC08 DC09 DC33 DC34 DE09 GG01 3D046 BB18 EE01 GG02 GG10 HH00 HH02 HH05 HH08 HH16 HH20 HH22 KK11 MM08 5H180 AA01 CC14 LL06 LL07 LL09──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) B62D 113: 00 F term (Reference) 3D032 CC01 CC19 CC21 DA03 DA23 DA88 DA92 DA93 DC08 DC09 DC33 DC34 DE09 GG01 3D046 BB18 EE01 GG02 GG10 HH00 HH02 HH05 HH08 HH16 HH20 HH22 KK11 MM08 5H180 AA01 CC14 LL06 LL07 LL09
Claims (4)
先導車に自動追従走行する複数の後続車とを隊列をなし
て走行させる隊列走行装置において、先導車の運転操作
量を検出する操作量検出手段と、この操作量検出手段に
より検出された先導車の運転操作量を後続車が追従でき
る限界操作量に対応する閾値と比較する比較手段とを設
け、前記比較手段による比較の結果、先導車の運転操作
量が前記閾値を越えている場合に先導車に警報を発する
ことを特徴とする隊列走行装置。An operation for detecting a driving operation amount of a leading vehicle in a platooning traveling device that causes a leading vehicle manually driven by a driver and a plurality of succeeding vehicles that automatically follow and drive the leading vehicle to travel in a platoon. Amount detection means, and a comparison means for comparing the driving operation amount of the leading vehicle detected by the operation amount detection means with a threshold value corresponding to a limit operation amount that can be followed by the following vehicle, provided as a result of the comparison by the comparison means, A platooning device that issues an alarm to a leading vehicle when the driving operation amount of the leading vehicle exceeds the threshold.
車の運転操作量が前記閾値を越えた時点からの時間を計
測するタイマー手段を設け、タイマー手段による計測時
間が所定時間を越えた場合に後続車を停止させることを
特徴とする請求項１に記載の隊列走行装置。And a timer unit for measuring a time from a time point at which the driving operation amount of the leading vehicle exceeds the threshold value based on a comparison result of the comparison unit, wherein a time measured by the timer unit exceeds a predetermined time. The platooning device according to claim 1, wherein the following vehicle is stopped.
先導車に自動追従走行する複数の後続車とを隊列をなし
て走行させる隊列走行装置において、先導車の運転操作
量を検出する操作量検出手段と、この操作量検出手段に
より検出された先導車の運転操作量を後続車が追従でき
る限界操作量に対応する閾値と比較する比較手段とを設
け、前記比較手段の比較結果に基づいて先導車の運転操
作量が前記閾値を越えた場合に、先導車の運転操作量に
制限を加えることを特徴とする隊列走行装置。3. An operation for detecting a driving operation amount of a leading vehicle in a platooning traveling device for traveling in a platoon of a leading vehicle manually driven by a driver and a plurality of succeeding vehicles automatically following the leading vehicle. Quantity detection means, and comparison means for comparing the driving operation amount of the leading vehicle detected by the operation amount detection means with a threshold value corresponding to a limit operation amount that the following vehicle can follow, based on a comparison result of the comparison means A driving operation amount of the leading vehicle is limited when the driving operation amount of the leading vehicle exceeds the threshold value.
運転操作量が前記閾値を越えた場合は先導車に警報を発
することを特徴とする請求項３に記載の隊列走行装置。4. The platooning device according to claim 3, wherein a warning is issued to the leading vehicle when the driving operation amount of the leading vehicle exceeds the threshold value as a result of the comparison by the comparing means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14246799A JP4115628B2 (en) | 1999-05-21 | 1999-05-21 | Convoy travel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14246799A JP4115628B2 (en) | 1999-05-21 | 1999-05-21 | Convoy travel device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000331299A true JP2000331299A (en) | 2000-11-30 |
| JP4115628B2 JP4115628B2 (en) | 2008-07-09 |
Family
ID=15316005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14246799A Expired - Fee Related JP4115628B2 (en) | 1999-05-21 | 1999-05-21 | Convoy travel device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4115628B2 (en) |
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| US8401732B2 (en) | 2007-11-02 | 2013-03-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device and vehicle control method |
| WO2018043519A1 (en) * | 2016-08-31 | 2018-03-08 | ナブテスコオートモーティブ株式会社 | Brake system, vehicle, and vehicle platoon |
| US10604155B2 (en) | 2014-09-11 | 2020-03-31 | Honda Motor Co., Ltd. | Driving assistance device |
| CN111688693A (en) * | 2019-03-14 | 2020-09-22 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
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| US8401732B2 (en) | 2007-11-02 | 2013-03-19 | Toyota Jidosha Kabushiki Kaisha | Vehicle control device and vehicle control method |
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| CN111688693B (en) * | 2019-03-14 | 2023-10-13 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4115628B2 (en) | 2008-07-09 |
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