JP2009265999A - Vehicle group travel controller - Google Patents

Vehicle group travel controller Download PDF

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JP2009265999A
JP2009265999A JP2008115663A JP2008115663A JP2009265999A JP 2009265999 A JP2009265999 A JP 2009265999A JP 2008115663 A JP2008115663 A JP 2008115663A JP 2008115663 A JP2008115663 A JP 2008115663A JP 2009265999 A JP2009265999 A JP 2009265999A
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vehicle
vehicle group
driving
driver
inappropriate
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JP4900312B2 (en
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Akira Nagae
明 永江
Osamu Takeda
修 武田
Tsuneji Ito
恒司 伊藤
Seiji Kawakami
清治 河上
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle group travel controller for contributing to safe vehicle group travel. <P>SOLUTION: This vehicle group travel controller is provided with: an appropriateness determination part 11 for determining whether a driving state of a driver is inappropriate for driving, and an arrangement determination part 12 for arranging vehicles A2-A4 following an object vehicle A1 driven by the driver in front of the object vehicle A1, when the driving state of the driver is determined to be inappropriate for driving by the appropriateness determination part 11. The travel control is executed so that the following vehicles A2-A4 sequentially pass the inappropriate vehicle A1 when the driver of the vehicle A1, for example, enters the inappropriate state. Consequently, the vehicle group travel controller contributes to the safe vehicle group travel, since the inappropriate vehicle A1 can be arranged at the tail of a vehicle group B1 or isolated from the vehicle group. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、車群走行を制御する車群走行制御装置に関するものである。   The present invention relates to a vehicle group traveling control device that controls vehicle group traveling.

従来、車群走行を制御する装置として、状況に応じて車群の先頭車両を変更して車群走行させるものが知られている（例えば、特許文献１参照）。特許文献１の装置は、車群における減速の伝搬の速さが大きい場合には、自車両からより遠方に存在する車両を車群の先頭車両として選択して車群走行させるものである。
特開２００７−１０２５６４号公報 2. Description of the Related Art Conventionally, as a device for controlling vehicle group travel, a device that changes the head vehicle of a vehicle group according to the situation and travels the vehicle group is known (for example, see Patent Document 1). When the speed of propagation of deceleration in the vehicle group is large, the device of Patent Literature 1 selects a vehicle that is further away from the host vehicle as the leading vehicle in the vehicle group and runs the vehicle group.
JP 2007-102564 A

しかしながら、従来の車群走行制御装置にあっては、車速の応答性のみに基づいて先頭車両の選択を行うため、先頭車両あるいは前方車両の運転者の運転状態を考慮することができない。例えば、先頭車両あるいは前方車両の運転者が居眠り等をしている場合には、走行指示に従った車両操作を十分行うことが困難であったり、自動運転中において緊急回避の手動操作が遅れたりするおそれがある。このような先頭車両あるいは前方車両に適切に追従することは困難な場合があり、結果、車群走行の安全性が害されるおそれがある。   However, in the conventional vehicle group traveling control device, since the leading vehicle is selected based only on the responsiveness of the vehicle speed, the driving state of the driver of the leading vehicle or the preceding vehicle cannot be taken into consideration. For example, when the driver of the leading vehicle or the vehicle ahead is dozing, it is difficult to fully operate the vehicle according to the driving instruction, or manual operation for emergency avoidance is delayed during automatic driving. There is a risk. It may be difficult to appropriately follow such a leading vehicle or a preceding vehicle, and as a result, the safety of vehicle group traveling may be impaired.

そこで、本発明はこのような技術課題を解決するためになされたものであって、安全な車群走行に寄与することができる車群走行制御装置を提供することを目的とする。   Accordingly, the present invention has been made to solve such a technical problem, and an object thereof is to provide a vehicle group traveling control apparatus that can contribute to safe vehicle group traveling.

すなわち本発明に係る車群走行制御装置は、車群の走行を制御する車群走行制御装置であって、運転者の運転状態を検出し、前記運転者の運転状態が運転するに不適正であるか否かを判定する運転適正判定手段と、前記運転適正判定手段により前記運転者の運転状態が運転するに不適正であると判定した場合には、当該運転者により運転される対象車両を外して新たな車群を再形成する車群形成手段とを備えて構成される。   That is, the vehicle group traveling control device according to the present invention is a vehicle group traveling control device that controls the traveling of the vehicle group, and detects the driving state of the driver, and the driving state of the driver is inappropriate for driving. When it is determined by the driving appropriateness determining means for determining whether or not the driving state of the driver is inappropriate for driving by the driving appropriateness determining means, the target vehicle to be driven by the driver is selected. And a vehicle group forming means for removing and reforming a new vehicle group.

この発明よれば、運転するに不適正な状態の運転者を検知した場合、当該運転者が運転する対象車両を外して車群を再形成することができるので、車群から対象車両を離脱させて車群走行させることが可能となる。このため、対象車両が不安全な走行をした場合であっても、その走行が他の車両の走行に影響を与えることを回避することができる。よって、安全な車群走行に寄与することができる。   According to this invention, when a driver in an inappropriate state for driving is detected, the target vehicle driven by the driver can be removed and the vehicle group can be re-formed, so that the target vehicle is removed from the vehicle group. This makes it possible to drive the vehicle group. For this reason, even if the target vehicle travels unsafely, it can be avoided that the travel affects the travel of other vehicles. Therefore, it can contribute to safe vehicle group traveling.

ここで、運転適正判定手段は、車群を構成する車両の一つのうち、後続車両が存在する車両の運転者の運転状態を検出対象とし、車群形成手段は、運転適正判定手段により運転者の運転状態が運転するに不適正であると判定した場合には、対象車両の後続車両を対象車両の前方に配置させて新たな車群を再形成することが好適である。   Here, the driving suitability determining means detects the driving state of the driver of the vehicle in which the following vehicle exists among one of the vehicles constituting the vehicle group, and the vehicle group forming means is the driver by the driving suitability determining means. When it is determined that the current driving state is inappropriate for driving, it is preferable to re-form a new vehicle group by arranging the succeeding vehicle of the target vehicle in front of the target vehicle.

このように構成することで、運転するに不適正な状態の運転者を検知した場合、当該運転者により運転される対象車両の後方車両を、対象車両の前方に配置させて車群を再形成することができる。これにより、対象車両の挙動によって影響を受ける後続の車両数を少なくすることができるので、安全な車群走行に寄与することが可能となる。   With this configuration, when a driver in an inappropriate state for driving is detected, the rear vehicle of the target vehicle driven by the driver is placed in front of the target vehicle to reform the vehicle group. can do. As a result, the number of subsequent vehicles that are affected by the behavior of the target vehicle can be reduced, thereby contributing to safe vehicle group traveling.

また、運転適正判定手段は、車群の先頭車両における運転者の運転状態を検出対象とすることが好適である。このように構成することで、車群の走行に最も影響を与える先頭車両の運転者が運転するに不適正な状態となった場合には、先頭車両の変更を行うことができるので、安全な車群走行に寄与することが可能となる。   In addition, it is preferable that the driving appropriateness determining means is based on the driving state of the driver in the leading vehicle in the vehicle group. With this configuration, when the driver of the leading vehicle that has the most influence on the driving of the vehicle group is in an inappropriate state for driving, the leading vehicle can be changed. It is possible to contribute to vehicle group traveling.

また、車群形成手段は、対象車両の後続車両を一台ずつ車群の先頭に配置させて新たな車群を再形成することが好適である。このように構成することで、対象車両の後続車両を対象車両の前方に配置して車群形成する際に、車群内の車両間に合流させる場合に比べて、簡単かつ安全に合流させることが可能となる。   In addition, it is preferable that the vehicle group forming unit re-forms a new vehicle group by arranging the subsequent vehicles of the target vehicle one by one at the head of the vehicle group. By configuring in this way, when the vehicle following the target vehicle is arranged in front of the target vehicle to form a vehicle group, the vehicle can be merged easily and safely compared to the case of merging between vehicles in the vehicle group. Is possible.

また、車群形成手段は、対象車両の後続車両が複数存在する場合には、対象車両との距離が最も短い後続車両から配置を変更させて新たな車群を再形成することが好適である。このように構成することで、他の後続車両に比べて対象車両の前方に短時間で合流することができるので、対象車両が先頭車両又は前方車両となる時間を短くすることが可能となる。これにより、安全な車群走行に一層寄与することができる。   Further, when there are a plurality of succeeding vehicles of the target vehicle, the vehicle group forming means preferably reconfigures a new vehicle group by changing the arrangement from the succeeding vehicle having the shortest distance to the target vehicle. . By configuring in this way, it is possible to merge in front of the target vehicle in a short time compared to other subsequent vehicles, and therefore it is possible to shorten the time during which the target vehicle becomes the leading vehicle or the preceding vehicle. This can further contribute to safe vehicle group traveling.

本発明によれば、安全な車群走行に寄与することができる。   According to the present invention, it is possible to contribute to safe vehicle group traveling.

以下、添付図面を参照して本発明の実施形態について説明する。なお、各図において同一又は相当部分には同一の符号を付し、重複する説明を省略する。   Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

本実施形態に係る車群走行制御装置は、車群の走行を制御する装置であって、例えば、自律型の自動運転を行って車群を形成する運転支援システム等を搭載した車両に好適に採用されるものである。   The vehicle group traveling control device according to the present embodiment is a device that controls the traveling of the vehicle group, and is suitable for, for example, a vehicle equipped with a driving support system that forms a vehicle group by performing autonomous automatic driving. It is adopted.

最初に、本実施形態に係る車群走行制御装置（車群走行制御部）の構成を説明する。図１は本発明の実施形態に係る車群走行制御部１を備えた車両２の構成を示すブロック図である。   First, the configuration of the vehicle group traveling control device (vehicle group traveling control unit) according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a configuration of a vehicle 2 including a vehicle group traveling control unit 1 according to an embodiment of the present invention.

図１に示す車両２は、例えば、自動運転機能を有し車群走行可能に構成された車両である。そして、車両２は、自動運転機能により車群走行中であっても手動によるブレーキ操作、ハンドル操作等によって制御介入が可能に構成されている。この車両２は、通信装置２０、運転状態モニター２１及びＥＣＵ（Electronic Control Unit）１０を備えている。ここで、ＥＣＵとは、電子制御する自動車デバイスのコンピュータであり、ＣＰＵ（Central Processing Unit）、ＲＯＭ（Read Only Memory）、ＲＡＭ（Random AccessMemory）、及び入出力インターフェイスなどを備えて構成されている。   A vehicle 2 shown in FIG. 1 is, for example, a vehicle having an automatic driving function and capable of traveling in a vehicle group. The vehicle 2 is configured to be able to perform control intervention by manual brake operation, steering wheel operation, and the like even when the vehicle group is traveling by an automatic driving function. The vehicle 2 includes a communication device 20, an operation state monitor 21, and an ECU (Electronic Control Unit) 10. Here, the ECU is a computer of an automobile device that is electronically controlled, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like.

通信装置２０は、車車間あるいは路車間通信により、車群を形成する他車両の情報を取得する機能を有している。他車両の情報は、例えば車群内の車両の配置位置、車速、車長等の諸元情報等である。また、通信装置２０は、他車両の運転者が運転不適正状態であるか否かを受信する機能、自車両の運転者が運転不適正状態であるか否かを他車両や路側支援装置等へ送信する機能を有している。この運転不適正状態については後述する。また、通信装置２０は、受信した他車両の情報、及び他車両の運転者における運転不適正状態の判定結果をＥＣＵ１０へ出力する機能を有している。   The communication device 20 has a function of acquiring information of other vehicles that form a vehicle group by vehicle-to-vehicle or road-to-vehicle communication. The information on the other vehicle is, for example, specification information such as the arrangement position of the vehicle in the vehicle group, the vehicle speed, and the vehicle length. Further, the communication device 20 has a function of receiving whether or not the driver of the other vehicle is in an inappropriate driving state, whether or not the driver of the own vehicle is in an inappropriate driving state, the other vehicle, the roadside support device, etc. It has a function to transmit to. This operation inappropriate state will be described later. Further, the communication device 20 has a function of outputting the received information on the other vehicle and the determination result of the inappropriate driving state of the driver of the other vehicle to the ECU 10.

運転状態モニター２１は、運転者の運転状態を検出するモニターであって、例えば運転者の表情や瞼の動き、姿勢等をモニタリングする車内カメラや、運転者の脳波信号、心電信号、呼吸信号、血圧信号、筋電信号等の生体信号をモニタリングするセンサ等により構成されている。運転状態モニター２１は、車内カメラや各種センサから入力した値に基づいて、例えば眠気や疲労等の運転状態を数値化して検出する機能を有している。運転状態モニター２１は、取得した運転状態をＥＣＵ１０へ出力する機能を有している。   The driving state monitor 21 is a monitor that detects the driving state of the driver. For example, the in-vehicle camera that monitors the driver's facial expression, movement of the heel, posture, etc., the driver's brain wave signal, electrocardiogram signal, respiratory signal, and the like. , A sensor for monitoring biological signals such as blood pressure signals and myoelectric signals. The driving state monitor 21 has a function of quantifying and detecting a driving state such as sleepiness or fatigue based on values input from the in-vehicle camera and various sensors. The driving state monitor 21 has a function of outputting the acquired driving state to the ECU 10.

ＥＣＵ１０は、車群走行制御部１及び車両制御部１３を有しており、車群走行制御部１は、適正判定部（運転適正判定手段）１１及び配置決定部（車群形成手段）１２を備えている。   The ECU 10 includes a vehicle group travel control unit 1 and a vehicle control unit 13, and the vehicle group travel control unit 1 includes an appropriateness determination unit (operation appropriateness determination unit) 11 and an arrangement determination unit (vehicle group formation unit) 12. I have.

適正判定部１１は、運転状態モニター２１が出力した運転状態を取得し、運転者が運転するに不適正な状態であるかを判定する機能を有している。例えば、運転者の眠気の強さや疲労の大きさ等が、予め設定した基準値よりも大きいと判定した場合には、運転者は運転するに不適正な状態（運転不適正状態）であると判定する機能を有している。あるいは、適正判定部１１は、例えば、予め運転者の通常運転状態のデータを取得して基準データとし、基準データと比較することによって運転者の運転状態が居眠り状態、医薬摂取状態、体調不良状態等の運転不適正状態であると判定する機能を有している。さらに、適正判定部１１は、運転不適正状態の判定結果を配置決定部１２及び通信装置２０へ出力する機能を有している。   The appropriateness determination unit 11 has a function of acquiring the driving state output from the driving state monitor 21 and determining whether the driver is in an inappropriate state for driving. For example, if it is determined that the driver's drowsiness level, fatigue level, or the like is greater than a preset reference value, the driver is in an inappropriate state for driving (driving inappropriate state). It has a function to judge. Alternatively, for example, the appropriateness determination unit 11 obtains data of the normal driving state of the driver in advance as reference data, and compares it with the reference data so that the driving state of the driver is a dozing state, a medicine intake state, a poor physical condition. It has a function to determine that the operation is in an inappropriate state. Furthermore, the appropriateness determination unit 11 has a function of outputting the determination result of the inappropriate driving state to the arrangement determination unit 12 and the communication device 20.

配置決定部１２は、受信した他車両の運転者の運転不適正状態に基づいて、当該運転者が運転する車両（不適正車両）を除く車両で車群を再形成する機能を有している。また、配置決定部１２は、運転不適正状態となった運転者が車群内の車両を運転している場合には、当該不適正車両の後続車両を、不適正車両の前方に配置するように配置位置を決定する機能を有している。また、配置決定部１２は、配置順序として、不適正車両に近い位置の後続車両から順に配置位置を決定する機能を有している。また、配置決定部１２は、後続車両を不適正車両の前方へ配置変更する場合には、変更位置を車群の先頭位置とする機能を有している。さらに、配置決定部１２は、決定した配置位置を車両制御部１３へ出力する機能を有している。   The arrangement determination unit 12 has a function of recreating a vehicle group with vehicles excluding the vehicle (unsuitable vehicle) driven by the driver based on the received driving inappropriate state of the other vehicle driver. . In addition, when the driver in an inappropriate driving state is driving a vehicle in the vehicle group, the arrangement determining unit 12 arranges the vehicle following the inappropriate vehicle in front of the inappropriate vehicle. Has a function of determining the arrangement position. Moreover, the arrangement | positioning determination part 12 has a function which determines an arrangement position in an order from the succeeding vehicle of the position near an improper vehicle as an arrangement order. Moreover, the arrangement | positioning determination part 12 has a function which makes a change position the head position of a vehicle group, when changing the arrangement of a succeeding vehicle ahead of an improper vehicle. Furthermore, the arrangement determining unit 12 has a function of outputting the determined arrangement position to the vehicle control unit 13.

車両制御部１３は、配置決定部１２が出力した配置位置に基づいて、車両２の走行制御を行う機能を有している。例えば、配置位置及び配置順序に従い車両２の操舵制御、ブレーキ制御、アクセル制御等を行い、決定した配置となるように車両２の走行を制御する機能を有している。   The vehicle control unit 13 has a function of performing travel control of the vehicle 2 based on the arrangement position output from the arrangement determination unit 12. For example, the vehicle 2 has a function of performing steering control, brake control, accelerator control, and the like in accordance with the arrangement position and arrangement order, and controlling the travel of the vehicle 2 so that the determined arrangement is obtained.

次に、本実施形態に係る車群走行制御部１を備えた車両２の動作について説明する。図２は、本実施形態に係る車群走行制御部１を備えた車両２の動作を示すフローチャートである。図２に示す制御処理は、例えばイグニッションオンされてから、あるいは車両２に備わる実行ボタンがＯＮされてから所定のタイミングで繰り返し実行される。   Next, the operation of the vehicle 2 including the vehicle group traveling control unit 1 according to the present embodiment will be described. FIG. 2 is a flowchart illustrating the operation of the vehicle 2 including the vehicle group traveling control unit 1 according to the present embodiment. The control process shown in FIG. 2 is repeatedly executed at a predetermined timing after, for example, the ignition is turned on or the execution button provided on the vehicle 2 is turned on.

図２に示す制御処理は、運転者監視処理から開始される（Ｓ１０）。Ｓ１０の処理は、運転状態モニター２１が実行し、運転者の運転状態を監視する処理である。例えば、運転状態モニター２１は、所定時間内において運転者の表情、瞼、姿勢、生体信号等を運転状態に関する情報として取得する。Ｓ１０の処理が終了すると、判定処理へ移行する（Ｓ１２）。   The control process shown in FIG. 2 is started from the driver monitoring process (S10). The process of S10 is a process executed by the driving state monitor 21 to monitor the driving state of the driver. For example, the driving state monitor 21 acquires the driver's facial expression, eyelids, posture, biological signal, and the like as information related to the driving state within a predetermined time. When the process of S10 ends, the process proceeds to a determination process (S12).

Ｓ１２の処理は、適正判定部１１が実行し、運転者の状態が運転するに不適正な状態であるか否かを判定する処理である。適正判定部１１は、例えば、Ｓ１０の処理で取得した運転者の運転状態に関する情報と、過去又は基準となる運転者の運転状態データとを比較して、車両２の運転者が居眠り状態、医薬摂取状態、体調不良状態等の運転不適正状態であるか否かを判定する。Ｓ１２の処理において、適正判定部１１が運転者の状態を運転不適正状態でないと判定した場合には、図２に示す制御処理を終了する。一方、Ｓ１２の処理において、適正判定部１１が運転者の状態を運転不適正状態であると判定した場合には、通知処理へ移行する（Ｓ１４）。   The process of S12 is a process executed by the appropriateness determination unit 11 to determine whether or not the driver is in an inappropriate state for driving. For example, the appropriateness determination unit 11 compares the information on the driving state of the driver acquired in the process of S10 with the driving state data of the driver that is the past or the reference, and the driver of the vehicle 2 is in the dozing state, the medicine It is determined whether or not the inadequate driving state such as an ingestion state or a poor physical condition. In the process of S12, when the appropriateness determination unit 11 determines that the driver's state is not the inappropriate driving state, the control process shown in FIG. On the other hand, in the process of S12, when the appropriateness determination part 11 determines with a driver | operator's state being a driving inappropriate state, it transfers to a notification process (S14).

Ｓ１４の処理は、通信装置２０が実行し、車群を形成する他車両に対して、運転者の状態が運転不適正状態である旨（運転不適正通知）を車車間通信等により送信する処理である。Ｓ１４の処理が終了すると、図２に示す制御処理を終了する。   The process of S14 is executed by the communication device 20, and transmits to the other vehicles forming the vehicle group that the driver is in an inappropriate driving state (inappropriate driving notification) through inter-vehicle communication or the like. It is. When the process of S14 ends, the control process shown in FIG. 2 ends.

図２に示す制御処理を実行することにより、車群内の運転者の運転状態は各車両に備わる運転状態モニター２１によりモニタリングされ、ある車両において運転者の運転状態が運転不適正状態となった場合には、当該車両から他の車両へその旨が通知される。このため、車群内の他の車両は、運転不適正状態となった運転者の存在を知ることができる。   By executing the control process shown in FIG. 2, the driving state of the driver in the vehicle group is monitored by the driving state monitor 21 provided in each vehicle, and the driving state of the driver in a certain vehicle has become an inappropriate driving state. In that case, the vehicle is notified to the other vehicle. For this reason, the other vehicles in the vehicle group can know the presence of the driver who is in an inappropriate driving state.

次に、本実施形態に係る車群走行制御部１の動作について図３、図４を用いて説明する。図３は、本実施形態に係る車群走行制御部１の動作を示すフローチャート、図４は本実施形態に係る車群走行制御部１の動作を説明する概要図であり、車群走行状態を（ａ）〜（ｅ）の順に時系列で示している。なお、以下では、説明理解の容易性を考慮して、処理開始時刻が図４（ａ）の状態、すなわち、車両Ａ１〜Ａ４が車群Ｂ１を形成して車群走行している場合を説明する。また、先頭車両である車両Ａ１を運転する運転者のみを監視対象の運転者とした場合を説明する。   Next, the operation of the vehicle group traveling control unit 1 according to the present embodiment will be described with reference to FIGS. FIG. 3 is a flowchart showing the operation of the vehicle group traveling control unit 1 according to the present embodiment, and FIG. 4 is a schematic diagram for explaining the operation of the vehicle group traveling control unit 1 according to the present embodiment. (A) to (e) are shown in time series. In the following, considering the ease of understanding, the process start time is in the state of FIG. 4A, that is, the case where the vehicles A1 to A4 form the vehicle group B1 and are traveling in the vehicle group. To do. A case will be described in which only the driver who drives the vehicle A1, which is the leading vehicle, is the driver to be monitored.

図３に示す制御処理は、例えばイグニッションオンされてから、あるいは車両２に備わる実行ボタンがＯＮされてから所定のタイミングで繰り返し実行される。処理を開始すると、車群走行制御部１は判定処理から開始する（Ｓ２０）。   The control process shown in FIG. 3 is repeatedly executed at a predetermined timing after, for example, the ignition is turned on or the execution button provided on the vehicle 2 is turned on. When the process is started, the vehicle group traveling control unit 1 starts from the determination process (S20).

Ｓ２０の処理は、通信装置２０が実行し、先頭車両である車両Ａ１から運転不適正通知を受信したか否かを判定する処理である。Ｓ２０の処理において、通信装置２０が運転不適正通知を受け取っていない場合には、図３に示す制御処理を終了する。一方、運転不適正通知を受け取っている場合には、配置決定処理へ移行する（Ｓ２２）。   The process of S20 is a process that is executed by the communication device 20 and determines whether or not a driving inappropriateness notification is received from the vehicle A1 that is the leading vehicle. In the process of S20, when the communication device 20 has not received the notification of inappropriate driving, the control process shown in FIG. On the other hand, when the notification of inappropriate driving is received, the process proceeds to an arrangement determination process (S22).

Ｓ２２の処理は、配置決定部１２が実行し、不適正車両Ａ１以外の車両Ａ２〜Ａ４について、所定時刻後の配置を決定する処理である。配置決定部１２は、例えば処理開始時刻において不適正車両Ａ１との距離が最も近い後方の車両Ａ２を選択し、所定時刻ｔ１における車両Ａ２の目標配置位置を車群Ｂ１の先頭に設定する。このように設定した場合、車両Ａ２は、図４（ａ）に示すように処理開始時刻から所定時刻ｔ１までの間に不適正車両Ａ１を追越して、図４（ｂ）に示すように車群Ｂ１の先頭車両となる。所定時刻ｔ１において、先頭車両を変更した場合であっても不適正車両Ａ１の後方には車両Ａ３、車両Ａ４が存在するため、次に所定時刻ｔ１から所定時間経過した所定時刻ｔ２における目標配置位置を設定する。   The process of S22 is a process which the arrangement | positioning determination part 12 performs and determines arrangement | positioning after predetermined time about vehicles A2-A4 other than the improper vehicle A1. For example, the arrangement determining unit 12 selects the rear vehicle A2 that is closest to the inappropriate vehicle A1 at the processing start time, and sets the target arrangement position of the vehicle A2 at the predetermined time t1 to the head of the vehicle group B1. When set in this way, the vehicle A2 overtakes the improper vehicle A1 between the processing start time and the predetermined time t1 as shown in FIG. 4A, and the vehicle group as shown in FIG. 4B. It becomes the leading vehicle of B1. Even if the leading vehicle is changed at the predetermined time t1, the vehicle A3 and the vehicle A4 exist behind the inappropriate vehicle A1, so that the target arrangement position at the predetermined time t2 after a predetermined time has elapsed from the predetermined time t1. Set.

配置決定部１２は、処理開始時刻において不適正車両Ａ１との距離が２番目に近い後方の車両Ａ３（時刻ｔ１において不適正車両Ａ１との距離が最も近い後方の車両Ａ３）を選択し、所定時刻ｔ２における車両Ａ３の目標配置位置を車群Ｂ１の先頭に設定する。このように設定した場合、車両Ａ３は、図４（ｂ）に示すように所定時刻ｔ１から所定時刻ｔ２までの間に不適正車両Ａ１及び車両Ａ２を追越して、図４（ｃ）に示すように車群Ｂ１の先頭車両となる。所定時刻ｔ２において、先頭車両を変更した場合であっても不適正車両Ａ１の後方には車両Ａ４が存在するため、次に所定時刻ｔ２から所定時間経過した所定時刻ｔ３における目標配置位置を設定する。   The placement determination unit 12 selects the rear vehicle A3 that is the second closest to the inappropriate vehicle A1 at the processing start time (the rear vehicle A3 that is the closest to the inappropriate vehicle A1 at the time t1), and is predetermined. The target arrangement position of the vehicle A3 at time t2 is set at the head of the vehicle group B1. When set in this way, the vehicle A3 overtakes the improper vehicle A1 and the vehicle A2 between the predetermined time t1 and the predetermined time t2 as shown in FIG. 4B, as shown in FIG. 4C. The first vehicle in the vehicle group B1. Even if the leading vehicle is changed at the predetermined time t2, since the vehicle A4 exists behind the inappropriate vehicle A1, the target arrangement position at the predetermined time t3 when a predetermined time elapses from the predetermined time t2 is set next. .

配置決定部１２は、処理開始時刻において不適正車両Ａ１との距離が３番目に近い後方の車両Ａ４（時刻ｔ２において不適正車両Ａ１との距離が最も近い後方の車両Ａ４）を選択し、所定時刻ｔ３における車両Ａ４の目標配置位置を車群Ｂ１の先頭に設定する。このように設定した場合、後続車両Ａ４は、図４（ｃ）に示すように所定時刻ｔ２から所定時刻ｔ３までの間に不適正車両Ａ１、車両Ａ２及び車両Ａ３を追越して、図４（ｄ）に示すように車群Ｂ１の先頭車両となる。所定時刻ｔ３において、不適正車両Ａ１の後方には車両が存在しないため、処理開始時刻から所定時刻ｔ３までの車両Ａ２〜Ａ４の配置位置を確定する。図３のＳ２２の処理が終了すると、走行制御処理へ移行する（Ｓ２４）。   The arrangement determination unit 12 selects the rear vehicle A4 that is the third closest to the inappropriate vehicle A1 at the processing start time (the rear vehicle A4 that is the closest to the inappropriate vehicle A1 at the time t2), and is predetermined. The target arrangement position of the vehicle A4 at time t3 is set at the head of the vehicle group B1. In this case, the following vehicle A4 overtakes the improper vehicle A1, the vehicle A2, and the vehicle A3 between the predetermined time t2 and the predetermined time t3 as shown in FIG. ) As the leading vehicle of the vehicle group B1. Since there is no vehicle behind the inappropriate vehicle A1 at the predetermined time t3, the arrangement positions of the vehicles A2 to A4 from the processing start time to the predetermined time t3 are determined. When the process of S22 in FIG. 3 is completed, the routine proceeds to a travel control process (S24).

Ｓ２４の処理は、車両制御部１３が実行し、配置決定部１２が決定した所定時刻において目標配置位置となるように、実際に車両２の走行を制御する処理である。例えば、図４（ａ）、図４（ｂ）に示すように、車両Ａ２の車両制御部１３は、処理開始時刻から所定時刻ｔ１までの間に先頭車両になるように車両Ａ２の走行を制御する。また、例えば、図４（ｂ）、図４（ｃ）に示すように、車両Ａ３の車両制御部１３は、所定時刻ｔ１から所定時刻ｔ２までの間に先頭車両になるように車両Ａ３の走行を制御する。また、例えば、図４（ｃ）、図４（ｄ）に示すように、車両Ａ４の車両制御部１３は、所定時刻ｔ２から所定時刻ｔ３までの間に先頭車両になるように車両Ａ４の走行を制御する。そして、車両Ａ２〜Ａ４は、図４（ｄ）に示すように、新たに車群Ｂ２を形成し、車群走行を行う。Ｓ２４の処理が終了すると、図３に示す制御処理を終了する。   The process of S24 is a process that is executed by the vehicle control unit 13 and actually controls the traveling of the vehicle 2 so that the target arrangement position is reached at a predetermined time determined by the arrangement determination unit 12. For example, as shown in FIGS. 4 (a) and 4 (b), the vehicle control unit 13 of the vehicle A2 controls the travel of the vehicle A2 so that it becomes the leading vehicle between the processing start time and the predetermined time t1. To do. Also, for example, as shown in FIGS. 4B and 4C, the vehicle control unit 13 of the vehicle A3 travels the vehicle A3 so that it becomes the leading vehicle between the predetermined time t1 and the predetermined time t2. To control. Further, for example, as shown in FIGS. 4C and 4D, the vehicle control unit 13 of the vehicle A4 travels the vehicle A4 so as to become the leading vehicle between the predetermined time t2 and the predetermined time t3. To control. Then, as shown in FIG. 4D, the vehicles A2 to A4 newly form a vehicle group B2 and perform vehicle group travel. When the process of S24 ends, the control process shown in FIG. 3 ends.

以上、本実施形態に係る車群走行制御部１によれば、車群走行時において先頭車両Ａ１を運転する運転者の運転状態を動的にモニタリングし、運転不適正状態であると判定した場合には、後続車両Ａ２〜Ａ４が不適正車両Ａ１を順次追い抜くように走行制御するため、図４（ｄ）に示すように不適正車両Ａ１を車群Ｂ１の最後尾に配置させることができる。これにより、例えば車両Ａ１の運転者が居眠り状態のため、飛び出し等の緊急事態回避の介入動作が遅れることがあっても、他の車両Ａ２〜Ａ４の走行に影響を与えることを回避することができる。また、図４（ｄ）に示すように不適正車両Ａ１を車群Ｂ１の最後尾に配置させることにより、他の車両Ａ２〜Ａ４が不適正車両Ａ１に追従して接近することを回避できる。このため、安全な車群走行に寄与することが可能となる。さらに、配置決定部１２が車両Ａ２〜Ａ４により車群Ｂ２を新たに形成させ、最終的には図４（ｅ）に示すように不適正車両Ａ１を車群から離脱させて車群走行させることができるので、安全な車群走行に一層寄与することが可能となる。   As described above, according to the vehicle group traveling control unit 1 according to the present embodiment, when the driving state of the driver driving the leading vehicle A1 is dynamically monitored during vehicle group traveling, it is determined that the driving state is inappropriate. Therefore, since the following vehicles A2 to A4 perform traveling control so as to sequentially overtake the inappropriate vehicle A1, the inappropriate vehicle A1 can be arranged at the tail end of the vehicle group B1 as shown in FIG. Thus, for example, even if the driver of the vehicle A1 is in a dozing state and the intervention operation for avoiding emergency situations such as jumping out may be delayed, it is possible to avoid affecting the traveling of the other vehicles A2 to A4. it can. Moreover, as shown in FIG.4 (d), by arrange | positioning the improper vehicle A1 to the tail end of the vehicle group B1, it can avoid that other vehicles A2-A4 follow the improper vehicle A1 and approach. For this reason, it becomes possible to contribute to safe vehicle group traveling. Further, the arrangement determining unit 12 newly forms the vehicle group B2 by the vehicles A2 to A4, and finally causes the inappropriate vehicle A1 to leave the vehicle group and travel the vehicle group as shown in FIG. Therefore, it is possible to further contribute to safe vehicle group traveling.

また、本実施形態に係る車群走行制御部１によれば、後続の車両Ａ２〜Ａ４を車群Ｂ１の先頭に配置するため、不適正車両Ａ１の後続車両Ａ２〜Ａ４を不適正車両Ａ１の前方に配置する際に、車群Ｂ１内の車両間に合流させる場合、例えば、所定時刻ｔ１〜所定時刻ｔ２において車両Ａ３を車両Ａ２と不適正車両Ａ１との間に合流させる場合等に比べて、簡単かつ安全に合流させることが可能となる。   In addition, according to the vehicle group traveling control unit 1 according to the present embodiment, the subsequent vehicles A2 to A4 are arranged at the head of the vehicle group B1, and therefore the subsequent vehicles A2 to A4 of the inappropriate vehicle A1 are set to the inappropriate vehicle A1. Compared to the case where the vehicle A3 is merged between the vehicle A2 and the improper vehicle A1 at the predetermined time t1 to the predetermined time t2, for example, when merging between the vehicles in the vehicle group B1 when arranged ahead It is possible to join easily and safely.

また、本実施形態に係る車群走行制御部１によれば、不適正車両Ａ１との距離が最も近い後方の車両Ａ２から配置を変更させるため、他の後続車両Ａ３、Ａ４に比べて不適正車両Ａ１の前方に短時間で合流することができる。このため、不適正車両Ａ１が先頭車両となる時間を短くすることが可能となり、安全な車群走行に寄与することができる。   Further, according to the vehicle group traveling control unit 1 according to the present embodiment, since the arrangement is changed from the rear vehicle A2 that is the closest to the inappropriate vehicle A1, it is inappropriate compared to the other subsequent vehicles A3 and A4. The vehicle can join the vehicle A1 in a short time. For this reason, it becomes possible to shorten the time when the improper vehicle A1 becomes the leading vehicle, which can contribute to safe vehicle group traveling.

なお、上述した実施形態は本発明に係る車群走行制御装置の一例を示すものである。本発明に係る車群走行制御装置は、実施形態に係る車群走行制御装置１に限られるものではなく、各請求項に記載した要旨を変更しない範囲で、実施形態に係る車群走行制御装置１を変形し、又は他のものに適用したものであってもよい。   In addition, embodiment mentioned above shows an example of the vehicle group traveling control apparatus which concerns on this invention. The vehicle group traveling control device according to the present invention is not limited to the vehicle group traveling control device 1 according to the embodiment, and the vehicle group traveling control device according to the embodiment is within a range not changing the gist described in each claim. 1 may be modified or applied to others.

例えば、上述した実施形態では、自動運転機能を有する車両に適用した例に説明したが、ディスプレイやスピーカ等の報知手段により報知された内容に応じて手動運転する車両に適用してもよい。この場合、走行制御部１３は備えなくてよい。   For example, in the above-described embodiment, an example in which the present invention is applied to a vehicle having an automatic driving function has been described. In this case, the traveling control unit 13 may not be provided.

また、上述した実施形態では、自律的に各車両が各自で配置位置を決定して走行制御する例を説明したが、例えば、車群内の所定の車両、あるいは路側支援装置が各車両の運転不適正状態を取得して各車両の配置位置及び配置順序を決定し、決定した配置位置及び配置順序を各車両に報知する中央集権型の走行制御であってもよい。   Further, in the above-described embodiment, an example in which each vehicle autonomously determines a placement position and performs travel control has been described. However, for example, a predetermined vehicle in a vehicle group or a roadside support device operates each vehicle. Centralized travel control may be used in which an improper state is acquired to determine the arrangement position and arrangement order of each vehicle, and the determined arrangement position and arrangement order are notified to each vehicle.

また、上述した実施形態では、車群が４台の車両によって構成されている例を説明したが、この台数に限られることはなく、複数台であれば安全な車群走行に寄与することができる。   In the above-described embodiment, an example in which the vehicle group is configured by four vehicles has been described. However, the number of vehicles is not limited to this, and a plurality of vehicles can contribute to safe vehicle group traveling. it can.

また、上述した実施形態では、先頭車両の運転者をモニタリングして先頭車両を変更する例を説明したが、本発明は、先頭車両の運転者に限定されることはなく、例えば、後続車両が存在する車両を運転する運転者が運転不適正状態となった場合でも、当該車両の前方に後続車両を配置させることができるので、安全な車群走行に寄与することが可能となる。   In the above-described embodiment, the example in which the driver of the leading vehicle is monitored and the leading vehicle is changed has been described. However, the present invention is not limited to the driver of the leading vehicle. Even when the driver who drives the existing vehicle is in an inappropriate driving state, the succeeding vehicle can be arranged in front of the vehicle, which can contribute to safe vehicle group traveling.

また、上述した実施形態では、不適正車両が車群の最後尾となるまで車群内の配置変更を繰り返す例を説明したが、不適正車両が車群の最後尾となるまで繰り返さない場合、例えば一台のみ追越しを実行させた場合あっても、不適正車両の後続の車両数を減少させることができるので、安全な車群走行に寄与することが可能となる。   In the above-described embodiment, the example in which the placement change in the vehicle group is repeated until the inappropriate vehicle is the tail end of the vehicle group is described, but when the inappropriate vehicle is not repeated until the tail end of the vehicle group, For example, even when only one vehicle is overtaken, it is possible to reduce the number of vehicles following the inappropriate vehicle, thereby contributing to safe vehicle group traveling.

さらに、上述した実施形態では、不適正車両を車群から外す例として、不適正車両を後続車両が順次追い抜いた後に不適正車両以外の車両で車群を再形成する例を説明したが、車群の再形成のタイミングや方法はこれに限られるものではない。例えば、不適正車両を除く車両で新たな車群を再形成した後に、不適正車両を新たな車群から離脱させるように速度調整する方法であってもよい。具体的には、先頭車両が不適正車両となった場合、当該車両以外の車両で車群を再形成し、新たな車群の走行速度を落とすことで不適正車両を新たな車群から離脱させることができる。このような場合、車郡内の配置を変更しなくてもよい。また、例えば、車群内の車両が不適正車両となった場合、新たな車群を構成する車両がレーンチェンジした後に車群を形成して不適正車両を車群から離脱させてもよい。このような場合、不適正車両の前方車両の配置は変更せず、不適正車両の後続車両の配置は繰り上げるとしてもよい。   Further, in the above-described embodiment, as an example of removing an inappropriate vehicle from the vehicle group, an example in which the vehicle group is reformed with a vehicle other than the inappropriate vehicle after the subsequent vehicle sequentially overtakes the inappropriate vehicle has been described. The timing and method of group reformation are not limited to this. For example, it may be a method of adjusting the speed so that an inappropriate vehicle is removed from the new vehicle group after a new vehicle group is reformed by a vehicle excluding the inappropriate vehicle. Specifically, if the leading vehicle becomes an inappropriate vehicle, the vehicle group is re-formed with a vehicle other than the vehicle, and the inappropriate vehicle is removed from the new vehicle group by reducing the traveling speed of the new vehicle group. Can be made. In such a case, it is not necessary to change the arrangement in the car county. Further, for example, when a vehicle in the vehicle group becomes an inappropriate vehicle, the vehicle group may be formed after the vehicles constituting the new vehicle group have changed lanes, and the inappropriate vehicle may be separated from the vehicle group. In such a case, the arrangement of the vehicle ahead of the inappropriate vehicle may not be changed, and the arrangement of the vehicle following the inappropriate vehicle may be advanced.

本実施形態に係る車群走行制御部を備える車両の構成概要を示すブロック図である。It is a block diagram which shows the structure outline | summary of a vehicle provided with the vehicle group traveling control part which concerns on this embodiment. 図１の車両の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the vehicle of FIG. 図１の車群走行制御部の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the vehicle group travel control part of FIG. 図１の車群走行制御部の動作を説明する概要図である。It is a schematic diagram explaining operation | movement of the vehicle group travel control part of FIG.

符号の説明Explanation of symbols

１…車群走行制御部（車群走行制御装置）、２…車両、１０…ＥＣＵ、１１…適正判定部（運転適正判定手段）、１２…配置決定部（車群形成手段）、１３…走行制御部、２０…通信装置、２１…運転状態モニター。 DESCRIPTION OF SYMBOLS 1 ... Vehicle group driving | running | working control part (vehicle group driving | running | working control apparatus), 2 ... Vehicle, 10 ... ECU, 11 ... Appropriate determination part (driving appropriateness determination means), 12 ... Arrangement determination part (vehicle group formation means), 13 ... Travel Control unit, 20... Communication device, 21.

Claims (5)

車群の走行を制御する車群走行制御装置であって、
運転者の運転状態を検出し、前記運転者の運転状態が運転するに不適正であるか否かを判定する運転適正判定手段と、
前記運転適正判定手段により前記運転者の運転状態が運転するに不適正であると判定した場合には、当該運転者により運転される対象車両を外して新たな車群を再形成する車群形成手段と、
を備えることを特徴とする車群走行制御装置。 A vehicle group traveling control device for controlling the traveling of the vehicle group,
Driving appropriateness determining means for detecting the driving state of the driver and determining whether the driving state of the driver is inappropriate for driving;
Vehicle group formation that removes the target vehicle driven by the driver and re-forms a new vehicle group when the driving appropriateness determining means determines that the driving state of the driver is inappropriate for driving Means,
A vehicle group traveling control device comprising: 前記運転適正判定手段は、前記車群を構成する車両の一つのうち、後続車両が存在する車両の運転者の運転状態を検出対象とし、
前記車群形成手段は、前記運転適正判定手段により前記運転者の運転状態が運転するに不適正であると判定した場合には、前記対象車両の後続車両を前記対象車両の前方に配置させて新たな車群を再形成する請求項１に記載の車群走行制御装置。 The driving suitability determining means is a detection target of a driving state of a driver of a vehicle in which a succeeding vehicle exists among one of the vehicles constituting the vehicle group,
The vehicle group forming means, when the driving appropriateness determining means determines that the driving state of the driver is inappropriate for driving, arranges a succeeding vehicle of the target vehicle in front of the target vehicle. The vehicle group traveling control device according to claim 1, wherein a new vehicle group is reformed. 前記運転適正判定手段は、前記車群の先頭車両における運転者の運転状態を検出対象とする請求項１又は２に記載の車群走行制御装置。   The vehicle group traveling control device according to claim 1, wherein the driving appropriateness determining unit is configured to detect a driving state of a driver in a leading vehicle of the vehicle group. 前記車群形成手段は、前記対象車両の後続車両を一台ずつ前記車群の先頭に配置させて新たな車群を再形成する請求項１〜３の何れか一項に記載の車群走行制御装置。   The vehicle group travel unit according to any one of claims 1 to 3, wherein the vehicle group formation unit re-forms a new vehicle group by arranging subsequent vehicles of the target vehicle one by one at the head of the vehicle group. Control device. 前記車群形成手段は、前記対象車両の後続車両が複数存在する場合には、前記対象車両との距離が最も短い前記後続車両から配置を変更させて新たな車群を再形成する請求項１〜４の何れか一項に記載の車群走行制御装置。   2. The vehicle group formation unit re-forms a new vehicle group by changing the arrangement from the subsequent vehicle having the shortest distance to the target vehicle when there are a plurality of subsequent vehicles of the target vehicle. The vehicle group traveling control device according to any one of?
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