JP2014120133A - 車車間通信装置および隊列走行制御装置 - Google Patents
車車間通信装置および隊列走行制御装置 Download PDFInfo
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Abstract
【解決手段】自車両の車車間通信装置100は、先行車との間で連結要求信号の送信および連結可否信号の受信を行う先行車通信処理部152と、後続車との間で連結要求信号の送信および連結可否信号の受信を行う後続車通信処理部151を備える。これにより、互いに直前、直後の関係にある2台の車両の間で、連結要求信号と連結可否信号の送受信を行うことができるので、先行車において後続車が連結走行をすべきでない状況になったときに、先行車から後続車に連結走行を許可しないことを通知して、後続車に連結走行を行わせないようにすることができる。
【選択図】図3
Description
この車両状態通知情報には、この情報を送信した車車間通信装置100の機器ID、その車車間通信装置100がGPS受信機10を用いて測定した現在位置(以下、GPS情報ともいう)、その車車間通信装置100が搭載されている車両の速度、方位角、車幅、車長が含まれている。また、その車両の前方車認識状態、後続車認識状態も含まれている。また、先行車を特定している場合には、その先行車が搭載している車車間通信装置100の機器IDも含まれ、後続車を特定している場合には、その後続車が搭載している車車間通信装置100の機器IDも含まれている。さらに、車両状態通知情報には、先行車に対する連結信号、後続車に対する連結可否信号も含まれている。
たとえば、図10の時刻t8において、自車両C1の通信ECU130は、車両状態通知情報N13に、連結拒絶信号、連結走行に支障が生じる異常を検出したことを示す情報に加えて、後続車C3に対して、さらに後方に連結拒絶信号を送信することを指示する転送指示信号を含ませてもよい。このようにすると、後続車C3よりもさらに後方に同一隊列内の車両(C4とする)が存在する場合、その車両C4は、前方で生じた異常を迅速に知ることができ、且つ、その異常に対応して迅速に車間距離を広くすることができる。
また、前述の実施形態では、レーダ20は先行車までの距離(すなわち車間距離)を演算し、車間距離変化率dr(radar)は通信ECU130が演算していた。しかし、車間距離変化率dr(radar)もレーダ20が演算し、通信ECU130はレーダ20が演算した車間距離変化率dr(radar)を取得するようにしてもよい。
Claims (5)
- 自車両(C1)の速度制御を行う走行制御装置(30)とともに前記自車両に搭載され、
前記自車両の直前を走行する先行車(C2)、および、前記自車両の直後を走行する後続車(C3)との間で信号の送受信を行う通信部(110)と、
連結走行を行うことを要求する連結要求信号を前記通信部から前記先行車に送信する連結送信処理部(151a)と、
前記先行車から送信され前記通信部が受信した、直後の車両に連結走行を許可するか否かを示す連結可否信号を前記通信部から取得し、この連結可否信号を前記走行制御装置へ通知する可否信号取得部(151b)と、
前記後続車から送信され前記通信部が受信した前記連結要求信号を取得し、この連結要求信号を前記走行制御装置へ通知する連結信号取得部(152b)と、
前記後続車に、前記連結可否信号を前記通信部から送信する可否信号送信処理部(152a)とを含むことを特徴とする車車間通信装置。 - 請求項1において、
連結走行に支障が生じる異常を検出する連結走行異常検出部(160)を備え、
前記可否信号送信処理部は、前記連結走行異常検出部が連結走行に支障が生じる異常を検出した場合に、前記後続車に対して、前記連結可否信号として、連結走行を許可しないことを示す連結拒絶信号を前記通信部から送信することを特徴とする車車間通信装置。 - 請求項2において、
前記可否信号送信処理部は、前記連結走行異常検出部が連結走行に支障が生じる異常を検出した場合に、前記後続車に対して、前記連結拒絶信号に加えて、前記後続車に対して後方に前記連結拒絶信号を送信することを指示する転送指示信号も前記通信部から送信することを特徴とする車車間通信装置。 - 請求項1〜3のいずれか1項において、
ドライバが連結拒絶を指示するために操作され、前記ドライバの操作により連結拒絶を指示する信号を発生させる連結拒絶操作部(40)を備え、
前記可否信号送信処理部は、前記連結拒絶を指示する信号が発生したことに基づいて、前記後続車に対して、前記連結可否信号として、連結走行を許可しないことを示す連結拒絶信号を前記通信部から送信することを特徴とする車車間通信装置。 - 請求項1〜4のいずれか1項に記載の車車間通信装置と、前記走行制御装置とを備えた隊列走行制御装置(1)であって、
前記走行制御装置は、前記先行車と連結するか分離するかについての指示、および、前記後続車と連結するか分離するかについての指示を周期的に前記車車間通信装置に出力し、
前記連結送信処理部は、前記走行制御装置が前記先行車と連結する指示を出力したことに基づいて前記連結要求信号を前記通信部から送信し、
前記可否信号送信処理部は、前記走行制御装置が出力した、前記後続車と連結するか分離するかの指示に基づいて前記連結可否信号を、連結走行を許可することを示す信号とするか、連結走行を許可しないことを示す信号とするかを決定する隊列走行制御装置。
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JP2018077550A (ja) * | 2016-11-07 | 2018-05-17 | 三菱電機株式会社 | 無線通信装置および無線通信方法 |
KR101916435B1 (ko) * | 2017-01-10 | 2018-11-07 | 엘지전자 주식회사 | 자율 주행 차량 및 자율 주행 차량의 동작 방법 |
KR20190054255A (ko) * | 2017-11-13 | 2019-05-22 | 현대자동차주식회사 | 차량의 군집 주행 제어 장치 및 그 방법 |
KR102350092B1 (ko) | 2017-11-13 | 2022-01-12 | 현대자동차주식회사 | 차량의 군집 주행 제어 장치 및 그 방법 |
JP7365276B2 (ja) | 2020-03-19 | 2023-10-19 | 日野自動車株式会社 | 路面電車に対する自動車の追従走行システム |
JP7495364B2 (ja) | 2021-02-04 | 2024-06-04 | 日野自動車株式会社 | 車両制御装置及び車両制御システム |
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US20140172265A1 (en) | 2014-06-19 |
JP5765326B2 (ja) | 2015-08-19 |
US9076341B2 (en) | 2015-07-07 |
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