JPH10293899A - Device and method for controlling vehicle group formation - Google Patents
Device and method for controlling vehicle group formationInfo
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- JPH10293899A JPH10293899A JP9103624A JP10362497A JPH10293899A JP H10293899 A JPH10293899 A JP H10293899A JP 9103624 A JP9103624 A JP 9103624A JP 10362497 A JP10362497 A JP 10362497A JP H10293899 A JPH10293899 A JP H10293899A
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- vehicle
- information
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- vehicles
- vehicle group
- 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.)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、複数の車両でプラ
トーン編成と呼ばれる隊列を形成して走行するための車
両群形成制御装置および方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle group formation control apparatus and method for running a plurality of vehicles in a platoon train.
【０００２】[0002]
【従来の技術】複数の車両が自動走行レーンに沿ってプ
ラトーン編成で走行することに関連する先行技術は、た
とえば特開平８−３１４５４１に開示されている。車両
群を形成する複数の車両間では、常時制御情報を伝送
し、受信した制御情報に基づいて、それぞれの車両が自
車の操作量を演算し、先行車両に追従して隊列走行を行
うように制御している。制御情報としては、車速、加速
度、減速度、スロットル開度、ブレーキ量、ステアリン
グの操舵角、変速機のシフトポジションなどが含まれ
る。先行車両に追従する制御を行う先行技術は、特開平
５−１７０００８や特開平７−２００９９１などにも開
示されている。2. Description of the Related Art A prior art relating to a plurality of vehicles traveling in a platoon formation along an automatic traveling lane is disclosed in, for example, JP-A-8-314541. Between a plurality of vehicles forming a vehicle group, control information is constantly transmitted, and based on the received control information, each vehicle calculates an operation amount of its own vehicle and follows a preceding vehicle to perform platooning. Is controlled. The control information includes vehicle speed, acceleration, deceleration, throttle opening, brake amount, steering angle of the steering, shift position of the transmission, and the like. Prior art for performing control to follow a preceding vehicle is also disclosed in Japanese Patent Application Laid-Open Nos. 5-170008 and 7-200991.
【０００３】受信した制御情報に基づいてプラトーン編
成で隊列走行を行うと、先行車両における加速、減速等
の制御を即座に自車の制御に反映できるため、複数の車
両がそれぞれ他車の挙動に応じて独自に運転される場合
よりも、車間距離を縮めることができ、道路の輸送密度
を高めることができ、効率的に利用することができる。
また、複数の車両に対して先頭車両のみで運転を行う
か、さらには全自動で運転させ、他の車両は当該先頭車
両の移動に応じて自動的に追従走行するので、輸送の省
力化も可能である。[0003] When the vehicle runs in platoon formation based on the received control information, the control such as acceleration and deceleration of the preceding vehicle can be immediately reflected in the control of the own vehicle. Accordingly, it is possible to reduce the distance between vehicles, to increase the transportation density on the road, and to use the vehicle more efficiently than when the vehicle is driven independently.
In addition, a plurality of vehicles may be driven by only the leading vehicle, or may be driven fully automatically, and the other vehicles may automatically follow the vehicle in accordance with the movement of the leading vehicle. It is possible.
【０００４】[0004]
【発明が解決しようとする課題】特開平８−３１４５４
１、特開平５−１７０００８あるいは特開平７−２００
９９１などの先行技術では、車両群が形成された後、隊
列走行を行っている車両間の制御について開示されてい
るけれども、車両群内で複数の車両の順位をどのように
決定するかについては示されていない。複数の車両は、
それぞれ性能が異なり、また積み荷や乗車人員、目的地
などの違いも有り得る。Problems to be Solved by the Invention
1, JP-A-5-170008 or JP-A-7-200
Although prior arts such as 991 disclose control between vehicles performing platooning after a group of vehicles is formed, how to determine the order of a plurality of vehicles in the group of vehicles is disclosed. Not shown. Multiple vehicles are
Each has different performance, and there may be differences in cargo, passengers, destinations, etc.
【０００５】本発明の目的は、車両群を円滑に形成し、
効率的な隊列走行を行うための車両順位を決定すること
ができる車両群形成制御装置および方法を提供すること
である。An object of the present invention is to form a vehicle group smoothly,
An object of the present invention is to provide a vehicle group formation control device and method capable of determining a vehicle ranking for performing efficient platooning.
【０００６】[0006]
【課題を解決するための手段】本発明は、複数の車両で
車両群を形成し、車両群内の車両間で伝達される制御情
報に基づいて、先行車両に後続車両が順次追従する隊列
走行を行うための車両群形成制御装置であって、車両群
内の各車両の車両情報を伝達する情報伝達手段と、情報
伝達手段によって伝達される車両情報を比較して、隊列
走行での車両順位を決定する順位決定手段と、順位決定
手段によって決定された車両順位を、車両群内の各車両
に対して伝達する順位伝達手段とを含むことを特徴とす
る車両群形成制御装置である。 本発明に従えば、順位決定手段によって各車両の車両情
報に基づく順位が決定され、車両群内の各車両に伝達さ
れるので、車両群内の各車両は車両順位に基づいて円滑
に隊列を形成し、車両群としての隊列走行を行うことが
できる。SUMMARY OF THE INVENTION The present invention relates to a platoon in which a plurality of vehicles form a vehicle group and a following vehicle sequentially follows a preceding vehicle based on control information transmitted between the vehicles in the vehicle group. A vehicle group formation control device for performing vehicle ranking, comparing information transmission means for transmitting vehicle information of each vehicle in the vehicle group with vehicle information transmitted by the information transmission means, and The vehicle group formation control device is characterized in that it includes a rank determining means for determining the vehicle rank, and a rank transmitting means for transmitting the vehicle rank determined by the rank determining means to each vehicle in the vehicle group. According to the present invention, the order based on the vehicle information of each vehicle is determined by the rank determining means and transmitted to each vehicle in the vehicle group, so that each vehicle in the vehicle group smoothly forms a platoon based on the vehicle order. It is possible to form and perform platooning as a vehicle group.
【０００７】また本発明は、車両群内の各車両に、前記
順位伝達手段から伝達される自車の車両順位まで追越し
制御を行う追越し制御手段と、追越し制御手段による追
越し制御が完了したとき、追越し制御の完了を他の車両
に伝達する完了伝達手段とが設けられ、前記追越し制御
手段は、自車の車両順位よりも上位の車両の追越し制御
の完了が伝達された後で、自車の追越し制御を開始する
ことを特徴とする。 本発明に従えば、車両群内の車両は、自車の車両順位に
合わせて、車両群内での車両位置を変更するために、追
越しを行う。追越しが完了すると、その旨を他の車両に
伝達する。各車両は、自車よりも車両順位が上位の車両
の追越しが終了してから、自車の追越し制御を行う。車
両順位が上位から下位の順序で、車両の位置が決定さ
れ、隊列を形成して走行するための追越しを、整然と混
乱なく行うことができる。Further, according to the present invention, there is provided an overtaking control means for performing overtaking control to each vehicle in the vehicle group up to the vehicle ranking of the own vehicle transmitted from the ranking transmitting means, and when the overtaking control by the overtaking control means is completed, Completion transmission means for transmitting the completion of the overtaking control to another vehicle, and the overtaking control means transmits the completion of the overtaking control of the vehicle higher in the vehicle ranking than the own vehicle to the other vehicle. It is characterized in that overtaking control is started. According to the present invention, the vehicles in the vehicle group pass in order to change the vehicle position in the vehicle group according to the vehicle ranking of the own vehicle. When the overtaking is completed, the fact is transmitted to other vehicles. Each vehicle performs the overtaking control of the own vehicle after the overtaking of the vehicle having a higher vehicle ranking than the own vehicle is completed. The positions of the vehicles are determined in the order from the highest to the lowest, and the overtaking for forming the platoon and running can be performed orderly and without confusion.
【０００８】また本発明は、車両群が隊列走行を行う道
路の近傍に設置され、車両群内の各車両の識別情報を入
手する情報入手手段と、前記情報伝達手段によって伝達
される車両情報に基づいて、前記順位決定手段によって
決定される車両順位を、各車両の識別情報とともに、車
両群内の車両に伝達する順位伝達手段とを含むことを特
徴とする。 本発明に従えば、車両群が隊列走行を行う道路の近傍に
設置される車両群形成制御装置は、車両群内の各車両の
識別情報を入手して、順位を決定したら識別情報ととも
に各車両群内の車両に伝達する。各車両では、道路の近
傍に設置される車両群形成装置から車両位置を伝達さ
れ、伝達される車両位置で隊列を形成するように走行制
御すればよいので、円滑に車両群を形成することができ
る。Further, the present invention provides an information obtaining means which is installed near a road on which a vehicle group travels in platoon and obtains identification information of each vehicle in the vehicle group, and a vehicle information transmitted by the information transmitting means. And a ranking transmitting means for transmitting the vehicle ranking determined by the ranking determining means to the vehicles in the vehicle group together with the identification information of each vehicle. According to the present invention, the vehicle group formation control device installed near the road on which the vehicle group runs in platoon obtains the identification information of each vehicle in the vehicle group, and determines the order, and determines each vehicle together with the identification information. Transmit to vehicles in group. In each vehicle, the vehicle position is transmitted from the vehicle group forming device installed near the road, and the traveling control may be performed so as to form a platoon at the transmitted vehicle position, so that the vehicle group can be formed smoothly. it can.
【０００９】また本発明で前記情報伝達手段によって伝
達される車両情報には、車両の制動特性に関連する情報
が含まれ、前記順位決定手段は、車両の制動特性に関連
する情報に所定の演算処理を行い、制動距離を算出して
車両順位を決定することを特徴とする。 本発明に従えば、情報伝達手段によって伝達される制動
特性に関連する情報を含む車両情報から、順位決定手段
は制動距離を演算処理によって算出し、車両順位を決定
するので、各車両の実状に適合した制動距離が得られ、
制動距離が大きくなる車両を前方に配置すれば、先行車
両が緊急ブレーキをかけたような場合であっても、後続
車両は追突することなく安全に停車することができる。In the present invention, the vehicle information transmitted by the information transmitting means includes information relating to the braking characteristics of the vehicle, and the rank determining means performs a predetermined calculation on the information relating to the braking characteristics of the vehicle. The processing is performed, and the braking distance is calculated to determine the vehicle ranking. According to the present invention, from the vehicle information including information related to the braking characteristics transmitted by the information transmitting means, the rank determining means calculates the braking distance by arithmetic processing and determines the vehicle ranking, so that the actual condition of each vehicle is determined. A suitable braking distance is obtained,
If a vehicle having a large braking distance is arranged in front of the vehicle, even if the preceding vehicle applies an emergency brake, the following vehicle can safely stop without collision.
【００１０】また本発明は、車両群の走行区間の気象状
況に関連する情報を参照する気象参照手段を備え、前記
順位決定手段は、気象参照手段からの気象状況に関連す
る情報をも前記演算処理の対象として、制動距離の演算
を行うことを特徴とする。 本発明に従えば、車両順位決定手段の演算処理では気象
状況も対象とするので、各車両の制動性能を精度よく把
握し、車両順位を決定することができ、先行する車両で
緊急ブレーキなどをかけた場合であっても、後続する車
両は追突しないで安全に停止することができる。The present invention further comprises weather reference means for referring to information relating to the weather conditions in a traveling section of the vehicle group, and the rank determining means also calculates the information relating to the weather conditions from the weather reference means. It is characterized in that a calculation of a braking distance is performed as a processing target. According to the present invention, since the calculation process of the vehicle ranking determining means also targets weather conditions, the braking performance of each vehicle can be accurately grasped, and the vehicle ranking can be determined. Even in the case of a call, the following vehicle can safely stop without a rear-end collision.
【００１１】また本発明で前記情報伝達手段によって伝
達される車両情報には、車両の制動距離情報が含まれ、
前記順位決定手段は、伝達された制動距離情報に基づい
て、制動距離の長さ順に車両順位を決定することを特徴
とする。 本発明に従えば、車両情報として伝達される制動処理に
従って、順位決定手段は制動距離の長さ順に車両順位を
決定するので、先行する車両が緊急ブレーキで停止する
ために要する制動距離よりも後続する車両の制動距離の
方が短く、車間距離が短くても安全に隊列走行を行うこ
とができる。In the present invention, the vehicle information transmitted by the information transmitting means includes braking distance information of the vehicle.
The ranking determining means determines the vehicle ranking in the order of the length of the braking distance based on the transmitted braking distance information. According to the present invention, according to the braking process transmitted as the vehicle information, the rank determining means determines the vehicle rank in the order of the length of the braking distance, so that the preceding vehicle is behind the braking distance required for stopping by the emergency brake. The vehicle to be driven has a shorter braking distance, and can safely perform platooning even if the inter-vehicle distance is short.
【００１２】また本発明で前記情報伝達手段によって伝
達される車両情報には、車両の目的地に関連する情報が
含まれ、前記順位決定手段は、車両の目的地に関連する
情報と現在位置に関連する情報とから、距離の遠い順ま
たは近い順に車両順位を決定することを特徴とする。 本発明に従えば、たとえば自動車専用道路を隊列走行し
ている場合に、当該自動車専用道路から分流地点が遠い
車両順に先頭車両から順位を決定して走行すると、最後
尾の車両から順次隊列を離脱することとなり、隊列から
所定の車両が離脱する際に隊列を組直すなどの制約が不
要となるため、効率的な隊列走行を行うことができる。In the present invention, the vehicle information transmitted by the information transmitting means includes information relating to the destination of the vehicle, and the rank determining means includes information relating to the destination of the vehicle and the current position. The vehicle ranking is determined from the related information in the order of the farthest distance or the closest distance. According to the present invention, for example, when the vehicle is running in platoon on a motorway, if the vehicle is separated from the motorway and the diverting point is determined in order from the leading vehicle, the vehicle will sequentially leave the platoon from the last vehicle. This eliminates the need for restrictions such as re-arranging the platoon when a predetermined vehicle leaves the platoon, so that efficient platooning can be performed.
【００１３】さらに本発明は、複数の車両で車両群を形
成し、車両群内の車両間で伝達される制御情報に基づい
て、先行車両に後続車両が順次追従する隊列走行を行う
ための車両群形成制御装置であって、車両群内の各車両
について、制動時の減速特性を含む車両情報を伝達する
情報伝達手段と、隊列走行中の車両間の間隔を検知する
間隔検知手段と、間隔検知手段によって検知される車両
間の間隔が規定値以下になるとき、前方の車両は後方の
車両の減速特性に合わせるように走行状態を制御する制
御手段とを含むことを特徴とする車両群形成制御装置で
ある。 本発明に従えば、車両群を形成する車両間の間隔を間隔
検知手段で検知し、検知される車両間隔が規定値以下と
なるときには、情報伝達手段から伝達されている減速特
性を含む車両情報に基づいて、先行する車両が後続の車
両の減速特性に合わせて走行制御を行うので、先行する
車両が後続車両の減速特性では停止困難な緊急ブレーキ
をかけることを防ぎ、追突を確実に防いで安全な隊列走
行を行うことができる。Further, the present invention provides a vehicle for forming a vehicle group with a plurality of vehicles and performing a platooning in which a following vehicle sequentially follows a preceding vehicle based on control information transmitted between the vehicles in the vehicle group. A group formation control device, for each vehicle in the vehicle group, an information transmission unit for transmitting vehicle information including a deceleration characteristic at the time of braking; an interval detection unit for detecting an interval between vehicles in platooning; Control means for controlling a running state of the preceding vehicle when the distance between the vehicles detected by the detecting means is equal to or less than a prescribed value, so as to match the deceleration characteristics of the following vehicle. It is a control device. According to the present invention, the distance between the vehicles forming the vehicle group is detected by the distance detecting means, and when the detected vehicle distance becomes equal to or less than the specified value, the vehicle information including the deceleration characteristics transmitted from the information transmitting means is provided. Based on the above, the preceding vehicle performs travel control in accordance with the deceleration characteristics of the following vehicle, so that the preceding vehicle does not apply emergency braking that is difficult to stop with the deceleration characteristics of the following vehicle, and reliably prevents rear-end collision. A safe platooning can be performed.
【００１４】さらに本発明は、複数の車両で車両群を形
成し、車両群内の車両間で制御情報に基づいて、先行車
両に後続車両が順次追従する隊列走行を行うための車両
群形成制御方法であって、車両群内の各車両の順位を、
制動に要する距離が長い車両が先行車となるように決定
することを特徴とする。 本発明に従えば、車両群を形成する複数の車両の車両順
位を制動に要する距離が長い車両が先行車となるように
決定するので、隊列走行中の先頭車両が前方に落下物等
が存在するような不慮の事態で、緊急ブレーキをかけた
場合であっても、車両群内で追突等の危険性を軽減する
ことができる。Further, the present invention provides a vehicle group formation control for forming a vehicle group with a plurality of vehicles and performing a platooning in which a following vehicle sequentially follows a preceding vehicle based on control information among the vehicles in the vehicle group. A method, wherein the ranking of each vehicle in the fleet is
It is characterized in that a vehicle that requires a long distance for braking is determined to be a preceding vehicle. According to the present invention, the vehicle ranking of a plurality of vehicles forming the vehicle group is determined such that the vehicle that requires a longer distance for braking becomes the preceding vehicle, so that the leading vehicle in the platoon has a falling object or the like in front. Even in the event of an emergency situation such as when an emergency brake is applied, the risk of a rear-end collision or the like in the vehicle group can be reduced.
【００１５】[0015]
【発明の実施の形態】図１は、本発明の実施の一形態に
よる車両群形成制御装置の概略的なシステム構成を示
す。車両１には車両群形成制御装置２と、ナビゲーショ
ン装置３、電話装置４および放送送受信装置５などが搭
載される。ナビゲーション装置３、電話装置４および放
送送受信装置５は、マルチメディア統合制御装置６によ
って総合的に制御され、ＨＭＩ７を介して人間と機械と
の間の情報交換が行われる。FIG. 1 shows a schematic system configuration of a vehicle group formation control device according to an embodiment of the present invention. The vehicle 1 includes a vehicle group formation control device 2, a navigation device 3, a telephone device 4, a broadcast transmission / reception device 5, and the like. The navigation device 3, the telephone device 4, and the broadcast transmitting / receiving device 5 are comprehensively controlled by a multimedia integrated control device 6, and information is exchanged between a human and a machine via the HMI 7.
【００１６】車両群形成制御装置には、車両群制御監視
装置１０、車車間通信装置１１、路車間通信装置１２を
備える。車車間通信装置１１は、車両内の他の車両１３
との間での情報伝達を行う。路車間通信装置１２は、車
両１が走行する道路の近傍に設けられる路側送受信器１
４との間での情報伝達を行う。車両群を形成して走行す
る際には、走行制御装置１５が車両制御のための自動運
転アクチュエータ１６を制御し、ブレーキ、スロット
ル、ミッション、ステアリングなどの操作部１７の操作
を行う。The vehicle group formation control device includes a vehicle group control monitoring device 10, a vehicle-to-vehicle communication device 11, and a road-to-vehicle communication device 12. The vehicle-to-vehicle communication device 11 is connected to another vehicle 13 in the vehicle.
To communicate information with The road-to-vehicle communication device 12 includes a roadside transceiver 1 provided near a road on which the vehicle 1 travels.
4 to transmit information. When a vehicle group is formed and travels, the travel control device 15 controls an automatic driving actuator 16 for vehicle control, and operates an operation unit 17 such as a brake, a throttle, a transmission, and a steering.
【００１７】車両群形成制御装置２による車両の走行制
御の際には、ボディ系監視センサ２０、周辺監視センサ
２１、ドライバ監視手段２２、走行制御データベース２
３および緊急停止スイッチ２４の状態などが入力情報と
なる。ボディ系監視センサ２０は、加速度センサなど、
たとえば車両１の車体に関連する各種物理量を検出し
て、走行状態を監視する。周辺監視センサ２１は、レー
ダや映像で、車両１の周辺の交通状況や車間距離などを
監視する。ドライバ監視手段２２は車両１を人間が運転
している場合に、運転車の活動状態などを監視する。走
行制御データベース２３には、車両１の制動距離や、車
重、積載重量、タイヤ幅、制動特性等の車両情報が含ま
れる。緊急停止スイッチ２４は、車両１の走行方向前方
に落下物等が生じるような不慮の事態に対して、緊急ブ
レーキをかけるために用いる。落下物等は、周辺監視セ
ンサ２１が検出することによって、自動的に発見するこ
ともでき、また人間が前方を注視して発見することもあ
る。When the traveling control of the vehicle is performed by the vehicle group formation control device 2, the body system monitoring sensor 20, the periphery monitoring sensor 21, the driver monitoring means 22, the traveling control database 2
3 and the state of the emergency stop switch 24 are input information. The body system monitoring sensor 20 includes an acceleration sensor and the like.
For example, various physical quantities related to the vehicle body of the vehicle 1 are detected to monitor the running state. The surroundings monitoring sensor 21 monitors the traffic situation around the vehicle 1 and the inter-vehicle distance using a radar or an image. The driver monitoring means 22 monitors the activity state of the driving vehicle when the vehicle 1 is driven by a human. The traveling control database 23 includes vehicle information such as a braking distance of the vehicle 1, a vehicle weight, a loaded weight, a tire width, and braking characteristics. The emergency stop switch 24 is used to apply an emergency brake to an unexpected situation in which a falling object or the like is generated ahead of the vehicle 1 in the traveling direction. A falling object or the like can be automatically detected by the detection by the surrounding monitoring sensor 21, or can be detected by a human being gazing forward.
【００１８】走行制御データベース２３の内容は、車車
間通信装置１１や路車間通信装置１２を介して他の車両
１３や路側送受信器１４に伝達される。他の車両１３の
車両情報は、車車間通信装置１１を介したり、路車間送
受信器１４から路車間通信装置１２を介して伝達された
りして、車両群制御監視装置１０に入力される。隊列走
行する前後の車両間では、車車間通信装置１１を介し
て、車速、加速度、減速度、スロットル開度、ブレーキ
量、ステアリングの操舵角、変速機のシフトポジション
等の制御情報をリアルタイムに伝送する。これによっ
て、先行車両に追従する後続の車両は、車間距離が短く
ても追突しないような隊列走行を行い、車両群全体とし
て効率的に道路を使用して安全な走行を行うことができ
る。The contents of the travel control database 23 are transmitted to other vehicles 13 and the roadside transceiver 14 via the vehicle-to-vehicle communication device 11 and the road-to-vehicle communication device 12. The vehicle information of the other vehicles 13 is input to the vehicle group control monitoring device 10 via the vehicle-to-vehicle communication device 11 or transmitted from the road-to-vehicle communication device 14 via the road-to-vehicle communication device 12. Between the vehicles before and after platooning, control information such as vehicle speed, acceleration, deceleration, throttle opening, brake amount, steering angle, transmission shift position, etc., is transmitted in real time via the inter-vehicle communication device 11. I do. As a result, the succeeding vehicle following the preceding vehicle performs platooning such that the vehicle does not collide even if the inter-vehicle distance is short, and the entire vehicle group can efficiently use the road to safely travel.
【００１９】車両１に搭載されるナビゲーション装置３
は、ＧＰＳ受信器３０、ビーコン送受信器３１、パッケ
ージメディア３２などを含む。ＧＰＳ受信器３０は、複
数のＧＰＳ人工衛星３３からの電波を受信し、車両１の
現在位置と方位と現在時刻とを算出する。ビーコン送受
信器３１は、路上に設けられるビーコン３４との間で光
や電波を介してＶＩＣＳなどの交通情報サービスを利用
するためのデータの送受信を行う。パッケージメディア
３２としては、地図や道路形状などのデータが予め記憶
されているＣＤやＤＶＤなどの大容量記憶媒体が用いら
れる。電話装置４および放送送受信装置５は、通信・放
送会社３５との間での無線による交信を行う。また放送
送受信装置５は、交通情報などを情報センタ３６や人工
衛星３７などに発信し、総合的な交通制御データを提供
することもできる。さらにマルチメディア統合制御装置
６は、車両１が車庫などに戻っている状態で、携帯情報
端末装置３８を介して、パーソナルコンピュータ３９な
どの他の情報処理装置とデータの交換を行うことができ
る。Navigation device 3 mounted on vehicle 1
Includes a GPS receiver 30, a beacon transceiver 31, a package medium 32, and the like. The GPS receiver 30 receives radio waves from a plurality of GPS artificial satellites 33, and calculates the current position, the direction, and the current time of the vehicle 1. The beacon transceiver 31 transmits and receives data to use a traffic information service such as VICS via a light or a radio wave with a beacon 34 provided on a road. As the package medium 32, a large-capacity storage medium such as a CD or DVD in which data such as a map and a road shape is stored in advance is used. The telephone device 4 and the broadcast transmitting / receiving device 5 perform wireless communication with the communication / broadcasting company 35. The broadcast transmitting / receiving device 5 can also transmit traffic information and the like to the information center 36, the artificial satellite 37, and the like, and can provide comprehensive traffic control data. Further, the multimedia integrated control device 6 can exchange data with another information processing device such as a personal computer 39 via the portable information terminal device 38 while the vehicle 1 is returning to the garage or the like.
【００２０】図２は、図１に示す車両１がプラトーン編
成を形成している車両間で車両順位を決定し、決定され
車両順位に従って車両群を形成するための手順を示す。
ステップａ１から車両群形成を開始し、ステップａ２で
はプラトーン編成内の他の車両についての車両情報を含
む情報を、車車間通信装置１１を介して受信する。ステ
ップａ３では車両情報のうち、たとえば制動距離情報の
比較を行う。ステップａ４では、制動距離情報の比較に
基づいて自車の車両順位を算出する。ステップａ５で
は、自車の車両順位が最上位である１番であるか否かを
判断する。１番でないと判断されるときには、ステップ
ａ６で、順位が上位の他の車両の追越し完了を受信す
る。ステップａ７では、自車の前の順位の車両の追越し
が完了したか否かを判断する。完了していないときに
は、ステップａ６に戻る。ステップａ５で自車の順位が
１番であると判断されるとき、またはステップａ７で自
車の前の順位の車両から追越し完了を受信したと判断さ
れるときには、ステップａ８で、他の車両に対し追越し
開始通知を行う。次にステップａ９で、自車の順位に対
応する位置まで追越し制御を行う。追越しが完了する
と、ステップａ１０で他の車両へ追越し完了通知を行
い、ステップａ１１で手順を終了する。FIG. 2 shows a procedure for determining the vehicle ranking among the vehicles in which the vehicle 1 shown in FIG. 1 forms the platoon formation, and forming a vehicle group according to the determined vehicle ranking.
Vehicle group formation starts at step a1. At step a2, information including vehicle information on other vehicles in the platoon train is received via the inter-vehicle communication device 11. In step a3, for example, comparison of braking distance information among the vehicle information is performed. In step a4, the vehicle ranking of the own vehicle is calculated based on the comparison of the braking distance information. In step a5, it is determined whether or not the vehicle rank of the own vehicle is No. 1 which is the highest rank. When it is determined that the vehicle is not the first, in step a6, the completion of overtaking of the other vehicle having the higher rank is received. At step a7, it is determined whether or not the overtaking of the vehicle of the preceding rank has been completed. If not completed, the process returns to step a6. When it is determined in step a5 that the own vehicle ranks first, or when it is determined in step a7 that the overtaking completion has been received from the vehicle of the preceding rank in the own vehicle, the other vehicle is determined in step a8. A notice of overtaking is issued to the driver. Next, in step a9, overtaking control is performed to a position corresponding to the order of the own vehicle. When the overtaking is completed, an overtaking completion notification is sent to another vehicle in step a10, and the procedure ends in step a11.
【００２１】ステップａ３で車両の制動距離情報を比較
し、ステップａ４で比較結果に従って自車の車両順位を
算出しているけれども、制動距離情報とは異なり、制動
特性に関連する情報である車重、積載重量、タイヤ幅や
制動特性とから予め設定される演算処理によって、制動
距離を予測する計算を行うこともできる。また、演算処
理の際に、路側送受信器１４や通信・放送会社３５か
ら、車両１の走行区間の気象状況に関連する情報を、気
象参照手段としての路車間通信装置１２や放送送受信装
置５を介して入手して、参照すれば、制動距離の予測精
度を高めることができる。In step a3, the braking distance information of the vehicle is compared. In step a4, the vehicle ranking of the own vehicle is calculated according to the comparison result. However, unlike the braking distance information, the vehicle weight which is information relating to the braking characteristics is calculated. The calculation for predicting the braking distance can also be performed by an arithmetic processing set in advance from the loaded weight, the tire width, and the braking characteristics. In addition, at the time of the arithmetic processing, the roadside transmitter / receiver 14 and the communication / broadcasting company 35 transmit the information related to the weather condition of the traveling section of the vehicle 1 to the road-vehicle communication device 12 and the broadcast transmission / reception device 5 as weather reference means. Obtaining and referencing through the above makes it possible to increase the prediction accuracy of the braking distance.
【００２２】さらに、制御に関連する情報に代えて、各
車両の目的地に関連する情報を受信して比較し、目的地
が現在位地から遠い順に、あるいは近い順に車両群内の
各車両の順位を決定することもできる。この場合、図２
のステップａ２でプラトーン編成内の他の車両から車両
情報として目的地に関連する情報を受信し、ステップａ
３で現在位置を基準として各車両の目的地までの遠近を
地図データに基づいて判断し、車両順位を決定すること
により行われる。なお、ここでいう目的地とは、各車両
が車両群から離脱する地点であり、たとえば自動車専用
道路における分流地点やサービスエリアであり、最終的
な目的地とは必ずしも一致しない。これによれば、たと
えば最後尾の車両から順次隊列を離脱することとなり、
所定の車両が離脱する際に改めて隊列を組直すなどの制
御が不要となるため、効率的な隊列走行を行うことがで
きる。Further, instead of the information related to the control, information related to the destination of each vehicle is received and compared, and the destinations of the vehicles in the vehicle group are arranged in the order of being farther from the current position or in the order of being closer. Rankings can also be determined. In this case, FIG.
In step a2, information related to the destination is received as vehicle information from another vehicle in the platoon train,
In step 3, the distance to the destination of each vehicle is determined based on the map data based on the current position, and the vehicle ranking is determined. The destination here is a point at which each vehicle leaves the vehicle group, for example, a branch point or a service area on a motorway, and does not always coincide with the final destination. According to this, for example, it will sequentially leave the platoon from the last vehicle,
Since it is not necessary to perform control such as re-arranging the platoon when a predetermined vehicle leaves, efficient platooning can be performed.
【００２３】図２に示す車両順序の入換え制御では、車
両順位を自動的に形成または入換えを行うために、車両
順位１番の車両がプラトーンの先頭まで追越しをかけ、
その後は２番目から最後から２番目の車両まで順次自車
の位置まで追越し制御を行う。車両の運転を人間が行う
場合は、自車の車両順位に関連する情報を入手した後、
その後の車両走行制御は運転者の判断で行うこともでき
る。たとえば先行車両の追越し制御が、自車よりも先方
で行われているときには、上位の車両の追越し制御完了
を待たずに自車の追越し制御を開始してもさしつかえは
ない筈である。人間の判断を加えれば、迅速に入換えを
行うことができる場合も有り得る。In the vehicle order change control shown in FIG. 2, in order to automatically form or change the vehicle order, the first vehicle in the vehicle order passes the top of the platoon,
Thereafter, overtaking control is sequentially performed from the second to the last vehicle to the position of the own vehicle. If the vehicle is driven by humans, after obtaining information related to the vehicle's ranking,
Subsequent vehicle travel control can also be performed at the discretion of the driver. For example, when the overtaking control of the preceding vehicle is being performed ahead of the own vehicle, there is no harm in starting the overtaking control of the own vehicle without waiting for the overtaking control of the upper vehicle to be completed. If human judgment is added, it is possible that the replacement can be performed quickly.
【００２４】図３は、プラトーン編成による隊列走行中
に、車両群の直前に落下物等の不慮の事態が発生し、緊
急ブレーキをかけた場合でも、追突を確実に防止するた
めの制御手順を示す。ステップｂ１で緊急ブレーキをか
け、ステップｂ２でプラトーン内の後ろの車両情報を車
車間通信装置１１を介して受信する。ステップｂ３で
は、受信された車両情報のうちの減速特性を、図１のボ
ディー系監視センサ２０に含まれる加速度センサなどか
ら検出される自車の減速特性と比較する。ステップｂ４
では、自車の減速特性の方が後続車両の減速特性より大
であるか否かを判断する。自車の減速特性の方が大であ
ると判断されときには、ステップｂ５で、図１の周辺監
視センサ２１を用いて後方車両との間の間隔を計測し、
ステップｂ６で後方車両との間隔が規制値よりも小さく
なっているか否かを判断する。小さくなっていなけれ
ば、ステップｂ５に戻り、間隔の計測を続ける。後方車
両との間隔が規定値よりも小さくなっていると判断され
るときには、ステップｂ７で、自車の減速状態を、後方
車両の減速特性に合わせるように制御し、追突を避け
る。ステップｂ４で自車の減速特性が後方車両の減速特
性よりも大きくないと判断されるときには、間隔を計測
する必要がなく、またステップｂ７で自車の減速特性を
後方車両の減速特性に位置するように制御した後では間
隔計測の必要がなくなるので、ステップｂ８で処理を終
了する。前の車両は後ろの車両の減速特性に合わせるよ
うに制御するので、後ろからの追突をさけるけることが
できる。FIG. 3 shows a control procedure for reliably preventing a rear-end collision even when an emergency such as a falling object occurs immediately before a vehicle group during platoon formation platooning and an emergency brake is applied. Show. In step b1, emergency braking is applied, and in step b2, vehicle information behind the platoon is received via the inter-vehicle communication device 11. In step b3, the deceleration characteristic of the received vehicle information is compared with the deceleration characteristic of the own vehicle detected from the acceleration sensor included in the body monitoring sensor 20 of FIG. Step b4
Then, it is determined whether or not the deceleration characteristic of the own vehicle is larger than the deceleration characteristic of the following vehicle. When it is determined that the deceleration characteristic of the own vehicle is larger, in step b5, the distance between the own vehicle and the following vehicle is measured using the peripheral monitoring sensor 21 of FIG.
In step b6, it is determined whether or not the distance from the following vehicle is smaller than the regulation value. If not, the process returns to step b5 to continue measuring the interval. If it is determined that the distance from the rear vehicle is smaller than the specified value, in step b7, the deceleration state of the own vehicle is controlled so as to match the deceleration characteristics of the rear vehicle, and a rear-end collision is avoided. When it is determined in step b4 that the deceleration characteristic of the own vehicle is not greater than the deceleration characteristic of the rear vehicle, it is not necessary to measure the interval, and in step b7, the deceleration characteristic of the own vehicle is positioned at the deceleration characteristic of the rear vehicle. After such control, there is no need to measure the interval, and the process ends in step b8. Since the front vehicle is controlled to match the deceleration characteristics of the rear vehicle, it is possible to avoid a rear-end collision.
【００２５】図４は、本発明の実施の他の形態として、
複数の車両１が走行する道路の近傍、たとえば路側など
に車両群制御監視装置４０を設置する状態を示す。各車
両１は、固有のＩＤなどの識別情報を有し、車両情報と
ともに車両群制御監視装置４０に情報を伝達する。車両
群制御監視装置４０では、車両情報に基づいて車両位置
の順位を決定し、ＩＤとともに各車両１に伝達する。各
車両１では、車両群内での順位が伝達されるので、伝達
された車両順位に従って隊列走行を行う。FIG. 4 shows another embodiment of the present invention.
This shows a state where the vehicle group control and monitoring device 40 is installed near a road on which a plurality of vehicles 1 travel, for example, on the road side. Each vehicle 1 has identification information such as a unique ID and transmits information to the vehicle group control monitoring device 40 together with the vehicle information. The vehicle group control monitoring device 40 determines the order of the vehicle position based on the vehicle information, and transmits it to each vehicle 1 together with the ID. In each vehicle 1, the rank in the vehicle group is transmitted, so that the vehicles 1 perform platooning according to the transmitted vehicle rank.
【００２６】[0026]
【発明の効果】以上のように本発明によれば、情報伝達
手段によって伝達される車両情報に基づいて順位決定手
段が車両順位を決定し、順位伝達手段によって各車両に
伝達するので、車両群を形成する各車両は、決定された
順位に従って円滑に隊列を形成し、車両群としての走行
を行うことができる。As described above, according to the present invention, the order determining means determines the vehicle order based on the vehicle information transmitted by the information transmitting means and transmits the vehicle order to each vehicle by the order transmitting means. Can smoothly form a row in accordance with the determined order, and can travel as a vehicle group.
【００２７】また本発明によれば、車両群内では各車両
が自車の順位よりも、上位の順位を有する車両が追越し
制御によって所定の順位の位置を占めるまでは、追越し
制御による車両位置の変更は行わず、上位の車両の追越
し制御が完了してから車両順位に合わせるまでの追越し
制御を行うので、車両群全体として整然と決定された車
両順位に従う隊列を形成して、円滑に車両群としての走
行を開始することができる。Further, according to the present invention, in the vehicle group, the vehicle position is determined by the overtaking control until the vehicle having a higher ranking than the own vehicle occupies the position of the predetermined ranking by the overtaking control. No change is made, and the overtaking control is performed from the completion of the overtaking control of the upper vehicle to the adjustment of the vehicle ranking, so that the entire vehicle group forms a platoon that follows the determined vehicle ranking and the vehicle group smoothly You can start running.
【００２８】また本発明によれば、車両群が隊列走行を
行う道路の近傍に設置される車両群形成制御装置の制御
下で、車両群を形成する各車両は自車の識別情報ととも
に車両順位を伝達され、円滑に隊列を形成して車両群と
しての走行制御を開始することができる。Further, according to the present invention, under the control of the vehicle group formation control device installed near the road on which the vehicle group runs in platoon, each vehicle forming the vehicle group together with the identification information of the own vehicle and the vehicle ranking. Is transmitted to form a platoon and start running control as a vehicle group.
【００２９】また本発明によれば、車両群内での車両の
順位を決定する際に、各車両から伝達される車両情報に
含まれる制動特性に関連する情報に基づき、所定の演算
処理を行って制動距離を算出し、制動距離に基づいて順
位決定を行うので、各車両の制動距離を適切に算出して
車両間の車間距離を短くしても緊急ブレーキ時などに追
突の危険性の少ない隊列走行を行うことができる。Further, according to the present invention, when determining the order of the vehicles in the vehicle group, a predetermined calculation process is performed based on information relating to the braking characteristics included in the vehicle information transmitted from each vehicle. Since the braking distance is calculated and the ranking is determined based on the braking distance, even if the braking distance of each vehicle is properly calculated and the inter-vehicle distance between the vehicles is shortened, there is little danger of rear-end collision in the event of emergency braking, etc. You can perform platooning.
【００３０】また本発明によれば、制動距離の演算処理
では、車両群の走行区間の気象状況に関連する情報も気
象参照手段を介して演算処理の対象とするので、気象状
況に合わせた各車両毎の制動距離を精度よく算出し、安
全な隊列走行が可能なように車両順位を決定することが
できる。Further, according to the present invention, in the processing for calculating the braking distance, information relating to the weather condition in the traveling section of the vehicle group is also subjected to the calculation process via the weather reference means. The braking distance for each vehicle is accurately calculated, and the vehicle ranking can be determined so that safe platooning is possible.
【００３１】また本発明によれば、車両順位の決定は、
各車両から伝達される車両情報中の制動距離情報に基づ
いて、制動距離の長さ順に決定され、緊急ブレーキ時な
どに停止するまでに要する距離が長い車両が先行し、短
い車両が後続となるので、車間距離が短くても安全な隊
列走行を行うことができる。Further, according to the present invention, the vehicle ranking is determined by
Based on the braking distance information in the vehicle information transmitted from each vehicle, the braking distance is determined in the order of the length of the braking distance. A vehicle that requires a long distance to stop during emergency braking or the like precedes and a short vehicle follows. Therefore, even if the inter-vehicle distance is short, it is possible to perform safe platooning.
【００３２】また本発明によれば、目的地の遠い車両
順、または近い車両順に順位が決定されるので、たとえ
ば最後尾の車両から順次隊列を離脱することとなり、隊
列から所定の車両が離脱した際に改めて隊列を組直すな
どの制御が不要となるため、効率的な隊列走行を行うこ
とができる。Further, according to the present invention, the order is determined in the order of the farthest vehicle or the closest vehicle to the destination. Therefore, for example, the vehicle is sequentially departed from the last vehicle, and a predetermined vehicle is departed from the convoy. At this time, it is not necessary to perform control such as re-arranging the platoon again, so that efficient platooning can be performed.
【００３３】さらに本発明によれば、隊列走行中の車両
間の間隔は、間隔検知手段によって検知され、車両間隔
が規定値以下になれば、後続の車両の減速特性に合わせ
て先行車両の走行状態が制御されるので、追突を確実に
防いで安全な隊列走行を行うことができる。Further, according to the present invention, the interval between the vehicles in the platoon is detected by the interval detecting means, and when the vehicle interval becomes equal to or less than the specified value, the traveling of the preceding vehicle is adjusted in accordance with the deceleration characteristics of the following vehicle. Since the state is controlled, it is possible to reliably prevent rear-end collision and perform safe platooning.
【００３４】さらに本発明によれば、制動に要する距離
が長い車両が先行車となるように車両順位を決めて隊列
走行を行うので、不慮の落下物などによって緊急ブレー
キを先行車がかけるような場合であっても、後続の車両
は先行車よりも短い距離で停止することができるので、
車間距離を短くしておいても安全な隊列走行を行うこと
ができる。Further, according to the present invention, the vehicle is driven in a platoon in such a manner that the vehicle which requires a long distance for braking becomes the preceding vehicle, so that the preceding vehicle can apply emergency braking due to an accidental falling object or the like. Even so, the following vehicle can stop at a shorter distance than the preceding vehicle,
Even if the inter-vehicle distance is kept short, safe platooning can be performed.
【図１】本発明の実施の一形態の概略的な電気的構成を
示すブロック図である。FIG. 1 is a block diagram showing a schematic electrical configuration of an embodiment of the present invention.
【図２】図１の実施形態の動作を示すフローチャートで
ある。FIG. 2 is a flowchart showing the operation of the embodiment of FIG.
【図３】本発明の実施の他の形態の動作を示すフローチ
ャートである。FIG. 3 is a flowchart showing the operation of another embodiment of the present invention.
【図４】本発明の実施のさらに他の形態の概略的なシス
テム構成を示すブロック図である。FIG. 4 is a block diagram showing a schematic system configuration of still another embodiment of the present invention.
１ 車両 ２，４０ 車両群形成制御装置 １０ 車両群制御監視装置 １１ 車車間通信装置 １２ 路車間通信装置 １３ 他の車両 １４ 路側送受信器 １５ 走行制御装置 １６ 自動運転アクチュエータ １７ 操作部 ２０ ボディ系監視センサ ２１ 周辺監視センサ ２３ 走行制御データベース ２４ 緊急停止スイッチ REFERENCE SIGNS LIST 1 vehicle 2, 40 vehicle group formation control device 10 vehicle group control monitoring device 11 vehicle-to-vehicle communication device 12 road-to-vehicle communication device 13 other vehicle 14 roadside transceiver 15 travel control device 16 automatic driving actuator 17 operation unit 20 body system monitoring sensor 21 Surrounding monitoring sensor 23 Driving control database 24 Emergency stop switch
───────────────────────────────────────────────────── フロントページの続き (72)発明者 川畑 靖夫 兵庫県神戸市兵庫区御所通１丁目２番28号 富士通テン株式会社内 ────────────────────────────────────────────────── ─── Continued from the front page (72) Inventor Yasuo Kawabata Fujitsu Ten Co., Ltd. 1-2-28 Goshodori, Hyogo-ku, Kobe City, Hyogo Prefecture
Claims (9)
の車両間で伝達される制御情報に基づいて、先行車両に
後続車両が順次追従する隊列走行を行うための車両群形
成制御装置であって、 車両群内の各車両の車両情報を伝達する情報伝達手段
と、 情報伝達手段によって伝達される車両情報を比較して、
隊列走行での車両順位を決定する順位決定手段と、 順位決定手段によって決定された車両順位を、車両群内
の各車両に対して伝達する順位伝達手段とを含むことを
特徴とする車両群形成制御装置。1. A vehicle group formation control for forming a vehicle group with a plurality of vehicles and performing platooning in which a following vehicle sequentially follows a preceding vehicle based on control information transmitted between the vehicles in the vehicle group. An information transmission means for transmitting vehicle information of each vehicle in the vehicle group, and a vehicle information transmitted by the information transmission means,
A vehicle group formation comprising: a rank determining means for determining a vehicle rank in platooning; and a rank transmitting means for transmitting the vehicle rank determined by the rank determining means to each vehicle in the vehicle group. Control device.
越し制御を行う追越し制御手段と、 追越し制御手段による追越し制御が完了したとき、追越
し制御の完了を他の車両に伝達する完了伝達手段とが設
けられ、 前記追越し制御手段は、自車の車両順位よりも上位の車
両の追越し制御の完了が伝達された後で、自車の追越し
制御を開始することを特徴とする請求項１記載の車両群
形成制御装置。2. An overtaking control means for performing overtaking control to each vehicle in the vehicle group up to the vehicle ranking of the own vehicle transmitted from the ranking transmitting means, and when overtaking control by the overtaking control means is completed, Completion transmission means for transmitting the completion to another vehicle is provided, and the overtaking control means controls the overtaking control of the own vehicle after the completion of the overtaking control of the vehicle higher than the vehicle ranking of the own vehicle is transmitted. The vehicle group formation control device according to claim 1, wherein the control is started.
置され、車両群内の各車両の識別情報を入手する情報入
手手段と、 前記情報伝達手段によって伝達される車両情報に基づい
て、前記順位決定手段によって決定される車両順位を、
各車両の識別情報とともに、車両群内の車両に伝達する
順位伝達手段とを含むことを特徴とする請求項１記載の
車両群形成制御装置。3. An information obtaining means which is installed near a road on which a group of vehicles performs platooning and obtains identification information of each vehicle in the group of vehicles, based on the vehicle information transmitted by the information transmitting means, The vehicle ranking determined by the ranking determining means,
2. The vehicle group formation control device according to claim 1, further comprising: a rank transmitting unit that transmits the identification information of each vehicle to vehicles in the vehicle group.
両情報には、車両の制動特性に関連する情報が含まれ、 前記順位決定手段は、車両の制動特性に関連する情報に
所定の演算処理を行い、制動距離を算出して車両順位を
決定することを特徴とする請求項１〜３のいずれかに記
載の車両群形成制御装置。4. The vehicle information transmitted by the information transmitting means includes information relating to a braking characteristic of the vehicle, and the rank determining means performs a predetermined arithmetic processing on the information relating to the braking characteristic of the vehicle. The vehicle group formation control device according to any one of claims 1 to 3, wherein the vehicle ranking is determined by calculating the braking distance.
情報を参照する気象参照手段を備え、 前記順位決定手段は、気象参照手段からの気象状況に関
連する情報をも前記演算処理の対象として、制動距離の
演算を行うことを特徴とする請求項４記載の車両群形成
制御装置。5. A weather reference unit for referring to information related to a weather condition in a traveling section of a vehicle group, wherein the rank determining unit also performs an operation process on information related to the weather condition from the weather reference unit. The vehicle group formation control device according to claim 4, wherein the calculation of the braking distance is performed.
両情報には、車両の制動距離情報が含まれ、 前記順位決定手段は、伝達された制動距離情報に基づい
て、制動距離の長さ順に車両順位を決定することを特徴
とする請求項１〜３のいずれかに記載の車両群形成制御
装置。6. The vehicle information transmitted by the information transmitting means includes braking distance information of the vehicle, and the rank determining means determines the order of the vehicle in the order of length of the braking distance based on the transmitted braking distance information. The vehicle group formation control device according to any one of claims 1 to 3, wherein the order is determined.
両情報には、車両の目的地に関連する情報が含まれ、 前記順位決定手段は、車両の目的地に関連する情報と現
在位置に関連する情報とから、距離の遠い順または近い
順に車両順位を決定することを特徴とする請求項１〜３
のいずれかに記載の車両群形成制御装置。7. The vehicle information transmitted by the information transmitting means includes information relating to a destination of the vehicle, and the rank determining means relates to information relating to the destination of the vehicle and a current position. The vehicle ranking is determined from the information in the order of distance or distance.
The vehicle group formation control device according to any one of the above.
の車両間で伝達される制御情報に基づいて、先行車両に
後続車両が順次追従する隊列走行を行うための車両群形
成制御装置であって、 車両群内の各車両について、制動時の減速特性を含む車
両情報を伝達する情報伝達手段と、 隊列走行中の車両間の間隔を検知する間隔検知手段と、 間隔検知手段によって検知される車両間の間隔が規定値
以下になるとき、前方の車両は後方の車両の減速特性に
合わせるように走行状態を制御する制御手段とを含むこ
とを特徴とする車両群形成制御装置。8. A vehicle group formation control for forming a vehicle group by a plurality of vehicles and performing a platooning in which a following vehicle sequentially follows a preceding vehicle based on control information transmitted between the vehicles in the vehicle group. An information transmitting means for transmitting vehicle information including a deceleration characteristic at the time of braking for each vehicle in the vehicle group; an interval detecting means for detecting an interval between vehicles in the platoon; and an interval detecting means. When the detected interval between the vehicles is equal to or less than a specified value, the vehicle group forming control device includes control means for controlling a running state of the preceding vehicle so as to match the deceleration characteristics of the following vehicle.
の車両間で伝達される制御情報に基づいて、先行車両に
後続車両が順次追従する隊列走行を行うための車両群形
成制御方法であって、 車両群内の各車両の順位を、制動に要する距離が長い車
両が先行車となるように決定することを特徴とする車両
群形成制御方法。9. A vehicle group formation control for forming a vehicle group by a plurality of vehicles and performing a platooning in which a following vehicle sequentially follows a preceding vehicle based on control information transmitted between the vehicles in the vehicle group. A method for controlling the formation of a vehicle group, wherein the order of each vehicle in the vehicle group is determined such that a vehicle that requires a long distance for braking becomes a preceding vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10362497A JP3851410B2 (en) | 1997-04-21 | 1997-04-21 | Vehicle group formation control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10362497A JP3851410B2 (en) | 1997-04-21 | 1997-04-21 | Vehicle group formation control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10293899A true JPH10293899A (en) | 1998-11-04 |
| JP3851410B2 JP3851410B2 (en) | 2006-11-29 |
Family
ID=14358932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10362497A Expired - Fee Related JP3851410B2 (en) | 1997-04-21 | 1997-04-21 | Vehicle group formation control device and method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3851410B2 (en) |
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