WO2010084608A1 - 車群制御方法及び車両 - Google Patents
車群制御方法及び車両 Download PDFInfo
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- WO2010084608A1 WO2010084608A1 PCT/JP2009/051112 JP2009051112W WO2010084608A1 WO 2010084608 A1 WO2010084608 A1 WO 2010084608A1 JP 2009051112 W JP2009051112 W JP 2009051112W WO 2010084608 A1 WO2010084608 A1 WO 2010084608A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
Definitions
- the present invention relates to a vehicle group control method for performing traveling control of a vehicle group including a plurality of vehicles, and a vehicle to which such a vehicle group control method is applied.
- the leading vehicle since the leading vehicle performs inter-vehicle communication with each of the other following vehicles, the communication load on the leading vehicle is the largest in the formation. If the number of vehicles constituting the platoon increases, the communication volume of the leading vehicle increases, and smooth inter-vehicle communication becomes difficult. That is, it is not practical to apply this system to a large number of vehicles in consideration of the data capacity of the inter-vehicle communication, the communication cycle, and the communication reachable range.
- an object of the present invention is to provide a vehicle group control method and a vehicle that can reduce a communication load in vehicle group travel control.
- a vehicle group control method is a vehicle group control method for performing travel control of a vehicle group consisting of a plurality of vehicles, and each vehicle group is divided into a plurality of small vehicle groups that are subdivided into the same small vehicle group.
- the vehicle control step in the small vehicle group for controlling the relative relationship between the vehicles in the small vehicle group using inter-vehicle communication performed between the vehicles, and each small vehicle using the inter-vehicle communication performed between the representative vehicles in each small vehicle group.
- a small vehicle group control step for controlling a relative relationship between the vehicle groups.
- the relative relationship of vehicles using inter-vehicle communication is controlled for each small vehicle group. Then, the relative relationship between the small vehicle groups is controlled by the inter-vehicle communication between the representative vehicles of each small vehicle group, whereby the relative relationship between the vehicles in the entire vehicle group is controlled. According to such a vehicle group control method, communication required for control within the small vehicle group and communication necessary for control of the relative relationship between the small vehicle groups are separated, thereby reducing the communication load of the entire vehicle group. Can be reduced.
- the relative relationships between the representative vehicles that are consecutive in the front and the back may be controlled using inter-vehicle communication between the representative vehicles that are consecutive in the front and rear.
- inter-vehicle communication is performed between the representative vehicle of the small vehicle group to which the target vehicle selected from the vehicles of the vehicle group belongs and each representative vehicle other than the small vehicle group to which the target vehicle belongs.
- the relative relationship between the target vehicle and each representative vehicle other than the small vehicle group to which the target vehicle belongs may be controlled.
- the relative relationship with the target vehicle is controlled, so that error propagation of the relative relationship between the representative vehicles is avoided, and as a result, It is possible to avoid the occurrence of error propagation in the relative relationship between the small vehicle groups.
- the target vehicle may be the leading vehicle in the small vehicle group, and the representative vehicle may be selected from vehicles other than the leading vehicle.
- the target vehicle and the representative vehicle that performs the representative vehicle communication with the representative vehicle of the other small vehicle group are selected separately. Therefore, the roles of the target vehicle and the representative vehicle can be avoided from being concentrated on one vehicle, and the communication load can be avoided from being concentrated on a specific vehicle.
- the inter-vehicle distance of each vehicle in the small vehicle group is controlled, and the number of vehicles belonging to each small vehicle group is determined in the small vehicle group vehicle control step. It may be determined based on an error in the inter-vehicle distance of the following vehicle that can be generated in accordance with the acceleration of the leading vehicle. According to this configuration, by limiting the number of vehicles in the small vehicle group, the inter-vehicle distance error generated in the small vehicle group can be suppressed to a desired error.
- the inter-vehicle distance in the small vehicle group is controlled, and in the small vehicle group control step, the distance between the small vehicle groups between the small vehicle groups consecutive in the front and rear is The distance between the representative vehicles may be controlled so as to be different from the distance between the vehicles in the small vehicle group.
- each vehicle in the small vehicle group and the distance between the representative vehicles are controlled separately, it is conceivable that the error in the last inter-vehicle distance increases for each small vehicle group.
- the relative relationship between the representative vehicles is controlled so that the distance between the small vehicle groups between the small vehicle groups consecutive in the front and rear becomes a predetermined target distance.
- the distance may be set based on an inter-vehicle error propagation ratio, which is a propagation ratio of an inter-vehicle distance error propagated to vehicles behind each vehicle in the small vehicle group vehicle control step.
- the vehicle of the present invention is a vehicle that is used in a vehicle group control method that performs traveling control of a vehicle group that includes a plurality of vehicles, and the vehicle group control method is performed for each of a plurality of small vehicle groups that are subdivided into vehicle groups.
- a vehicle control step for controlling the relative relationship between vehicles in the small vehicle group using inter-vehicle communication performed between vehicles belonging to the same small vehicle group, and a vehicle performed between representative vehicles of each small vehicle group A small vehicle group control step for controlling the relative relationship between the small vehicle groups using inter-vehicle communication, and when the host vehicle is a representative vehicle in the small vehicle group, other representatives in other small vehicle groups Vehicle-to-vehicle communication is performed with a vehicle.
- the relative relationship of the vehicle using inter-vehicle communication is controlled for each small vehicle group. Then, the relative relationship between the small vehicle groups is controlled by the inter-vehicle communication between the representative vehicles of each small vehicle group, whereby the relative relationship between the vehicles in the entire vehicle group is controlled. According to such a vehicle group control method, communication required for control within the small vehicle group and communication necessary for control of the relative relationship between the small vehicle groups are separated, thereby reducing the communication load of the entire vehicle group. Can be reduced.
- the communication load in the vehicle group travel control can be reduced.
- FIG. 1 is a diagram showing a plurality of vehicles subdivided for each small vehicle group in the vehicle group control method according to the first embodiment of the present invention.
- FIG. 2 is a block diagram illustrating a vehicle group control system included in each vehicle.
- FIG. 3 is a graph showing an example of the relationship between the acceleration frequency of the vehicle and the inter-vehicle error propagation ratio.
- 4A and 4B are examples of Bode diagrams of the inter-vehicle error in the small vehicle group vehicle control process.
- FIG. 5 is a graph showing an example of the inter-vehicle error transient characteristic of the inter-vehicle error to the following vehicle in the small vehicle group vehicle control process.
- FIG. 1 is a diagram showing a plurality of vehicles subdivided for each small vehicle group in the vehicle group control method according to the first embodiment of the present invention.
- FIG. 2 is a block diagram illustrating a vehicle group control system included in each vehicle.
- FIG. 3 is a graph showing an example of the relationship
- FIG. 6 is a diagram showing a plurality of vehicles subdivided for each small vehicle group in the vehicle group control method according to the second embodiment of the present invention.
- FIG. 7 is a flowchart showing a vehicle group control method according to the third embodiment of the present invention.
- FIGS. 8A and 8B are diagrams illustrating an example of two small vehicle groups that are subdivided in the small vehicle group subdivision processing.
- FIG. 9 is a diagram showing a plurality of vehicles subdivided for each small vehicle group in the vehicle group control method according to the fourth embodiment of the present invention.
- FIG. 10 is a diagram showing an example of another control method in the small vehicle group vehicle control process of the present invention.
- 1 vehicle group traveling control system, B 1, B 2, B 3, B 4 ... small vehicle group, C 1,1, C 1,2, C 1,3, C 2,1, C 2,2, C 2 , 3 , C 3 , 1 , C 3 , 2 , C 3 , 3 ... vehicle, C 1 , 1 , C 2 , 1 , C 3 , 1 , C 4 , 1 ... leading vehicle, Cs 1 , Cs 2 , Cs 3 , Cs 4 ... representative vehicle, Ct ... target vehicle, Z ... large vehicle group.
- a large vehicle group Z composed of a plurality of vehicles C is subdivided into a plurality of small vehicle groups B 1 , B 2 , B 3 ,. . And the inter-vehicle distance between each vehicle in each small vehicle group is controlled. Furthermore, one representative vehicle that represents the inter-vehicle communication with the other small vehicle groups is selected from each small vehicle group, and the distance between the small vehicle groups is controlled by the inter-vehicle communication between the representative vehicles. Is done.
- vehicle group traveling is realized in which a plurality of vehicles C travel in a vertical row with a relatively narrow inter-vehicle distance. It is assumed that each vehicle C is traveling in the direction of arrow Y in the figure.
- the nth small vehicle group counted from the head of the large vehicle group Z is represented by “B n ”, and the vehicles belonging to the nth small vehicle group Bn.
- the acceleration of the vehicle C n, m is represented by “a n, m ”
- the speed of the vehicle C n, m is represented by “V n, m ”
- the acceleration command of the vehicle C n, m is represented.
- the value is represented by “un , m ”.
- the inter-vehicle distance between the vehicle C n, m and the vehicle C n, m + 1 is represented by “L n, m ”
- the inter-vehicle error between the vehicle C n, m and the vehicle C n, m + 1 is represented by “ ⁇ L n, m ”.
- the inter-vehicle error means an error between the target inter-vehicle distance L n, m_tgt between the vehicle C n, m and the vehicle C n, m + 1 and the actual inter-vehicle distance L n, m . Further, the inter-vehicle distance distance between the end of the vehicle and a small vehicle group leading vehicle of B n + 1 of the small vehicle group B n is referred to as "distance between small vehicle group", represented by "R n".
- the vehicle C n, 1 that travels at the head among the constituent vehicles of the small vehicle group B n is referred to as a “head vehicle”, and the subsequent vehicles C n, 2 and the subsequent vehicles are collectively referred to as “following vehicles”.
- the small vehicle group B 1 located at the head is called a “leading small vehicle group”.
- the subsequent small vehicle group B 2 and later are collectively referred to as “following small vehicle group”. May be called.
- the vehicle group control system 1 includes a vehicle control ECU (Electronic Control Unit) 10.
- the vehicle control ECU 10 is an electronic control unit that performs overall control of the vehicle group control system 1, and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example.
- the vehicle control ECU 10 includes an information storage unit 10a that can store information temporarily or for a long period of time.
- the vehicle group control system 1 includes sensors for detecting the traveling state of the host vehicle. These sensors include a front inter-vehicle distance sensor 21a, a rear inter-vehicle distance sensor 22a, a vehicle speed sensor 23a, and an acceleration sensor 24a.
- the front inter-vehicle distance sensor 21a can detect the inter-vehicle distance from a vehicle traveling immediately in front of the host vehicle.
- the rear inter-vehicle distance sensor 22a can detect the inter-vehicle distance from a vehicle that travels immediately behind the host vehicle.
- a front inter-vehicle distance sensor 21a and a rear inter-vehicle distance sensor 22a for example, millimeter wave radars provided respectively at the front part and the rear part of the vehicle are employed.
- a signal obtained by the front inter-vehicle distance sensor 21a is processed by the front sensor ECU 21 and transmitted to the vehicle control ECU 10 as front inter-vehicle distance information.
- a signal obtained by the rear inter-vehicle distance sensor 22a is processed by the rear sensor ECU 22 and transmitted to the vehicle control ECU 10 as rear inter-vehicle distance information.
- the vehicle speed sensor 23a can detect the speed of the host vehicle.
- the vehicle speed sensor 23a for example, an electromagnetic pickup sensor that detects the wheel speed is used.
- a signal obtained by the vehicle speed sensor 23a is processed by the vehicle speed sensor ECU 23 and transmitted to the vehicle control ECU 10 as vehicle speed information.
- a gas rate sensor or a gyro sensor is used as the acceleration sensor 24a.
- a signal obtained by the acceleration sensor 24a is processed by the acceleration sensor ECU 24 and transmitted to the vehicle control ECU 10 as acceleration information.
- the front sensor ECU 21, the rear sensor ECU 22, the vehicle speed sensor ECU 23, and the acceleration sensor ECU 24 are connected to the vehicle control ECU 10 through a communication / sensor system CAN 20 constructed as an in-vehicle network.
- the above-described sensors can obtain front inter-vehicle distance information, rear inter-vehicle distance information, vehicle speed information, and acceleration information for the host vehicle.
- the front inter-vehicle distance information, the rear inter-vehicle distance information, the vehicle speed information, and the acceleration information may be collectively referred to as “running state information”.
- the system 1 includes an engine control ECU 31, a brake control ECU 32, and a steering control ECU 33 to perform operations such as acceleration / deceleration and steering of the host vehicle.
- the engine control ECU 31 receives the acceleration command value information transmitted from the vehicle control ECU 10, and operates the throttle actuator 31a and the like with an operation amount corresponding to the acceleration command value.
- the brake control ECU 32 receives the acceleration command value information and operates the brake actuator 32a and the like with an operation amount corresponding to the acceleration command value.
- the steering control ECU 33 receives the steering command value information transmitted from the vehicle control ECU 10, and operates the steering actuator 33a and the like with an operation amount corresponding to the steering command value.
- the vehicle group control system 1 includes a wireless antenna 26a and a wireless control ECU 26 in order to perform inter-vehicle communication with another vehicle C.
- vehicles belonging to the same small vehicle group can travel to the vehicle group such as vehicle specification information, traveling state information, and acceleration command value information of the vehicle by inter-vehicle communication using the wireless antenna 26a and the wireless control ECU 26. Necessary information can be exchanged with each other.
- the wireless antenna 26a and the wireless control ECU 26 not only vehicle-to-vehicle communication within the same small vehicle group but also vehicle-to-vehicle communication with vehicles belonging to other small vehicle groups is possible.
- the radio control ECU 26 is connected to the vehicle control ECU 10 via the communication / sensor system CAN 20 described above.
- FIG. 1 a case where three vehicles each belong to each small vehicle group B 1 , B 2 , B 3 ,... Will be described as an example.
- the vehicle control ECU10 for each following vehicle C 1, j is the inter-vehicle communication between the vehicle C 1, j-1 of the front, the acceleration a 1, j-1 of the vehicle C 1, j-1 obtain.
- the front inter-vehicle distance sensor 21a of the own vehicle obtains the front inter-vehicle distance L 1, j-1, and the acceleration a 1, j-1 of the vehicle C 1, j-1 is used as feedforward, and the front inter-vehicle distance is controlled by PD control. Feedback control of L 1, j-1 is performed.
- the acceleration of the front target vehicle is assumed to be feed forward, and the state of following by the front target vehicle PD control is expressed.
- the vehicle and the target vehicle are expressed by being connected by a spring damper unit kc including a spring having a spring constant k and a damper having a damping coefficient c. Note that such a relationship between the vehicle and the target vehicle may be generally expressed as “electronically connected” or the like.
- the vehicle control ECU 10 of each leading vehicle Ch , 1 performs the acceleration a h-1 of the vehicle vehicle Ch-1,1 through inter-vehicle communication with the leading leading vehicle Ch-1 , -1 , in front. , 1 is obtained.
- the distance P h-1 between the host vehicle Ch h, 1 and the target vehicle Ch h-1,1 is obtained by the front inter-vehicle distance sensor 21a, and the acceleration a h-1,1 of the target vehicle is fed forward.
- feedback control of the distance Ph-1 is performed by PD control.
- the distance P h-1 may be obtained from the front inter-vehicle distance sensor 21a of the own vehicle, but the current location information of the tracking target vehicle Ch-1,1 is obtained by inter-vehicle communication, and The distance Ph-1 may be calculated by comparing with the current location information.
- the vehicle group control system 1 of each vehicle C may include means (for example, a GPS device) that detects current location information of the host vehicle.
- the target value P h ⁇ 1_tgt of the distance P h ⁇ 1 is set as appropriate so that a sufficient small vehicle group distance R h ⁇ 1 is ensured.
- the target value Ph-1_tgt is set to a distance larger than the target value Lj_tgt of each inter-vehicle distance in the small vehicle group vehicle control processing.
- the setting of the target value Ph-1_tgt will be described in detail.
- the inter-vehicle error may be caused behind the small vehicle group due to factors such as dead time for inter-vehicle communication, sensing delay, and vehicle response delay. It is thought that error propagation that propagates sequentially occurs. Then, the propagation ratio of the inter-vehicle error that sequentially propagates to the rear inter-vehicle distance, that is, the ratio ⁇ L h ⁇ 1, i + 1 / ⁇ L h of the inter - vehicle error ⁇ L h ⁇ 1, i + 1 and the inter-vehicle error ⁇ L h ⁇ 1, i.
- the inter-vehicle error propagation ratio S depends on the acceleration frequency of the vehicle. For example, there is a relationship as shown in FIG. 3 between the inter-vehicle error propagation ratio S and the acceleration frequency of the vehicle. In the example of FIG. 3, the inter-vehicle error propagation ratio S is maximum when the acceleration frequency of the vehicle is around 6.10 ⁇ 2 Hz, and the maximum value S max of the inter-vehicle error propagation ratio exceeds 1, It turns out that it is about 1.2.
- the above-mentioned inter-small vehicle group distance R h ⁇ 1 is set to be larger than the inter-vehicle error S max n ⁇ 1 ⁇ ⁇ L h ⁇ 1,1 expressed by the above equation (1).
- the aforementioned target value P h ⁇ 1_tgt is such that the small vehicle group distance R h ⁇ 1 is larger than S max n ⁇ 1 ⁇ ⁇ L h ⁇ 1,1 based on the maximum inter-vehicle error propagation ratio S max. Is set as follows. In this way, while allowing a certain amount of inter-vehicle error propagation in each small vehicle group within a practical range, the inter-vehicle variation of the last vehicle in each small vehicle group B h ⁇ 1 is represented by the inter-small vehicle group distance R h ⁇ 1. By eliminating the above, it is possible to realize safe vehicle group traveling as the entire large vehicle group Z.
- the vehicle-to-vehicle communication between the representative vehicles in the small vehicle group control process uses a frequency channel different from the vehicle-to-vehicle communication in the small vehicle group vehicle control process described above from the viewpoint of improving the smoothness of communication in the large vehicle group Z as a whole. It is preferable to be used.
- the top Shokuruma group leading vehicle C 1, 1 of B 1 represents may be operated manually by the driver, or may be automatically operated based on a predetermined travel plans.
- this vehicle group control method in the vehicle control process within the small vehicle group, the distance between the vehicles in the small vehicle group for each of the small vehicle groups B 1 , B 2 , B 3 ,. Control using communication is performed, and the positional relationship between vehicles in each small vehicle group is controlled. Then, as a result of controlling the distance between the representative vehicles by inter-vehicle communication between the representative vehicles of each small vehicle group, the positional relationship between the small vehicle groups is controlled.
- this vehicle group control method communication between vehicles as a whole is separated by separating vehicle-to-vehicle communication necessary for control within the small vehicle group and vehicle-to-vehicle communication necessary for controlling the positional relationship between the small vehicle groups. The amount is reduced and the communication load can be reduced.
- this vehicle group control method it is only necessary to perform inter-vehicle communication only in the small vehicle group other than the representative vehicle, so that the communication capacity and communication range can be kept small, and application to an actual traffic flow is possible. Is easy. Further, according to this vehicle group control method, the distance between vehicles within each small vehicle group is controlled for each small vehicle group, so even if there is a propagation of an inter-vehicle error, It can be avoided that the error propagation between the vehicles is extremely widened in the entire vehicle group Z. Such a vehicle group control method can realize stable vehicle group driving even when applied to a large number of large vehicle groups Z of, for example, several tens to hundreds.
- the number of vehicles C belonging to one small vehicle group is three
- the number of vehicles C belonging to one small vehicle group B 1 , B 2 , B 3 ,... Is not limited to this. May be set in the following way of thinking.
- the Bode diagram of the inter-vehicle error of the following vehicle with respect to the acceleration of the leading vehicle is as shown in FIGS. 4 (a) and 4 (b), for example.
- the gain of the inter-vehicle error (the inter-vehicle error [m] / the acceleration of the leading vehicle [m / s 2 ]) increases and the phase delay increases as the distance from the small vehicle group increases.
- the inter-vehicle error is propagated and amplified.
- the gain of the inter-vehicle error ⁇ L 1 ⁇ ⁇ L 3 is the threshold value It fits in the following G max, but the gain of the inter-vehicle error [Delta] L 4 it is seen that exceed this threshold G max. Therefore, if the number of vehicles belonging to the small vehicle group is five, it is found that an unacceptable inter-vehicle error gain occurs between the fourth vehicle and the fifth vehicle, and the vehicles that should constitute each small vehicle group. The number is set to four.
- the threshold G max is determined in advance by the designer of the row running control system 1 based on a desired design concept, and is stored in advance in the information storage unit 10a of the vehicle control ECU 10.
- the number of vehicles is set based on the threshold value G max for the inter-vehicle error gain, but a threshold value (for example, ⁇ 90 °) for the phase delay is set, and the phase delay is smaller than the threshold value for the phase delay. You may make it set the number of vehicles of a small vehicle group so that it may not become large.
- the vehicle control process in the small vehicle group is similar to the vehicle group control method of the first embodiment described above, but the small vehicle group control process is different.
- the small vehicle group control process in this vehicle group control method will be described with reference to FIG.
- each of the lead vehicle C h, 1 of acceleration and deceleration of all subsequent small vehicle group B h maintains the distance between the lead vehicle C 1,1 Q h-1, respectively
- each subsequent small vehicle group B 2 , B 3 , B 4 ,... Travels in a state in which the positional relationship with the leading small vehicle group B 1 is controlled independently. become. Therefore, it is possible to avoid the occurrence of error propagation in which the errors of the small vehicle group distances R 1 , R 2 , R 3 ,... Are sequentially propagated to the rear small vehicle group.
- each leading vehicle C 1,1 , C 2,1 , C 3,1 ,... is selected as the representative vehicle of each small vehicle group.
- a vehicle other than the leading vehicle may be used as the representative vehicle.
- a third embodiment of the vehicle group control method according to the present invention will be described.
- a plurality of vehicles C in the large vehicle group Z are connected to a plurality of small vehicles.
- Small vehicle group subdivision processing is performed to subdivide into groups B 1 , B 2 , B 3 ,.
- the calculation of the following small vehicle group subdivision process is performed in the vehicle group control system 1 of any one of the vehicles C belonging to the large vehicle group Z.
- the vehicle control ECU 10 of the vehicle group control system 1 collects vehicle information of all the vehicles C belonging to the large vehicle group Z through inter-vehicle communication (S301).
- the vehicle information collected here includes acceleration / deceleration responsiveness of each vehicle C, own vehicle position, communication distance, and the like.
- the vehicle control ECU 10 subdivides all the vehicles C into a plurality of temporary small vehicle groups (S303). Thereafter, it is determined whether or not this temporary subdivision is appropriate. Details of the suitability determination for temporary subdivision (S305, S307, S309) will be described below.
- the vehicle control ECU 10 calculates the string stability (inter-vehicle error propagation gain, phase delay) for each temporary small vehicle group based on the collected vehicle information (S305). If the inter-vehicle error and phase delay that can occur in each temporary small vehicle group are within the allowable range, it is determined that temporary subdivision is appropriate, and there is an inter-vehicle error or phase delay that can occur in each temporary small vehicle group. If it is not within the allowable range, it is determined that the temporary subdivision is inappropriate (S307). If it is determined that the temporary subdivision is inappropriate, the temporary subdivision is performed again so that the inter-vehicle error and the phase delay in each small vehicle group are within the allowable range (S317).
- the string stability inter-vehicle error propagation gain, phase delay
- the vehicle control ECU 10 determines that temporary subdivision is appropriate when the number of vehicles constituting each temporary small vehicle group is within the allowable communication range, and the number of vehicles constituting each temporary small vehicle group is determined to be communication. If it is not within the allowable range, it is determined that the temporary subdivision is inappropriate (S309). Here, if it is determined that the temporary subdivision is inappropriate, the temporary subdivision is performed again so that the number of vehicles constituting each temporary small car group falls within the allowable communication range (S319).
- the communication load in the small vehicle group vehicle control processing also becomes uneven in each small vehicle group.
- the communication access method for inter-vehicle communication is TDMA
- the small vehicle group B 1 needs two time slots, but the small vehicle group B 2 needs six time slots.
- the communication load is high small vehicle group B 2
- the vehicle control ECU 10 determines that the temporary subdivision is appropriate when the variation in the number of components of the temporarily subdivided temporary small vehicle group is within the allowable range, and if the variation is not within the allowable range, It is determined that the temporary subdivision is inappropriate (S310). Here, if it is determined that the temporary subdivision is inappropriate, the temporary subdivision is performed again so that the variation in the number of vehicles constituting each small vehicle group falls within the allowable range (S320).
- each small vehicle group is determined (S321). Then, the representative vehicle and the target vehicle in each small vehicle group are determined, and based on the inter-vehicle error propagation ratio of each small vehicle group, the distance between the representative vehicles (P 1 , P 2 , P 3 ,. 2 Q 1 , Q 2 , Q 3 ,...) Are determined (S323). Such determination information is distributed to all vehicles C by inter-vehicle communication.
- the vehicle group control system 1 of each vehicle C determines whether or not the host vehicle is a representative vehicle based on the received determination information, and when the host vehicle is a representative vehicle, in processing S327 described later, Car-to-vehicle communication with representative vehicles in other small vehicle groups is performed.
- each vehicle C is moved based on the determined organization of each small vehicle group, and each small vehicle group is formed (S325). Then, the vehicle group traveling of the large vehicle group Z is started by starting the in-small vehicle group vehicle control process and the small vehicle group control process described in the first or second embodiment (S327). .
- a small vehicle group of an appropriate combination of vehicles can be formed by an appropriate number of vehicles by the small vehicle group subdivision process, and as a result, the communication load is uniform. And stable vehicle group traveling can be realized.
- the vehicle control process in the small vehicle group is the same as the vehicle group control method of the second embodiment described above, but the small vehicle group control process is different.
- the small vehicle group control process in this vehicle group control method will be described with reference to FIG.
- the traveling state information of the leading vehicle C 1,1 which is the target vehicle Ct passes through the representative vehicles C 1,2 by inter-vehicle communication in the small vehicle group B 1 and each of the rear representative vehicles C 2,2 , C 3,2, ..., C i, 2, C i + 1,2, it is delivered while being sequentially relay ... to.
- Each succeeding in small vehicle group in the B h (h 2,3, ... ), to the lead vehicle C h, 1 from representative vehicle C h, 2, the inter-vehicle communication in the small vehicle group B h, vehicle C 1,1 traveling state information is transmitted.
- the running state information of the lead vehicle C 1, 1, because is delivered to the lead vehicle C h, 1 all subsequent small vehicle group B h, the lead vehicle C h, 1 is the leading vehicle C 1 , 1 can be performed as a target vehicle Ct.
- specific follow-up running control is performed by the same PD control as in the second embodiment.
- the vehicle group controlling method of the second embodiment described above in particular the lead vehicle C 1, 1 is a target vehicle Ct, it is necessary to perform all subsequent small vehicle group of the lead vehicle C h, 1 and inter-vehicle communication, The communication load is large. Further, since the rear small vehicle group has a longer communication distance from the leading vehicle C1,1, there is a problem that it is difficult to ensure the stability of communication.
- the vehicle group control method of this embodiment particularly in the top Shokuruma group B 1, the target vehicle Ct and the lead vehicle C 1, 1, a representative vehicle Cs 1 leading vehicle C 1, 1 other Since the vehicle is selected, the roles of the target vehicle and the representative vehicle are concentrated on the vehicle C1,1 , and the communication load can be avoided.
- the traveling state information of the vehicles C 1 and 1 is sequentially distributed backward while being relayed to the representative vehicles Ch 2 and 2 , it is possible to avoid a communication load being biased to a specific representative vehicle and The traveling state information of the vehicles C 1 and 1 is stably transmitted to the rear small vehicle group far away from the small vehicle group B 1 .
- the vehicle control process in the small vehicle group in each small vehicle group is not limited to the control method exemplified in the embodiment.
- one following target vehicle C u for example, the leading vehicle
- each other vehicle is selected as the following target vehicle C u .
- These intervals may be PD controlled.
- vehicle control processing in each small vehicle group, all the vehicles in the small vehicle group are determined based on the state quantities including all the inter-vehicle errors ⁇ L 1 to ⁇ L m in the small vehicle group. Acceleration / deceleration may be optimally controlled (LQ control).
- the target vehicles of each small vehicle group are based on state quantities including errors of distances P 1 , P 2 , P 3 ,... (See FIG. 1) between all target vehicles.
- the acceleration / deceleration of all the target vehicles may be optimally controlled (LQ control).
- the control method in the small vehicle group vehicle control processing and the control method in the small vehicle group control processing can be freely combined and employed.
- the present invention relates to a vehicle group control method for performing travel control of a vehicle group composed of a plurality of vehicles, and a vehicle to which such a vehicle group control method is applied, and relates to a communication load of inter-vehicle communication in travel control. It is to reduce.
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Abstract
Description
図1に示すように、本実施形態の車群制御方法では、複数の車両Cからなる大車群Zが、複数台ずつの小車群B1,B2,B3,…に小分けされる。そして、各小車群内における各車両間の車間距離が制御される。更に、各小車群内から、他の小車群との車車間通信を代表して行う代表車両が1台ずつ選択され、各代表車両同士の車車間通信により小車群同士の距離が制御される。このような制御により、大車群Z全体としては、複数の車両Cが比較的狭い車間距離で縦一列に並んで走行する車群走行が実現される。各車両Cは、図中の矢印Y方向に向かって走行しているものとする。
まず、小車群内車両制御処理として、各小車群B1,B2,B3,…内でそれぞれ行われる車間距離の制御処理について説明する。
次に、小車群制御処理として、各小車群B1,B2,B3,…の各代表車両の間で行われる走行制御処理について説明する。ここでは、各小車群B1,B2,B3,…の代表車両Cs1,Cs2,Cs3,…として、各先頭車両C1,1,C2,1,C3,1,…が選択される。
ΔLh-1,n-1=Smax n-1・ΔLh-1,1 …(1)
で表される変動が生じうる。従って、前述の小車群間距離Rh-1は、上式(1)で示される車間誤差Smax n-1・ΔLh-1,1よりも大きくなるように設定される。すなわち、前述の目標値Ph-1_tgtは、最大の車間誤差伝播比Smaxに基づいて、小車群間距離Rh-1がSmax n-1・ΔLh-1,1よりも大きくなるように設定される。このように、各小車群においてある程度の車間誤差伝播を現実的な範囲で許容しながら、各小車群Bh-1の最後尾の車両の車間変動を小車群間距離Rh-1により解消することで、大車群Z全体として安全な車群走行を実現することができる。
続いて、本発明に係る車群制御方法の第2実施形態について説明する。本実施形態の車群制御方法では、前述の第1実施形態の車群制御方法と比較して、小車群内車両制御処理は同様であるが、小車群制御処理が相違している。以下、この車群制御方法における小車群制御処理について図6を参照しながら説明する。
ここでは、第1実施形態と同様に、各小車群の代表車両Cs1,Cs2,Cs3,…として、各小車群B1,B2,B3,…における先頭車両C1,1,C2,1,C3,1,…が選択される。そして、すべての後続小車群Bhの各先頭車両Ch,1は(h=2,3,…)、先頭小車群B1の先頭車両C1,1を目標車両Ctとし、当該先頭車両C1,1との距離Qh-1を制御しながら追従する。このとき、具体的な追従走行制御は、第1実施形態と同様のPD制御により行われる。
続いて、本発明に係る車群制御方法の第3実施形態について説明する。本実施形態の車群制御方法では、第1又は第2実施形態における小車群内車両制御処理及び小車群制御処理に先立って、大車群Zの複数の車両Cを、複数の小車群B1,B2,B3,…に小分けする小車群小分け処理を行う。
以下の小車群小分け処理の演算は、大車群Zに属する車両Cのうちの何れか1台の車両Cの車群制御システム1において行われる。図7に示すように、車群制御システム1の車両制御ECU10は、大車群Zに属する全車両Cの車両情報を車車間通信により収集する(S301)。ここで収集される車両情報には、各車両Cの加減速応答性、自車両位置、通信距離等が含まれている。次に、車両制御ECU10は、全車両Cを複数台ずつの仮小車群に仮に小分けする(S303)。その後、この仮小分けが適切であるか否かが判断される。以下、仮小分けの適否判断(S305,S307,S309)の詳細について説明する。
続いて、本発明に係る車群制御方法の第4実施形態について説明する。本実施形態の車群制御方法では、前述の第2実施形態の車群制御方法と比較して、小車群内車両制御処理は同様であるが、小車群制御処理が相違している。以下、この車群制御方法における小車群制御処理について図9を参照しながら説明する。
ここでは、各小車群の代表車両Cs1,Cs2,Cs3,…として、各小車群B1,B2,B3,…における2台目の車両C1,2,C2,2,C3,2,…が選択される。そして、図9中に一点鎖線で示すように、それぞれ前後に連続する代表車両Ci,2と代表車両Ci+1,2とが、車車間通信を行う(i=1,2,3,…)。そして、目標車両Ctである先頭車両C1,1の走行状態情報は、小車群B1内の車車間通信により代表車両C1,2を経由し、後方の各代表車両C2,2,C3,2,…,Ci,2,Ci+1,2,…に順次中継されながら配信される。そして、各後続小車群Bh内においては(h=2,3,…)、代表車両Ch,2から先頭車両Ch,1へ、小車群Bh内の車車間通信により、車両C1,1の走行状態情報が送信される。このように、先頭車両C1,1の走行状態情報は、すべての後続小車群Bhの先頭車両Ch,1に配信されるので、各先頭車両Ch,1は、先頭車両C1,1を目標車両Ctとした追従走行制御を行うことができる。なお、このとき、具体的な追従走行制御は、第2実施形態と同様のPD制御により行われる。
Claims (8)
- 複数の車両からなる車群の走行制御を行う車群制御方法であって、
前記車群が小分けされてなる複数の小車群毎に、同じ小車群内の車両同士で行う車車間通信を用いて前記小車群内の車両同士の相対関係を制御する小車群内車両制御ステップと、
各前記小車群の代表車両同士で行う車車間通信を用いて各前記小車群同士の相対関係を制御する小車群制御ステップと、
を備えたことを特徴とする車群制御方法。 - 前記小車群制御ステップでは、
前後に連続する前記代表車両同士の車車間通信を用いて、前後に連続する前記代表車両間の各相対関係がそれぞれ制御されることを特徴とする請求項1に記載の車群制御方法。 - 前記小車群制御ステップでは、
前記車群の車両から選択される目標車両が属する小車群の代表車両と、前記目標車両が属する小車群以外の各代表車両と、の間の車車間通信を用いて、
前記目標車両と前記目標車両が属する小車群以外の各代表車両との各相対関係がそれぞれ制御されることを特徴とする請求項1に記載の車群制御方法。 - 前記目標車両が属する小車群においては、
前記目標車両は、当該小車群における先頭車両であり、
前記代表車両は、前記先頭車両以外の車両から選択されることを特徴とする請求項3に記載の車群制御方法。 - 前記小車群内車両制御ステップでは、前記小車群内の各車両の各車間距離が制御され、
各前記小車群に属する前記車両の台数は、
前記小車群内車両制御ステップにおいて、前記小車群の先頭車両の加速度に対応して発生し得る後続車両の車間距離の誤差に基づいて決定されることを特徴とする請求項1~4の何れか1項に記載の車群制御方法。 - 前記小車群内車両制御ステップでは、前記小車群内における各車間距離が制御され、
前記小車群制御ステップでは、
前後に連続する各小車群同士の間の各小車群間距離が、前記小車群内の各車間距離とは異なる距離になるように、各代表車両同士の距離が制御されることを特徴とする請求項1~5の何れか1項に記載の車群制御方法。 - 前記小車群制御ステップでは、
前後に連続する各小車群同士の間の各小車群間距離が所定の目標距離になるように各代表車両同士の相対関係が制御され、
前記所定の目標距離は、
前記小車群内車両制御ステップにおいて各前記車両の後方の車両に伝播する車間距離の誤差の伝播比である車間誤差伝播比に基づいて設定されることを特徴とする請求項1~6の何れか1項に記載の車群制御方法。 - 複数の車両からなる車群の走行制御を行う車群制御方法に用いられる車両であって、
前記車群制御方法は、
前記車群が小分けされてなる複数の小車群毎に、同じ小車群に属する車両同士で行う車車間通信を用いて前記小車群内の車両同士の相対関係を制御する小車群内車両制御ステップと、
各前記小車群の代表車両同士で行う車車間通信を用いて各前記小車群同士の相対関係を制御する小車群制御ステップと、
を備え、
自車両が前記小車群における前記代表車両である場合には、他の小車群における他の代表車両との間で、車車間通信を行うことを特徴とする車両。
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JP5668741B2 (ja) * | 2012-10-04 | 2015-02-12 | 株式会社デンソー | 隊列走行装置 |
JP5817777B2 (ja) * | 2013-04-17 | 2015-11-18 | 株式会社デンソー | 隊列走行システム |
JP5737316B2 (ja) * | 2013-04-17 | 2015-06-17 | 株式会社デンソー | 隊列走行システム |
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