JP2002163756A - System for entry and exit control over exclusive road for automatic travel vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an exclusive road entry and exit control system for an automatic travel vehicle, which prevents a non-AHS vehicle from entering an exclusive lane, automatically inspect an AHS vehicle, decides whether the vehicle passes the inspection, and informs the driver of the inspection result during travel, can automatically perform vehicle ID registration at check-in time and vehicle ID deletion processing at check-out time without having to stop the vehicle, registers and deletes the vehicle ID and transfers staring-point, destination, and vehicle type information, when various services are provided, and collects the toll for the road for the AHS vehicle. SOLUTION: Automatic inspection for an automatic travel function and the discrimination of the AHS vehicle are carried out between a ground vehicle communication device and a communication device of the AHS vehicle nearby the gate of check-in facilities provided for an exclusive road for making only the AHS vehicle to enter the exclusive road, and vehicle ID registration for entry into and exiting from the exclusive road can be performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[Detailed Description of the Invention]

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to entrances and exits of a dedicated road, and is a vehicle I required for automatic vehicle inspection and entry / exit control of a vehicle for automatically controlling a dedicated road.
D related to the registration / deletion device.

[0003]

2. Description of the Related Art FIG. 5 shows the configuration of a conventional unmanned toll in a toll road toll collection system.
The example disclosed in the public information No. 27 is shown in a layout diagram. In FIG. 5, a vehicle type discriminator 22, a roadside antenna 1, a vehicle detection sensor 5, a roadside antenna 2, and a transmission detection device 26 are arranged in the lane 20 from the approach side of the vehicle 10,
Controlled by antenna control units (1) 6 and (2) 7, respectively.
The information of the in-vehicle device 11 is read by the roadside antenna 1 and the presence or absence of the in-vehicle device is determined. When the in-vehicle device 11 is present by the antenna 2, the automatic ticket issuing device 25 is deactivated and the entrance information is transmitted to the in-vehicle device. If there is no in-vehicle device 12 to be written, the antenna control unit (1) operates the automatic passage description issuing device 25,
Since a passage tale is issued, friends and unmanned entrance fee collection systems can be shared.

[0004]

The above-mentioned conventional tollgates can process toll collection either unmanned or manned, and have a function to automatically settle tolls. However, in the conventional invention, although it is a system that targets the collection of toll roads for ordinary vehicles, as in the present invention,
Vehicle that performs automatic driving before entering a dedicated road, that is, AH
Automatic failure diagnosis function for S-vehicles, function to eliminate non-AHS vehicles and AHS-vehicle failure vehicles from entering a dedicated road, no road structure (gates and communication areas, etc.), and vehicle ID as an automatic travel control target It does not have the function to register.

[0005]

[MEANS FOR SOLVING THE PROBLEMS] In order to eliminate the traffic congestion due to the long processing time of toll collection, an automatic toll collection system (ETC) has been proposed for the purpose of automatic toll settlement at gates at entrances and exits. Already commercialized,
ETC introduction plans are underway in Japan. Accordingly, the present invention installs a check-in facility at the entrance of a dedicated road for realizing an automatic driving control service, eliminates the entry of non-AHS vehicles, and automatically controls the vehicle (automatic driving function,
Performance failure, etc.), only the vehicles that are “good” in the vehicle inspection are registered in the vehicle database of the center facility with the vehicle ID, and the automatic driving control is positioned as a ky 謡 vehicle, and the passage through the automatic opening and closing of the Kate is permitted. In addition to being able to enter a dedicated road on which automatic driving control can be performed, a human machine interface (HM) indicates that it is not possible for a driver of the vehicle to enter the dedicated road after a car inspection in the case of "bad".
The present invention is characterized by providing a service-in facility and a service-out facility for guiding a vehicle to a general vehicle lane via I) and for smoothly performing a control service-in and service-out function of automatic driving via a ramp unit. Things.

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of the embodiment. This figure 1
In, the infrastructure equipment 200 is roughly classified,
The center equipment 220 includes a center equipment 220 and a road equipment 210, and the center equipment 220 is a gate equipment 2 of the road equipment 210.
15, traveling vehicle detection equipment 212, failure diagnosis support equipment 21
3. The operation of the infrastructure control device 221 for controlling various devices such as the information guide board 214, the vehicle control device 222 for automatically running the AHS vehicle 100, and the operation of the AHS vehicle 100, and control and management of entry / exit on a dedicated road. It is composed of an AHS database 223 and an information collection information collection device that collects various information such as road surface conditions, weather information, and traffic volume from the roadside equipment 210.

On the other hand, the roadside equipment 210 is connected to the communication device 101 of the AHS vehicle 100 and the road-vehicle communication device 2 for performing road-vehicle communication.
11 and the AHS vehicle 100 are connected to the gate equipment 215 and the like.
The failure diagnosis support device 213 for AHS vehicles including the inspection items on the ground when the vehicle 100 determines whether or not the vehicle 100 can travel automatically after entering the dedicated road, and the general public whose AHS vehicles fail inspection during automatic inspection In order to eliminate the AHS vehicle from the dedicated road, the information gate 214 installed near the chain gate 2151 shown in FIG. 6 and the information guide plate 214 installed near the service gate 2152 shown in FIG. And a roadside sensor 217 installed on the roadside to collect various sensor information such as road surface conditions, obstacle detection information, and traffic volume for automatic driving.

The AHS vehicle 100 has a communication device 101 for performing road-to-vehicle communication with the roadside equipment 210, a travel control amount owned by the own vehicle, a deceleration pattern, a steering speed, and the like from a vehicle control device 222 of the center equipment 220. A vehicle-mounted control device 102 that performs automatic travel control with a control amount such as a pattern, an in-vehicle distance sensor 103 for automatically traveling, an in-vehicle sensor 103 such as an obstacle sensor, and an AHS vehicle-specific information management device that manages information specific to an AHS vehicle. A for providing information on the driver 106 from the center facility 220, the roadside facility 210, and displaying warnings and the like, outputting sound, and changing the operation mode.
H switch for inputting HS switch and destination, operation mode, etc.
MI105.

FIG. 2 is an image diagram of a dedicated road entry / exit control system for an automatic traveling vehicle to which the present invention is applied. A
After the HS vehicle 100 passes through a check-in facility including a road-vehicle communication device 211, a traveling vehicle detection device 212, a failure diagnosis support device 213, a guide plate 214, and a gate facility 215 from a general road, the road-vehicle communication device 211, The vehicle enters a dedicated road via a junction through a service-in facility including a traveling vehicle detection device 212, a gate facility 215, and a guide plate 214, and communicates with the road-side facility 210 via road-vehicle communication.
Based on the D registration data, the control content calculated by the vehicle control device 222 of the center facility 220 is transmitted by the road-to-vehicle communication device of the roadside facility 210, so that the vehicle can automatically travel on a dedicated road. Note that the AHS vehicle 100 runs on a dedicated road with the lane marker 216 installed on the dedicated road to detect a lateral displacement amount from lane marker information on the road in the traveling direction of the road in order to travel while holding the lane.

When an AHS vehicle exits after diverting along a single road section of a dedicated road, it first passes through the diverting section, and then passes through the road-vehicle communication device 211, the traveling vehicle detection device 212, and the gate facility 215.
After passing through the service-out facility consisting of the road-vehicle communication device 211, the traveling vehicle detection device 212, and the gate facility 2
Exit from the checkout facility consisting of 15 to the general road.

FIG. 3 and FIG. 4 are processing flowcharts at the time of check-in and service-in when the automatic traveling vehicle enters and exits the exclusive road according to the present invention. It summarizes the respective operations and processes of the infrastructure equipment, the AHS vehicle, the HMI, and the driver on the road.

FIG. 6 is an image diagram of a check-in gate and a vehicle inspection area when entering and leaving the exclusive road according to the embodiment shown in FIG. This will be described with reference to the flowchart shown in FIG. Check-in gate 2
151, the AHS vehicle 100 passes through the roadside facility 210
In the vehicle inspection area (communication area) shown in FIG.
02, the vehicle inspection device is transmitted. AHS car 100
The on-vehicle control device 102 of the AHS vehicle 100 includes a steering control device, a braking control device, and an on-vehicle sensor 1 not shown in FIG.
The inspection hair and vehicle ID from 03 are transmitted to the vehicle control device 222 of the infrastructure facility 220 for performing a security check such as whether or not the credit of the AHS vehicle is available and whether or not the almighty money is available. In addition, in order for the AHS vehicle to automatically travel, the on-board equipment equipped with a “traveling function automatic diagnosis device” (diagnosis monitoring device) that constantly monitors the state of the vehicle while traveling enables inspection of vehicles from roadside equipment. Can be performed smoothly. The vehicle control device 222 of the center facility 220 of the infrastructure facility 200
The vehicle inspection result is determined from the vehicle inspection result received from 0 and the security check result, and the vehicle inspection result is transmitted to the vehicle control device, and the result is notified to the driver 106 by the HMI 105. In the center equipment 220, the driver 106
The destination and vehicle information input from 05 are registered in the AHS database, and the check-in is completed. In addition, the vehicle control device of the center facility 220 determines that the non-AHS vehicle that does not respond to the inspection result NG or the vehicle inspection instruction does not check-in the vehicle as a general vehicle but the HMI 105, the guide plate 214
To inform the driver 106 and guide the vehicle to the general vehicle traffic lane.

FIG. 7 is an image diagram of a service gate, an operation mode transition area, a checkout gate, and a physical gate of the exclusive road entry / exit control system of the embodiment shown in FIG. Here, the description will be made with reference to the flowchart of FIG. AHS car 100
Enters, the vehicle control device 222 of the sensor device 220 on the infrastructure side sets the vehicle control device 102 of the AHS vehicle 100
, An operation mode switching instruction such as an operation mode and an operation mode switching completion timing is transmitted. Vehicle control device 1 for AHS vehicle 100
02, the HM 105 notifies the driver 106 of the automatic operation mode, and the automatic operation mode (the driver 106 performs the AH operation of the HM 105 in the operation mode transition area (communication area)).
(S switch ON). The in-vehicle control device 102 of the AHS vehicle 100 transmits the mode transition result to the vehicle control device 222 of the sensor device 220 on the infrastructure side, and when the operation mode transition is normally completed, the service in is completed,
The notification is sent to the driver 106 via the HM 105.
At the end of the above, the vehicle control device 222 of the center facility 220 of the infrastructure facility 200
Is closed, the HM 105 notifies the driver 106 of the automatic driving mode transition abnormality, and the vehicle is guided to the general vehicle traveling lane. Subsequently, the vehicle controller 222 of the center facility 220 of the infrastructure facility 200 checks the vehicle ID from the AHS database 223 by checking out to the general vehicle traveling lane.
To delete vehicle information including

FIG. 8 is an image diagram showing an operation mode transition area and a service outgate of the embodiment shown in FIG. Here, FIG. 8 will be described together with the flowchart of FIG. The vehicle control device 222 of the center equipment 220 of the infrastructure equipment 200 at the starting point in the operation mode transition area (communication area) just before the service out gate 2155.
Transmits an operation mode switching notification to the in-vehicle control device 102 of the AHS vehicle 100. The in-vehicle control device 102 is a HM10
5 to notify the driver 106 of the driving mode switching (automatic driving mode off), and when the driver 106 presses the confirmation button by the service out limit time, the vehicle control device 222 confirms the driving mode switching and outputs 1
At 02, an operation mode switching instruction is transmitted to the HM 105. The in-vehicle control device 102 uses the HM 105 to
To the manual operation mode, and transits to the manual operation mode. When the manual operation mode transition is completed, the in-vehicle control device 102 determines that the vehicle control device 222 of the center facility 220 has completed the mode transition, thereby completing the service out.

When the driver 106 does not change his / her driving mode (automatic driving mode off) without awakening due to falling asleep or the like, the vehicle control device 222 of the center equipment 220 determines that the driving mode cannot be switched and determines a route to the evacuation area. And
The in-vehicle control device 102 of the AHS vehicle 100 provides the evacuation speed, the shift start / completion timing, the evacuation route, the new road change start / completion timing,
The evacuation instruction such as evacuation place is transmitted. In-vehicle control device 102
Transmits a steering angle control or the like to a steering angle control device or the like to perform a retreat operation when the evacuation start timing comes. Service out is completed by stopping the vehicle at the evacuation area, and then check out manually.

FIG. 9 is an image diagram showing a checkout gate, a billing area, and a physical gate in the embodiment shown in FIG. Here, FIG. 8 will be described together with the flowchart of FIG. AHS checkout gate 2156
When the vehicle 100 passes, the traveling vehicle detection facility 212 of the roadside facility 210 starts the on-vehicle control device 10 of the checkout vehicle.
2 transmits a vehicle ID registration instruction. Center equipment 2
The vehicle control device 222 performs the charge settlement and security check based on the received vehicle ID, and sets the charge amount to HM1.
At 05, the driver 106 is notified and payment processing is performed. When the billing amount payment is normally completed, the vehicle control device 222 of the center facility 220 opens the physical gate 2157 upon completion of the payment, deletes the registration of the vehicle ID in the AHS database 223 of the center facility 220, and confirms that the checkout is completed. I do. If the billing amount is abnormal, the center equipment 2
The 20 vehicle control device 222 closes the physical gate 2157, notifies the driver 106 of the abnormal termination of the billing amount payment by the HM 105, and guides the driver 106 to the friend payment place.

[0017]

As described above, the present invention provides a check-in facility on a dedicated road and an automatic vehicle inspection function of an automatic driving function between a road-to-vehicle communication device on the ground and a communication device of an AHS vehicle near each gate. By identifying the AHS vehicle, the non-AHS vehicle is eliminated, the road structure is such that only the AHS vehicle enters the dedicated road, and the vehicle ID of the entry / exit of the dedicated road is registered so that the AHS vehicle is automatically controlled. Since the system is configured as described above, the following effects can be obtained. (1) It is possible to prevent general vehicles (non-AHS vehicles) and AHS-failed vehicles from entering the dedicated road. (2) In order for an AHS vehicle to automatically travel, a “traveling function automatic diagnosis device” (diagnosis monitoring device) that constantly monitors the state of the vehicle while traveling is mounted. Time (when entering a dedicated road)
Can be checked. (3) As a result, the driver performs automatic inspection of the AHS vehicle, determination of pass / fail of the inspection, and notification of the pass / fail result via the HMI of the AHS vehicle while the vehicle is traveling without stopping, including the items to be checked from the ground, by the road-vehicle communication. , The processing at the time of service on the ground side becomes smooth, and check-in and service-in with less traffic congestion become possible. (4)
When the service of the automatic driving control is received, the vehicle ID registration at the time of check-in and the vehicle ID erasing process at the time of check-out can be performed without automatically stopping, so that the use of the smooth dedicated road can be performed. (5) Registration of vehicle ID at each gate at check-in, service-in, and check-out using road-to-vehicle communication.
In order to exchange information such as destruction, departure, destination, and vehicle type information, it is also possible to automatically collect tolls for AHS vehicles on a dedicated road similar to ETC.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is an image diagram of the above.

FIG. 3 is a processing flowchart at the time of check-in and service-in of the above.

FIG. 4 is a processing flowchart at the time of service out and check out of the above.

FIG. 5 is a layout diagram showing a configuration of an unmanned entrance tollgate in a conventional toll road toll collection system.

FIG. 6 is an image diagram of a check-in gate and a vehicle inspection area according to the embodiment of the present invention.

FIG. 7 is an image diagram of a service ingate, an operation mode transition area, a checkout gate, and a physical gate according to the first embodiment.

[Explanation of symbols]

 1, Roadside antenna 3, 4 Communication area 5 Vehicle detection sensor 6 Antenna control unit (1) 7 Antenna control unit (2) 10 Vehicle 11 In-vehicle device 22 Vehicle type discriminator 25 Passport automatic issuing machine 26 Oscillation detector 100 AHS vehicle DESCRIPTION OF SYMBOLS 101 Communication apparatus 102 Onboard control apparatus 103 Onboard sensor 104 AHS vehicle specific information management apparatus 105 HMI 106 driver 200 Infrastructure equipment 210 Roadside equipment 211 Roadside communication apparatus 212 Traveling vehicle detection device 213 Failure diagnosis support equipment 214 Information guide board 215 Gate equipment 216 Lane marker 217 Various sensor devices 220 Center equipment 221 Infrastructure equipment control device 222 Vehicle control device 223 AHS database 224 Nutrition collection device 2151 Check in gate 2152 Service in gate 2153 Physical gate 2154 Checkout gate 2155 Service outgate 2156 Checkout gate 2157 Physical gate (for unmanned) 2158 Physical gate (for manned)

Claims (6)

[Claims] 1. An on-vehicle control device having an automatic cruise control function and a diagnosing function of a cruise function, an on-vehicle sensor, an operation mode change switch (hereinafter, referred to as an AHS switch), a result check of the vehicle inspection quality, and a driver confirming a destination and vehicle information. A vehicle (hereinafter referred to as an AHS vehicle) having a human machine interface (hereinafter referred to as an HMI) device and a communication device to be inputted;
In order to automatically control the HS vehicle, general (hereinafter referred to as non-AHS)
A dedicated road having a road structure for excluding a vehicle from entering a dedicated road, a communication device for an AHS vehicle and a road-to-vehicle communication device installed at the entrance and exit of the dedicated road, and a road-to-vehicle communication device; Check-in facilities with the function of performing automatic inspection and registration of vehicle IDs of AHS vehicles via the device, the function of permitting entry of only AHS vehicles, and the function of eliminating entry of AHS failures, the possession of AHS databases registered with vehicles, and dedicated roads A center facility that performs roadside facility control and autonomous vehicle control, and an operation mode transition area in a road area where the AHS vehicle enters the gate of the check-in facility and then the driver can turn on the AHS switch to receive automatic driving control. Service in-gate equipment to install a gate
The AHS car registration data is obtained from the database of the center equipment and the service mode facilities where the AHS switch is turned off and the service mode facilities where the AHS switches off in the road area where the AHS cars are out of the control of the automatic driving via the dedicated road ramp section. A dedicated road entry / exit system for self-driving vehicles equipped with a checkout facility to delete. 2. The system according to claim 1, wherein the communication device of the AHS vehicle comprises a road-to-vehicle communication device and a vehicle-to-vehicle communication device. 3. The automatic road entry / exit system for an automatic traveling vehicle according to claim 1, further comprising a device for automatically adjusting a fee for using an automatic traveling service on the exclusive road. 4. Not only when an AHS vehicle enters a dedicated road,
The dedicated road entry / exit system for an automatic traveling vehicle according to claim 1, wherein a traveling function automatic diagnosis device as one function for automatic traveling is mounted on the AHS vehicle. 5. The HMI according to claim 1, wherein a display, an audio input / output, and an AHS switch are used.
A dedicated road entry / exit system for an autonomous vehicle described in 1. 6. A road-vehicle communication device as a beacon, LC
The exclusive road entry / exit system for an automatic traveling vehicle according to claim 1, wherein X, DSRC is used.