JP2003217074A - Vehicle operation control method and system in vehicle exclusive road - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To maintain the function of file travel by allowing simultaneous use with the other communication means for coping with failure of inter-vehicle communication when executing data communication between respective vehicles for traveling in a file on a vehicle exclusive road by an inter-vehicle communication means. <P>SOLUTION: In the vehicle exclusive road 1, a vehicle operation control system controls operation by the inter-vehicle communication by the mutual respective vehicles by respectively mounting the inter-vehicle communication means 10 on a plurality of vehicles 2a to 2c. An operation control center 3 or 33 is arranged so that radiocommunication can be performed by using the whole vehicles for traveling on the vehicle exclusive road 1 and wide area radio transmission a such as W-CDMA or narrow area radio transmission j such as a beacon. The vehicle operation control system in the vehicle exclusive road controls the operation by a wide area or narrow area radiocommunication means 4 or 40 by being substituted with the inter-vehicle communication means at inter-vehicle communication failure time and specific vehicle abnormal time by monitoring an operation state such as respective positions and a speed of the plurality of vehicles 2a to 2c. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-only road such as an automobile, in which a plurality of vehicles communicate with each other and use other communication means such as wide area wireless communication.
The present invention relates to a vehicle operation control method and system on a vehicle-dedicated road that is capable of running in a row while performing bidirectional communication.

[0002]

2. Description of the Related Art According to a vehicle operation control method and system for a vehicle-dedicated road of this type, radio waves having a frequency level of 2.4 GHz used for vehicle-to-vehicle communication are used. By using this radio wave, about 300m
An operation control system was adopted that can accommodate the required vehicle intervals within the range and can operate while exchanging data necessary for each vehicle to run in a row by inter-vehicle communication.

[0003]

However, when operating a plurality of vehicles in a row, when performing communication between vehicles by means of vehicle-to-vehicle communication means, that is, so-called vehicle-to-vehicle communication, the relationship between the data communication capacities of communication radio waves is required. Therefore, while the inter-vehicle communication data related to the vehicle such as the arrangement information, the speed, the position, the positioning (GPS) information of each vehicle has a considerable data transmission capacity, the data transmission / reception can be performed when any one of the vehicles fails. It became impossible and lost the function of platooning, and there was a danger in safety of the operation of each vehicle.

The present invention has been made in consideration of the above points, and in the case of adopting an inter-vehicle communication means by a radio wave suitable for data transmission, a wide area such as W-CDMA, which is separate from the inter-vehicle communication means. The main object of the present invention is to obtain a vehicle operation control method and system on a vehicle-dedicated road that enables safe operation even if the inter-vehicle communication fails by using wireless communication together.

Further, the vehicle operation control method and system for a vehicle-dedicated road according to the present invention enables a vehicle operation control center to operate when an abnormality occurs in vehicle-to-vehicle communication between vehicles traveling in a line while performing vehicle-to-vehicle communication. It is an object of the present invention to replace a vehicle-to-vehicle communication means with a managed wide area wireless communication means so that operation control of each vehicle can be performed.

Further, the vehicle operation control method and system for a vehicle exclusive road according to the present invention is transmitted from the operation management center when a specific vehicle traveling in a platoon while communicating with each other is abnormal due to some trouble. An object of the present invention is to maintain vehicle-to-vehicle communication for a vehicle capable of vehicle-to-vehicle communication while controlling operation of a specific vehicle based on a braking command signal.

Further, the vehicle operation control method and system for a vehicle dedicated road according to the present invention limits the travel zone to the following vehicles when the inter-vehicle communication is impossible between the vehicles in the row, The purpose is to enable safe operation.

Further, in the vehicle operation control method and system for a vehicle dedicated road according to the present invention, if there is a vehicle in which vehicle-to-vehicle communication cannot be performed between vehicles in a row, vehicle-to-vehicle communication is performed for this vehicle. The purpose is to enable platooning by wide area wireless communication.

Furthermore, the vehicle operation control method and system for a vehicle dedicated road according to the present invention can prevent a rear-end collision between the vehicles when a specific vehicle is running in a row and a specific vehicle has a wide area wireless communication failure. The purpose is to do so.

Further, the vehicle operation control method and system for a vehicle-dedicated road according to the present invention uses the narrow area wireless communication means when the wide area wireless communication for controlling the operation of each vehicle traveling in a line becomes incommunicable. Therefore, it is intended to prevent a rear-end collision between the vehicles.

Further, the vehicle operation control method and system for a vehicle dedicated road according to the present invention is provided when a part of each vehicle traveling in a row by inter-vehicle communication enters a branch road or a bypass road of one road. It is an object of the present invention to allow a vehicle following the entered vehicle to follow the vehicle preceding the vehicle and maintain inter-vehicle communication by new platooning.

Further, the vehicle operation control method and system for a vehicle-dedicated road according to the present invention is such that each vehicle traveling in a row by vehicle-to-vehicle communication can perform short-range wireless communication in the case where vehicle-to-vehicle communication by each vehicle cannot be performed. By using the means, it is intended to enable each vehicle to travel in a row.

[0013]

In order to achieve the above-mentioned object, the invention according to claim 1 is characterized in that, in a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means and run in a row by vehicle-to-vehicle communication. In a vehicle operation control method for operating a vehicle, a step of monitoring the operation status such as each position and speed of each vehicle organized for each platoon at an operation management center equipped with wide area wireless communication means, and operation management For each vehicle, the operation status monitored by the center
A step of communicating by wide area wireless communication means to notify, and a step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication via the operation management center, respectively, When the management center judges that the operation status data signal is abnormal, the operation management center substitutes for the inter-vehicle communication means and causes the wide area wireless communication means to drive each vehicle in a row. A method for controlling vehicle operation on a vehicle-dedicated road is provided.

Therefore, when an abnormality occurs in the inter-vehicle communication means between vehicles traveling in a line while communicating with each other, the wide area wireless communication means managed by the operation management center replaces the inter-vehicle communication means. As a result, it is possible to provide a vehicle operation control method on a vehicle-dedicated road that can control the operation of each vehicle.

In order to achieve the above-mentioned object, the invention according to claim 2 is to drive a plurality of vehicles on a vehicle-dedicated road, each of which is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication. In the vehicle operation control method, the position of each vehicle organized for each platoon,
A step of monitoring the operation status such as speed at an operation management center equipped with a wide area wireless communication means, and the operation status monitored by the operation management center is communicated to each vehicle by the wide area wireless communication means to notify it. While monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication through the operation management center and each vehicle,
When the operation management center determines that there is an abnormality in the operation status data signal, the operation management center replaces the inter-vehicle communication means with a wide area wireless communication means to control each vehicle. In the platoon running, among the vehicles, for vehicles capable of vehicle-to-vehicle communication, a step of transmitting a vehicle-to-vehicle communication permission signal so that vehicle-to-vehicle communication has priority, and a vehicle capable of vehicle-to-vehicle communication, A vehicle operation control method on a vehicle-dedicated road, comprising the step of starting platooning by inter-vehicle communication between vehicles capable of inter-vehicle communication by receiving an inter-vehicle communication permission signal.

Therefore, when an abnormality occurs due to a failure of a specific vehicle traveling in a platoon while performing vehicle-to-vehicle communication, the specific vehicle is transmitted based on the braking command signal transmitted from the operation management center. It is possible to provide a vehicle operation control method on a vehicle-dedicated road for maintaining vehicle-to-vehicle communication for a vehicle that can perform vehicle-to-vehicle communication while controlling vehicle operation.

Further, in order to achieve the above-mentioned object, the invention according to claim 4 is such that, on a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means and run in a row by vehicle-to-vehicle communication, thereby In the vehicle operation control method for operation, a step of monitoring the operation status such as each position and speed of each vehicle organized by platoon at an operation management center equipped with wide area wireless communication means, and the operation management center monitors When the operation status of each vehicle in each platoon is communicated to each vehicle and an abnormality occurs in any of the vehicle-to-vehicle communication means between the vehicles in the platoon, the specific vehicle in which the abnormality has occurred A step of transmitting an abnormality signal to the operation management center, and the operation management center transmits a braking command signal to the specific vehicle by receiving the abnormality signal. Step, the specific vehicle receiving the braking command signal transmits a travelable zone signal for setting a travelable zone of the specific vehicle based on the braking command signal, and receives the travelable zone signal There is provided a vehicle operation control method for a vehicle-dedicated road, wherein the specified vehicle is allowed to travel within a travelable zone.

Therefore, when vehicle-to-vehicle communication is not possible between the vehicles in the platoon, it is possible to provide a vehicle operation control method for a vehicle-dedicated road that allows safe operation by limiting the travel zone to the following vehicles.

In order to achieve the above object, a fifth aspect of the present invention is a vehicle-only road, in which a plurality of vehicles are equipped with vehicle-to-vehicle communication means and run in a row by vehicle-to-vehicle communication to drive a plurality of vehicles. In the vehicle operation control method, the position of each vehicle organized for each platoon,
A step of monitoring the operation status such as speed at an operation management center equipped with a wide area wireless communication means, and the operation status monitored by the operation management center is communicated to each vehicle by the wide area wireless communication means to notify it. While monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication through the operation management center and each vehicle,
Each of the vehicles runs in a platoon, and when the inter-vehicle communication cannot be performed between the vehicles, at least one of the vehicles transmits an abnormal signal indicating that communication is impossible to the operation management center, and the operation management center causes the abnormality signal to be transmitted. The vehicle transmitting the vehicle control signal by the wide area wireless communication means to the vehicle transmitting the information, and the vehicle transmitting the abnormal signal is controlled by the vehicle control signal by the wide area wireless communication means to perform platooning. And a vehicle operation control method for a vehicle-dedicated road.

Therefore, it is possible to provide a vehicle operation control method on a vehicle-dedicated road that allows vehicle platooning to be performed by wide area wireless communication instead of vehicle-to-vehicle communication for vehicles that cannot perform vehicle-to-vehicle communication between vehicles in platooning.

Further, in order to achieve the above-mentioned object, the invention according to claim 6 is such that, on a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means to run in a row by vehicle-to-vehicle communication to drive a plurality of vehicles. In the vehicle operation control method, the position of each vehicle organized for each platoon,
A step of monitoring the operation status such as speed at an operation management center equipped with a wide area wireless communication means, and the operation status monitored by the operation management center is communicated to each vehicle by the wide area wireless communication means to notify it. While monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication through the operation management center and each vehicle,
In the case of an emergency such as when the wide area wireless communication cannot be performed to the specific vehicle due to a failure of the wide area wireless communication, etc., the operation management center identifies the specific vehicle to the vehicle following the specific vehicle. And a step of transmitting a drivable zone signal for temporarily setting a drivable zone on the basis of a position where it is determined that the vehicle has failed, and a vehicle operation control method on a vehicle-dedicated road. To do.

Therefore, it is possible to provide a vehicle operation control method on a vehicle-dedicated road capable of preventing a rear-end collision between the vehicles when the specific vehicle is running in a row and the wide area wireless communication is defective.

Further, in order to achieve the above-mentioned object, the invention according to claim 7 is such that, in a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means to run in a row by vehicle-to-vehicle communication, and a plurality of vehicles are In the vehicle operation control method for operation, a step of monitoring the operation status such as each position and speed of each vehicle organized by platoon at an operation management center equipped with wide area wireless communication means, and the operation management center monitors The step of communicating the operation status to each vehicle by the wide area wireless communication means and notifying the operation status, and the operation status data of each vehicle obtained by the wide area wireless communication via the operation management center are mutually monitored. While
And a step of causing the vehicle to run in parallel, and a step of detecting the actual position of the specific vehicle by a vehicle position detection device using a short-range wireless communication means when wide area wireless communication cannot be performed with respect to the specific vehicle. The method further comprises a step of transmitting the actual position data of the specific vehicle to the operation management center by the narrow range wireless communication means, and a step of temporarily setting a travelable zone on the basis of the actual position data of the specific vehicle. A method for controlling vehicle operation on a vehicle-dedicated road is provided.

Therefore, in the case where the wide area wireless communication for controlling the operation of each vehicle traveling in a line becomes incommunicable, the narrow area wireless communication means is used to prevent a rear-end collision between the respective vehicles on a vehicle dedicated road. A vehicle operation control method can be provided.

In order to achieve the above-mentioned object, the invention according to claim 8 is to drive a plurality of vehicles on a vehicle-dedicated road, each of which is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication. In the vehicle operation control method, the position of each vehicle organized for each platoon,
A step of monitoring the operation status such as speed at an operation management center equipped with a wide area wireless communication means, and the operation status monitored by the operation management center is communicated to each vehicle by the wide area wireless communication means to notify it. Steps, while monitoring the operation status data of each vehicle obtained by the wide area wireless communication via the operation management center, mutually driving each vehicle in a row, and a specific vehicle among a plurality of vehicles running in a row , A step of entering a branch road provided in the middle of a vehicle-dedicated road, a step of being detected by a wide-area wireless communication means provided on the roadside when a specific vehicle enters the branch road, and this wide-area wireless communication Transmitting the information detected by the means to the operation management center by the wide area wireless communication means, and the operation management center And informing that a specific vehicle that has entered the branch road has left the platoon, and if a vehicle running in the platoon has entered the specific vehicle or the branch road, the following vehicle of this specific vehicle Provided is a vehicle operation control method on a vehicle-dedicated road, which is capable of newly traveling in a row with respect to a preceding vehicle of the vehicle.

Therefore, when a part of each vehicle traveling in a row by vehicle-to-vehicle communication enters a branch road of one road, the following vehicle of the entered vehicle follows the preceding vehicle of the vehicle, It is possible to provide a vehicle operation control method on a vehicle-dedicated road that can maintain inter-vehicle communication by running a new platoon.

Further, in order to achieve the above object, the invention according to claim 9 is such that, on a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a row by vehicle-to-vehicle communication to drive a plurality of vehicles. In the vehicle operation control method, the position of each vehicle organized for each platoon,
A step of monitoring the operation status such as speed at an operation management center equipped with a wide area wireless communication means, and the operation status monitored by the operation management center is communicated to each vehicle by the wide area wireless communication means to notify it. Steps, while mutually monitoring the operation status data of each vehicle obtained by the wide area wireless communication via the operation management center, the step of running each platoon, a specific vehicle of the plurality of vehicles running platoon A step of entering a bypass road provided in the middle of a vehicle-dedicated road, a step of detecting a specific vehicle entering the bypass road by a narrow area wireless communication means provided on the road side, and a step of detecting the narrow area. The step of transmitting the information detected by the wireless communication means to the operation management center by the narrow area wireless communication means, and the operation management center For both, the particular vehicle that has entered into the bypass passage is to provide a vehicle operation control method for a vehicle-only road, characterized by comprising a step of notifying that an off-ranks.

Therefore, when a part of each vehicle traveling in a platoon by inter-vehicle communication enters a bypass road of one road, a succeeding vehicle of the entered vehicle follows the preceding vehicle of the vehicle, It is possible to provide a vehicle operation control method on a vehicle-dedicated road that can maintain inter-vehicle communication by running a new platoon.

Further, in order to achieve the above-mentioned object, the invention according to claim 11 is such that, on a vehicle-dedicated road, a plurality of vehicles are equipped with vehicle-to-vehicle communication means and run in a row by vehicle-to-vehicle communication, thereby In the vehicle operation control method to operate, a step of monitoring the operation status such as each position and speed of each vehicle organized for each platoon at an operation management center equipped with a narrow area wireless communication means, and an operation management center For each vehicle, the operation status monitored by
A step of transmitting by a narrow area wireless communication means to notify, and a step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the narrow area wireless communication means via the operation management center. And, when the operation management center determines that it is abnormal based on the operation status data, a step of causing each vehicle to run in a row by the short range wireless communication means instead of the inter-vehicle communication means. And a vehicle operation control method on a vehicle-dedicated road.

Therefore, each vehicle traveling in a platoon by vehicle-to-vehicle communication is dedicated to a vehicle in which each vehicle can travel in a platoon by utilizing the short-range wireless communication means in the case where the vehicle-to-vehicle communication by each vehicle cannot be performed. A vehicle operation control method on a road can be provided.

In order to achieve the above-mentioned object, the invention according to claim 12 is such that a plurality of vehicles are equipped with vehicle-to-vehicle communication means and run in a row by vehicle-to-vehicle communication to drive a plurality of vehicles on a vehicle-dedicated road. In the vehicle operation control system, a wide area wireless communication means for monitoring the operation status of each of the plurality of vehicles by wide area wireless communication, and the wide area wireless communication means include all vehicles that travel on a vehicle dedicated road. On the other hand, an operation management center provided to enable wide area wireless communication, and provided in the operation management center, by the wide area wireless communication, while receiving operation status data signals from the plurality of vehicles, to the plurality of vehicles, A vehicle operation control system on a vehicle-dedicated road, comprising: a data signal processing unit capable of transmitting an operation information data signal. To provide.

Therefore, in the case where an abnormality occurs in the inter-vehicle communication means between vehicles traveling in a row while performing inter-vehicle communication, the wide area wireless communication means managed by the operation management center replaces the inter-vehicle communication means. Thus, it is possible to provide a vehicle operation control system on a vehicle-dedicated road capable of controlling the operation of each vehicle.

In order to achieve the above object, the invention according to claim 13 is to drive a plurality of vehicles on a vehicle-dedicated road, in which the plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a row by vehicle-to-vehicle communication. In the vehicle operation control system, a wide area wireless communication means for monitoring the operation status of each of the plurality of vehicles by wide area wireless communication, and the wide area wireless communication means include all vehicles that travel on a vehicle dedicated road. On the other hand, an operation management center provided to enable wide area wireless communication, and provided in the operation management center, by the wide area wireless communication, while receiving operation status data signals from the plurality of vehicles, to the plurality of vehicles, A data signal processing unit capable of transmitting an operation information data signal and a plurality of vehicles, which are provided in each vehicle and cannot communicate with each other, To provide a vehicle operation control system in a vehicle-only road, characterized by comprising a vehicle communication apparatus having an abnormality A signal generator to transmit an abnormality signal not communicate to the operation management center from at least one.

Therefore, it is possible to provide a vehicle operation control method on a vehicle-dedicated road that allows vehicle platooning by wide-area wireless communication instead of vehicle-to-vehicle communication for vehicles that cannot perform vehicle-to-vehicle communication between vehicles in platooning.

Further, in order to achieve the above-mentioned object, the invention according to claim 14 is to drive a plurality of vehicles on a vehicle-dedicated road, in which the vehicles are equipped with vehicle-to-vehicle communication means to run in a row by vehicle-to-vehicle communication. In the vehicle operation control system, a wide area wireless communication means for monitoring the operation status of each of the plurality of vehicles by wide area wireless communication, and the wide area wireless communication means include all vehicles that travel on a vehicle dedicated road. On the other hand, an operation management center provided to enable wide area wireless communication, and provided in the operation management center, by the wide area wireless communication, while receiving operation status data signals from the plurality of vehicles, to the plurality of vehicles, The data signal processing unit capable of transmitting the operation information data signal and the wide area wireless communication means are broken, and the operation information data is transmitted to each vehicle. In this case, a vehicle operation control system on a vehicle-dedicated road is provided, which comprises: a narrow-range wireless communication unit having a data signal processing unit having a vehicle position detection function for detecting the actual position of the vehicle. .

Therefore, in the case where the wide area wireless communication for controlling the operation of each vehicle traveling in a row becomes incommunicable, the narrow area wireless communication means is used to prevent the rear-end collision between the respective vehicles on the vehicle exclusive road. A vehicle operation control system can be provided.

In order to achieve the above-mentioned object, the invention according to claim 15 is to drive a plurality of vehicles on a vehicle-dedicated road, each of which is equipped with vehicle-to-vehicle communication means to run in a row by vehicle-to-vehicle communication. In the vehicle operation control system, a wide area wireless communication means for monitoring the operation status of each of the plurality of vehicles by wide area wireless communication, and the wide area wireless communication means include all vehicles that travel on a vehicle dedicated road. In contrast, an operation management center provided for wide area wireless communication is provided, and this operation management center is provided, and receives operation status data signals from the plurality of vehicles by the wide area wireless communication and , A data signal processing unit capable of transmitting an operation instruction data signal, and a specific vehicle among a plurality of vehicles traveling in a platoon are in the middle of a vehicle-dedicated road. A vehicle on a vehicle-dedicated road, characterized by including a narrow-range wireless communication means for detecting a vehicle that has entered when entering a double-sided branch road or a bypass road and transmitting an operation status data signal to the operation management center. An operation control method system is provided.

Therefore, when a part of each vehicle traveling in a platoon by inter-vehicle communication enters a branch road of one road, the following vehicle of the entered vehicle follows the preceding vehicle of the vehicle, It is possible to provide a vehicle operation control method on a vehicle-dedicated road that can maintain inter-vehicle communication by running a new platoon.

Further, in order to achieve the above-mentioned object, the invention according to claim 16 is characterized in that a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a row by vehicle-to-vehicle communication in a vehicle-dedicated road. In a vehicle operation control system for operating the vehicle, each position of the plurality of vehicles,
A narrow area wireless communication means for monitoring the operating conditions such as speed by road-to-vehicle communication, and this narrow area wireless communication means is provided with an operation management center capable of road-to-vehicle communication for all vehicles traveling on a vehicle dedicated road. And provided in this operation management center, by the road-to-vehicle communication, receives operation status data signals from the plurality of vehicles, and to the plurality of vehicles,
There is provided a vehicle operation control system for a vehicle exclusive road, comprising: a data signal processing unit capable of transmitting an operation instruction data signal.

Therefore, each vehicle traveling in a row by vehicle-to-vehicle communication is a vehicle dedicated to vehicles that can travel in a row by using the short-range wireless communication means when the vehicle-to-vehicle communication by each vehicle becomes impossible. A vehicle operation control method on a road can be provided.

[0041]

1 to 3 show the outline of an embodiment of a vehicle operation control system for a vehicle dedicated road according to the present invention.

This embodiment will be described below with reference to the drawings.

A plurality of vehicles 2a to 2c on the vehicle dedicated road 1
Is running in a row (only one lane is shown for convenience of explanation).

Although other platoons and vehicles traveling alone are also present on the vehicle-dedicated road 1, in FIG.
3 to 2c exemplify a group of trains in which three vehicles form a train and a preceding vehicle 2n traveling alone in front of the train.

The three platoons of the respective vehicles 2a to 2c are assembled in order to efficiently and safely run as a platoon while communicating with each other while traveling.

Each of the vehicles 2a to 2c in this platoon is provided with an inter-vehicle communication means 10 so that they can communicate with each other while maintaining a predetermined inter-vehicle distance.

By these vehicle-to-vehicle communication means 10 mutually,
It is mainly provided with a function of controlling safe traveling, such as preventing a rear-end collision between the vehicles 2a to 2c traveling in a row.

An operation management center 3 described later is provided to constantly monitor the operation status of the vehicles 2a to 2c based on the vehicle information by the inter-vehicle communication between the vehicles 2a to 2c.

Each of the vehicles 2a to 2c has a head vehicle 2a as a head, and an intermediate vehicle 2b connected in the middle and a rear vehicle 2c located at the rear are configured as one row.

The preceding vehicle 2n is a vehicle that has left a platoon different from the platoon consisting of the nuclear vehicles 2a to 2c, or is a vehicle that is traveling alone.

These vehicles 2a to 2c and 2n are shown in FIG.
And it demonstrates in more detail with reference to FIG.

Since the vehicles 2a to 2c and 2n have the same configuration, the vehicle-to-vehicle communication means 10 provided in the leading vehicle 2a will be described below.

The front vehicle 2a is provided with an inter-vehicle communication device 11 having a front communication antenna 11a and a rear communication antenna 11b for inter-vehicle communication at its front and rear portions.

The inter-vehicle communication device 11 is provided with a data processing section 18 and a transmission / reception section 22.
As shown in FIG. 3, it has a transmitter 22a and a receiver 22b.

One of the transmitters 22a is a communication line 23.
Is connected to the data processing unit 18 via the communication line 24 and the other side is connected to the front communication antenna 11a via the communication line 24.

The communication line 24 is used to transmit the forward transmission inter-vehicle communication data signal a1 from the data processing unit 18 to the transmission unit 22a of the transmission / reception unit 22.

One of the receiving units 22b is the communication line 2
5 is connected to the data processing unit 18, and the other is connected to the backward communication antenna 11b via the communication line 26.

This communication line 25 receives the backward transmission inter-vehicle communication data signal n2 from the preceding vehicle 2n (see FIG. 1) received by the reception section 22b of the transmission / reception section 22 and transmits it to the data processing section 18. belongs to.

The backward transmission inter-vehicle communication data signal n2 from the preceding vehicle 2n is sent to the leading vehicle 2a in order to prevent a rear-end collision when the leading vehicle 2a located behind the preceding vehicle 2n abnormally approaches. The data including the warning data information is transmitted.

The forward transmission inter-vehicle communication data signal a1
The backward transmission vehicle-to-vehicle communication data signal n2 is vehicle-to-vehicle communication with the preceding vehicle 2n traveling in front of the leading vehicle 2a.

On the other hand, in the relationship with the intermediate vehicle 2b in the same formation as seen from the leading vehicle 2a, the rear communication antenna 11b of the leading vehicle 2a is the same as the vehicle-to-vehicle communication relationship between the leading vehicle 2a and the preceding vehicle 2n. The vehicle-to-vehicle communication data signal a2 for rearward transmission is transmitted to the intermediate vehicle 2b located rearward.

This backward transmission inter-vehicle communication data signal a2
When the intermediate vehicle 2b receives, the vehicle control PC 12 can instantly analyze the inter-vehicle distance and the speed data of the leading vehicle 2a.

As a result, the leading vehicle 2a can travel while starting braking.

On the contrary, when the inter-vehicle distance becomes long, the vehicle is accelerated to the proper inter-vehicle distance, and it is possible to maintain the proper inter-vehicle distance.

The front transmission inter-vehicle communication data signal a1 and the rear transmission inter-vehicle communication data signal a2 are:
In addition to a warning for preventing a rear-end collision, an operation status data signal e indicating the operation status of the leading vehicle 2a itself is included.

Such an operation status data signal e is sent to the leading vehicle 2 even in the other intermediate vehicles 2b and the trailing vehicle 2c.
Similarly to a, the vehicle-to-vehicle communication data signal b1 for forward transmission, the vehicle-to-vehicle communication data signal for backward transmission b2, the vehicle-to-vehicle communication data signal for forward transmission c1 and the vehicle-to-vehicle communication data signal for backward transmission c2 are included in the data signals to be communicated between vehicles.

The operation status data signal e is transmitted between the vehicles 2a to 2c in the same platoon.
The data obtained by ~ 2c are communicated.

Further, the system is constructed so that the operation status data signal e of each of the vehicles 2a to 2c is transmitted from each of the vehicles 2a to 2c to the operation management center 3 via the wide area wireless communication means 4. .

The operation management center 3 is connected to each of the vehicles 2
Based on the data information obtained from a to 2c, each vehicle 2
In the event of an abnormality such as a failure in vehicle-to-vehicle communication in a to 2c, data transmission such as operation control can be performed for each vehicle 2a, 2b and 2c for the purpose of performing emergency operation control as needed. There is.

Further, the operation management center 3 can perform data communication with each of the vehicles 2a to 2c in place of the inter-vehicle communication means 10 described above.

The wide area wireless communication means 4 is, for example, W-CDM.
A (Wideband-Code Division M)
multiple access: next generation mobile phone system)
Large-capacity data communication is possible by using wide area wireless communication a.

Wide-area wireless a according to this W-CDMA system
Has a wide bandwidth of, for example, 5 MHz and uses a wide transmission band, so that it is possible to perform high-speed transmission of large-capacity data, still images, and moving images in addition to voice.

Focusing on the fact that the wide area wireless communication means 4 is capable of large-capacity data communication, the inter-vehicle communication means 10
When a failure occurs (including a case where one of the vehicles 2a to 2c fails), the wide-area wireless communication means 4 can be temporarily replaced, or a part thereof can be replaced. ing.

This wide area radio a is relayed by a plurality of ground stations 6a to 6n arranged along the road side of the vehicle dedicated road 1 at required intervals, for example, several kilometers apart, and data for each of the vehicles 2a to 2c. Used for communication.

As described above, since the ground stations 6b to 6n are installed on the roadside, the environment for wide area wireless communication is prepared and good communication characteristics for the vehicles 2a to 2c can be maintained.

Each of the vehicles 2a to 2c can receive the wide area radio a via the wide area communication vehicle-mounted terminal 13 and can send various received data to the vehicle-to-vehicle communication means 10.

The vehicle-to-vehicle communication means 10 is constructed as shown in FIG. 2. For example, the vehicle-to-vehicle communication device 11 having communication antennas 11a and 11b is provided at the front and rear of the leading vehicle 2a, and the vehicle-to-vehicle communication device 10 is provided at the rear. Vehicle-to-vehicle communication can be performed via the communication antenna 11b with respect to the intermediate vehicle 2b located at.

Further, the preceding vehicle 2n located ahead is a vehicle that is not in the same formation as the vehicles 2a to 2c, and vehicle-to-vehicle communication is performed until the vehicle 2n reaches a position where vehicle-to-vehicle communication with the leading vehicle 2a is possible. Not done.

As shown in FIG. 1, the inter-vehicle communication device 11 of the leading vehicle 2a is for the rear intermediate vehicle 2b, and the inter-vehicle communication device 11 of the intermediate vehicle 2b is for the rear trailing vehicle 2c.
On the other hand, the inter-vehicle communication signal b is used which is suitable for transmitting and receiving, for example, a radio wave such as a millimeter wave in the 2.4 GHz band.

A vehicle control PC is installed in each vehicle such as the leading vehicle 2a.
The vehicle control PC 12 includes a vehicle-to-vehicle communication device 11, a wide area communication vehicle-mounted terminal 13, a vehicle drive control device 14 and a GPS (Global Po).
The positioning system 15 is connected via communication lines 16a to 16d, respectively.

As shown in FIG. 2, the inter-vehicle communication device 11 and the vehicle control PC 12 of the leading vehicle 2a are connected to the vehicle control PC 12 through the data processing unit 18 of the inter-vehicle communication device 11 via the communication line 16a. It is connected to the wide area communication vehicle-mounted terminal 13 via the communication line 16e.

Both drive control devices 14 accelerate and decelerate the vehicle based on the inter-vehicle communication signal b received via the vehicle dedicated road 1 and the wide area communication vehicle-mounted terminal 13 and the operation status data signal e obtained from the wide area radio a. It works to control the drive of the etc.

From the inter-vehicle communication device 11 to the communication line 16
The operation status data signal e transmitted to the vehicle control PC 12 via a is the operation status such as the traveling speed (Km / h) of the leading vehicle 2a equipped with the inter-vehicle communication device 11 and the preceding vehicle obtained by the inter-vehicle communication. 2n and the intermediate vehicle 2b are inter-vehicle distances (m) and other operational data.

The GPS 15 is mounted on each of the vehicles 2a to 2c and 2n to obtain the positioning division of each of the vehicles 2a to 2c and 2n. Positioning data obtained from each of the vehicles 2a to 2c and 2n is obtained. , Used for controlling the vehicle by the wide area wireless communication means 4.

The inter-vehicle communication device 11 of the leading vehicle 2a includes a data processing unit 18 connected to the communication antennas 11a and 11b via communication lines 26 and 24.

Therefore, the data processing unit 18 transmits the forward transmission inter-vehicle communication data signal a1 and the rear transmission inter-vehicle communication data signal a2 which are transmitted by the front communication antenna 11a and the rear communication antenna 11b.
It is designed to be sent via.

At the same time, the front communication antenna 11a and the rear communication antenna 11b of the lead vehicle 2a receive the rear-to-vehicle communication data signal n2 and the front-to-vehicle communication data signal b1 from the preceding vehicle 2n and the intermediate vehicle 2b, respectively. The data processing section 18 receives the data and processes the data via the communication lines 26 and 24.

Similarly, in the intermediate vehicle 2b, the leading vehicle 2a traveling in the front and the trailing vehicle 2c traveling in the rear.
In contrast, the inter-vehicle communication data signal for forward transmission b1
And an inter-vehicle communication data signal b2 for backward transmission,
Further, the rear transmission vehicle-to-vehicle communication data signal a2 and the front transmission vehicle-to-vehicle communication data signal c1 can be received from the leading vehicle 2a and the tail vehicle 2c, respectively.

The communication with the preceding vehicle 2n is performed when the leading vehicle 2a reaches the preceding vehicle 2n within a vehicle-to-vehicle distance in which vehicle-to-vehicle communication is possible, and cannot communicate with each other under normal conditions.

The data processing unit 18 of the leading vehicle 2a performs the above-mentioned data processing to generate an operating status data signal e embodying the operating status of the leading vehicle 2a as data.

The data processing unit 18 uses the generated head vehicle 2
The operation status data signal e of a is output to the vehicle control PC 12 via the communication line 16a and directly to the wide area communication vehicle-mounted terminal 13 via the communication line 16b.

The vehicle control PC 12 of the leading vehicle 2a transmits a vehicle driving control data signal f obtained by converting the data for driving control of the leading vehicle 2a to the vehicle driving control device 14 via the communication line 16c. It is supposed to do.

The vehicle drive control device 14 can control the drive of the leading vehicle 2a based on the vehicle drive control data signal f.

The vehicle drive controller 14 controls the vehicle control P.
The vehicle control data signal f from C12 is transmitted to the communication line 16c.
In order to reasonably maintain the inter-vehicle distance to the intermediate vehicle 2b and the preceding vehicle 2n, the vehicle has a function of controlling operation such as acceleration and deceleration of the leading vehicle 2a itself.

The vehicle drive control data signal f is a data signal data-converted for vehicle drive based on the operation status data signal e.

Here, for example, if the traveling speed of the leading vehicle 2a becomes lower than the normal speed, the operation status data signal e generated by the vehicle control PC 12 of the leading vehicle 2a from the operation management center 3 is generated. In wide area wireless a,
The data is transmitted to the intermediate vehicle 2b and the rear vehicle 2c of the vehicles running in the same row, so that the drive control is performed to prevent a rear-end collision between the vehicles 2a to 2c.

Further, for example, the preceding vehicle 2n operating in another platoon or a single vehicle is operated by each vehicle 2 in the platoon described above.
Similar to the operation control of a to 2c, the operation management center 3 independently controls the operation.

The operation management center 3 determines whether or not the vehicle-to-vehicle communication can function normally, and determines whether the vehicle-to-vehicle communication data signals a1, b1, and c1, and the vehicle-to-vehicle communication for backward transmission are transmitted from the vehicles 2a to 2c. Based on any of the data signals a2, b2, and n2, the data capacity is constantly checked, and it can be determined that the device is functioning normally if it is equal to or less than a specified value that enables vehicle-to-vehicle communication.

Since this judgment is made,
The operation management center 3 transmits each vehicle 2a to 2c or another platoon or a vehicle operation status data signal e that is traveling independently to all the vehicles 2a to 2c and 2n that are traveling on the vehicle dedicated road 1, and the inter-vehicle distance between the platoon traveling. Operation control can be performed in combination with communication.

When a particular vehicle, such as the intermediate vehicle 2b, has a malfunction such as a brake or an engine during normal platooning, the intermediate vehicle 2b transmits an abnormal signal n to the operation management center 3. , The operation management center 3
Can immediately analyze the operation status data signal e obtained from the intermediate vehicle 2b and determine whether or not it is abnormal.

The operation management center 3 is provided for each of the vehicles 2a to 2c.
When it is determined that the operation status data signal e transmitted from the vehicle has an abnormality, the wide area wireless communication unit 4 grasps the status indicated by the operation status data signal e, and detects all the vehicles traveling on the vehicle dedicated road 1. Thus, the vehicle control signal k for slowing down, stopping, etc. can be transmitted.

The vehicle control signal k is a signal capable of designating a travelable distance calculated in advance so as not to cause a rear-end collision based on the position of each vehicle at the time when it is determined that the operation status data signal e is abnormal. Is.

In this way, it is possible to temporarily prevent accidents such as rear-end collisions.

Next, after the above measures are taken, the operation can be controlled by the wide area wireless communication means 4 in place of the inter-vehicle communication means 10.

In this substitution, for example, a signal system means can be used to substitute for the abnormal signal n transmitted from the specific vehicle.

Further, in a specific vehicle running in a row,
When the specific vehicle independently recognizes the failure, the inter-vehicle communication permission signal 1 for prioritizing the inter-vehicle communication is sent to the intermediate vehicle 2a and the rear vehicle 2c for the intermediate vehicle 2b and the rear vehicle 2c which are not the failed vehicles. By transmitting the information to the two vehicles 2b to 2c, it is possible to continue the operation by the inter-vehicle communication.

Therefore, the inter-vehicle communication permission signal 1 can be included in the vehicle control signal k and transmitted to the specific vehicle in which the failure is recognized.

In order to cope with safe operation, the vehicle-to-vehicle communication means 10 is more responsive than the wide-area wireless communication means 4 and has high reliability in communication so as to avoid an accident such as a rear-end collision as much as possible. Is.

Furthermore, when a failure occurs in a vehicle-to-vehicle communication system of a specific vehicle among the vehicles 2a to 2c that are running in a platoon, for example, the leading vehicle 2a, the leading vehicle 2a sends an abnormal signal n to the operation management center 3 Will be sent to.

The operation management center 3 analyzes the abnormal signal n transmitted from the specific vehicle and transmits the braking command signal x corresponding to safe driving to the leading vehicle 2a.

This braking command signal x has a signal system so that the wide area wireless communication means 4 can operate in place of the vehicle-to-vehicle communication means 10 in response to the fact that the vehicle-to-vehicle communication cannot be performed only to the specific vehicle. It is for connecting.

The operation management center 3 which has received the abnormal signal n can activate the wide area wireless communication means 4 and substitute the vehicle-to-vehicle communication means 10 for operation control.

This operation control is performed by adding the vehicle control signal k to the wide area radio a transmitted from the operation management center 3, and the vehicle control PC 12 receives the vehicle control signal k to drive and control the vehicle control device 14. .

When the wide area wireless communication means 4 controls the operation of each of the vehicles 2a to 2c at the operation management center 3, for example, when the wide area communication vehicle-mounted terminal 13 of the leading vehicle 2a fails, the inter-vehicle communication is possible. When the communication device 11 breaks down and communication becomes impossible, the current position is assumed based on the position of the lead vehicle 2a so that the vehicle can travel safely.

That is, when the leading vehicle 2a fails during platooning, the time and place of the failure are specified, and the above assumptions are made with respect to the other vehicles 2b and 2c and vehicles approaching from other platoons. Measures are taken to prevent the vehicle from entering the position of (1), and it is possible to prevent a collision with the failed leading vehicle 2a.

In addition, each vehicle 2 by the operation management center 3
When the wide area wireless communication means 4 for a to 2c is activated, for example, when the wide area communication vehicle-mounted terminal 13 of the lead vehicle 2a fails at a point A of the vehicle dedicated road 1, for example, the lead vehicle 2a at the time of the failure. It is possible to set the current position based on the point A and set the travelable zone B of the intermediate vehicle 2b.

When setting the travelable zone B, the operation management center 3 sets
This is done by transmitting a runnable zone signal m.

This drivable zone B is the minimum distance (m) that can prevent the rear-end collision of the intermediate vehicle 2b from the leading vehicle 2a.

Next, the operation status data signal e described above will be described in more detail. From the intermediate vehicle 2b to the leading vehicle 2a.
The forward transmission inter-vehicle communication data signal b1 transmitted to
The data processing unit 18 converts the data into an operation status data signal e and directly transmits it to the wide area communication vehicle-mounted terminal 13 via the line 16e.
The information is transmitted to the operation management center 3 via a.

The operation management center 3 immediately sends the operation status data signal e to another intermediate vehicle 2b and the tail vehicle 2c.
It is designed to be sent to.

The intermediate vehicle 2 is the same as the leading vehicle 2a described above.
Each operation status data signal e obtained by b and 2c
Can share such information (operation status data) with the leading vehicle 2a.

Therefore, the vehicle drive control device 14 of each of the vehicles 2b and 2c is determined for each of the vehicles 2b and 2c based on the operation status data signal e obtained by each of the vehicles 2b and 2c, like the leading vehicle 2a. Drive control will be performed so that optimum driving conditions and safe driving conditions are achieved.

The data signal processing unit 3 of the operation management center 3
a is one operation information which integrates the respective operation status data signals e transmitted from the respective vehicles 2b to 2c and transmits them to other formations traveling on the vehicle exclusive road 1 or vehicles traveling alone. The data signal h can be generated.

Therefore, on the basis of the operation information data signal h, it is possible to provide operation information governing the safe operation of all vehicles running on the vehicle dedicated road 1.

The operation information data signal h is sent to the data signal processing unit 3a of the operation management center 3 in accordance with the total number of vehicles and the total number of vehicles including the vehicles 2a to 2c and 2n traveling on the vehicle dedicated road 1. It is the original data that promotes rational and efficient operation.

Next, the preceding vehicle 2n is, for example, the leading vehicle 2
The following description will be given on the assumption that the vehicle is approaching a, and the vehicle-to-vehicle communication distance is approaching.

It is judged that the vehicles are to be incorporated in the same platoon at the stage where the vehicle-to-vehicle communication is within the predetermined range, and the operation management center 3 comprehensively based on the operation status data signals e obtained from the front and rear vehicles. It is judged and decided.

If the preceding vehicle 2n traveling alone ahead of the leading vehicle 2a approaches with deceleration, for example, and is incorporated into the same formation as the formation in which the leading vehicle 2a is the leading vehicle,
This preceding vehicle 2n is treated as a new formation of four cars with the leading vehicle.

Thus, the preceding vehicle 2n is the leading vehicle 2a.
When the possibility of a rear-end collision comes close to the vehicle, the operation management center 3 takes measures to incorporate it into the same platoon.

As a result, the operation management center 3 manages the operation so that a group of trains traveling on the same vehicle exclusive road 1 can operate reasonably and efficiently on the vehicle exclusive road 1.

Further, an operation status data signal e transmitted during normal operation from each of the vehicles 2a to 2c traveling in a platoon and an abnormality signal n transmitted from the vehicle when an abnormality occurs in a particular vehicle are received and based on these signals. In addition, a comprehensive judgment is made to manage the operation of each vehicle.

According to the embodiment shown in FIG. 1 described above, the wide area wireless communication means 4 is adapted to contribute to the integrated operation of all the platoons and the vehicles traveling on the vehicle exclusive road 1. Instead of the communication means 4, it is also possible to adopt a terrestrial beacon communication means applied to the short-range wireless communication generally applied to the road-vehicle communication.

In this case, the data signal processing unit 3a of the operation management center 3 can transmit the actual position of the faulty vehicle to other vehicles in the line including each vehicle.

This kind of ground beacon communication means will be described with reference to another embodiment shown in FIG. 6 which will be described later. If the pillars are installed at a predetermined distance on the road side, a narrow area is provided at the tip of the pillar. A wireless communication antenna may be provided to transmit to a vehicle traveling on a road.

On the other hand, on the vehicle side, a vehicle equipped with a receiving antenna can receive by passing through the narrow-range wireless communication antenna section.

This ground beacon communication means 31 can also be used as an existing one provided for controlling a traffic signal corresponding to an emergency vehicle, for example.

Therefore, based on the operation monitoring by the operation management center 33 of the ground beacon communication means 31, each of the vehicles 2a to 2c is temporarily set at the stage of returning to the normal operation state by the inter-vehicle communication. The setting of the travelable zone B can be canceled.

Then, the current position of the leading vehicle 2a is changed to a new forward transmission inter-vehicle communication data signal a1, b1 and c.
1. By transmitting / receiving to / from each of the vehicles 2a to 2c by the backward transmission inter-vehicle communication data signals a2 and b2,
It is possible to return to the original normal state.

The above description is centered on the leading vehicle 2a.

The intermediate vehicle 2b and the rear vehicle 2c have the same function, and the description thereof will be omitted.

In the embodiment of the present invention described above,
According to the vehicle operation control system on the vehicle dedicated road,
As shown in FIGS. 1 and 2, the GPS 15 mounted on each of the vehicles 2a to 2n is capable of constantly measuring the position of each of the vehicles 2a to 2n and can be used as a so-called car navigation system. .

In the case of the preceding vehicle 2a, this GPS 15 is
Positioning data signal g acquired from the GPS antenna 15a
Is always transmitting data to the vehicle control PC 12 via the communication line 16d connected to the vehicle-to-vehicle communication means 10, and is used as one data of the vehicle-to-vehicle communication data signal a1 for forward transmission and the vehicle-to-vehicle communication data signal a2 for backward transmission. You can

That is, the positioning data of the preceding vehicle 2a obtained by the GPS 15 can be used as control data for acceleration / deceleration of the preceding vehicle 2a.

The structure of each of the vehicles 2b, 2c and 2n is the same as the structure of the leading vehicle 2a described above, and therefore the description thereof is omitted.

Next, each of the vehicles 2a to 2c is equipped with an inter-vehicle communication device 11 to travel along the vehicle-dedicated road 1 in a row, while the vehicle operation control system for the vehicle-dedicated road 1 employing the wide area wireless communication means 4 is used. 1 will be described in detail with reference to FIG. 4, in which the same parts as those in FIG.

A branch road 1a is provided in the middle of the vehicle-dedicated road 1 (only one lane is shown for convenience of explanation), and among the vehicles 2a to 2c traveling in a row, the branch road 1a is provided to the branch road 1a.
For example, it is assumed that the intermediate vehicle 2b leaves the formation and enters the branch road 1a.

Each of the plurality of vehicles 2a to 2c traveling in a row is
As shown in FIG. 2, vehicle-to-vehicle communication means 10 is installed, and the vehicles 2a to 2c operate by vehicle-to-vehicle communication.

On the other hand, the wide area wireless communication means 4 is adopted as a communication means between each of the vehicles 2a to 2c and the operation management center 3.

In the wide area wireless communication means 4, the intermediate vehicle 2b among the vehicles 2a to 2c traveling in a row is the branch road 1a.
When the control to enter is performed, the control information is simultaneously transmitted to the vehicles 2a to 2c by the wide area radio a.

The wide area wireless communication means 4 for controlling the communication between the operation management center 3 and the vehicles 2a to 2c is shown in FIG.
Since the configuration is the same as that in 1, the description will be omitted.

Further, the wide area wireless communication means 4 shown in FIG.
Another embodiment of the vehicle operation control system 4 on the vehicle dedicated road 1 adopting the above will be described in detail with reference to FIG. 5 in which the same parts as those in FIG.

The vehicle operation control system shown in this embodiment is an embodiment in which a bypass 1b is provided in contrast to the branch 1a in the embodiment shown in FIG.

A bypass road 1b is provided in the middle of the vehicle-dedicated road 1 (only one lane is shown for convenience of description), and a plurality of vehicles 2a traveling in a row are provided on the bypass road 1b.
It is assumed that one of the vehicles 2 to 2c (intermediate vehicle 2b) leaves the platoon and enters the bypass road 1b.

Each of the vehicles 2a to 2c traveling in a row is equipped with vehicle-to-vehicle communication means 11 as shown in FIG.
The operation is performed by the inter-vehicle communication using the inter-vehicle communication signal b by each of the vehicles 2a to 2c.

This formation running is the same as the configuration shown in FIG. 4, and therefore its explanation is omitted.

Each of the vehicles 2a to 2c traveling in a platoon performs the wide area wireless communication a by the wide area wireless communication means 4 so that the operation state of each of the vehicles 2a to 2c is transmitted to the operation management center 3 via the ground station 6a. We are using.

The wide area wireless communication means 4 for controlling the communication between the operation management center 3 and the vehicles 2a to 2c is shown in FIG.
Since the configuration is the same as that in 1, the description will be omitted.

The operation of the above embodiment will be described below.

The operation status data signal e obtained by data processing of the operation control information in accordance with the operation control of the leading vehicle 2a is used as a front transmission inter-vehicle communication data signal a1 and a rear transmission inter-vehicle communication data signal a2. Via the front communication antenna 11a and the rear communication antenna 11b,
It transmits to the intermediate vehicle 2b.

At the same time, the leading vehicle 2a comprehensively analyzes the respective data of the backward transmission inter-vehicle communication data signal n2 received from the forward transmission inter-vehicle communication data signal a1 and the vehicle control PC 12, As a result of the analysis,
The wide-area communication in-vehicle terminal 13 uses the obtained change in the operating status of the leading vehicle 2a itself as the operating status data signal e every moment.
Is transmitted to the operation management center 3 via.

In the intermediate vehicle 2b as well, simultaneously with the lead vehicle 2a, the change in the operation status is transmitted to the operation management center 3 via the wide area communication vehicle-mounted terminal 13 as an operation status data signal e from moment to moment.

Data signal processing unit 3 of operation management center 3
a is one operation information which integrates the respective operation status data signals e transmitted from the respective vehicles 2b to 2c and transmits them to other formations traveling on the vehicle exclusive road 1 or vehicles traveling alone. Generate a data signal h.

The generated operation information data signal h is
It is transmitted from the operation management center 3 to all vehicles (including the own vehicle) traveling on the vehicle dedicated road 1 by the wide area radio a.

All of the vehicles that have received the operation information data signal h travel while grasping the operation status of all the vehicles that are running in the platoon momentarily by the operation information data signal h.

When the preceding vehicle 2n traveling alone ahead is traveling a predetermined distance from the row of vehicles 2a to 2c, inter-vehicle communication is not performed.

[0166] When approaching a predetermined distance, the operation management center 3 considers that the vehicles are included in the same platoon and considers each vehicle 2a to
It will be treated as a row of four vehicles, 2c and 2n.

When the vehicles are handled by the same platoon, four vehicles are regarded as one set of vehicles, and the vehicles travel integrally.

Next, when the operation management center 3 judges that there is some abnormality in the operation status data signal e received from each vehicle 2a to 2c that is running in a row, the operation management center 3 is in a wide area. Each vehicle 2a independently by radio a
A vehicle control signal k is transmitted to ~ 2c and 2n.

By this transmission, each of the vehicles 2a to 2c receives the vehicle control signal k and travels within a predetermined vehicle control range for the purpose of safe traveling in units of platoon.

That is, each of the vehicles 2a to 2c obtains the position of each own vehicle using the positioning data signal g by the GPS 15 to perform braking required for stopping or slowing down within the predetermined vehicle control range. The vehicle drive control is performed based on the vehicle drive control data signal f corresponding to the degree of.

If only a specific vehicle can be determined to be abnormal (stop of signal, etc.), the specific vehicle causes an abnormal signal n, and the operation control center 3 is operated via the wide area communication vehicle-mounted terminal 13. Sent to.

Upon receipt of this abnormal signal n, the operation management center 3 transmits the braking command signal x to the specific vehicle.

By this transmission, the specific vehicle receives the braking command signal x and runs within a predetermined vehicle control range for the purpose of stable running of the specific vehicle.

Further, the inter-vehicle communication permission signal 1 which gives priority to the inter-vehicle communication is transmitted to the intermediate vehicle 2b and the tail vehicle 2c which are capable of inter-vehicle communication other than the specific vehicle which has failed.

The intermediate vehicle 2b and the tail vehicle 2c which have received the inter-vehicle communication permission signal 1 continue to operate while continuing the inter-vehicle communication.

In this way, the operation management center 3 activates the wide area wireless communication means 4 in response to the abnormality of the traveling vehicle,
Operational status data signal e or abnormal signal n of a specific platoon or vehicle
Safe driving measures are taken based on.

Furthermore, when the wide area wireless communication means 4 fails, each of the vehicles 2a to 2c at this failure fulcrum.
A travelable zone signal m for temporarily setting the travelable zone B is transmitted based on the position determined to have failed.

Due to this transmission, each of the vehicles 2a to 2c is controlled to travel within the travelable zone B.

Further, when the ground beacon communication means is laid on the road side of the vehicle dedicated road 1, the operation control of each vehicle 2a to 2c is performed in place of the wide area wireless communication means 4. Become.

That is, each vehicle 2a to 2c is based on the operation status data signal e from each vehicle 2a to 2c, and based on the vehicle information such as the positioning data and acceleration data of each vehicle 2a to 2c.
For 2c, it is desirable that the braking is properly performed.

The method of drive control for each of the vehicles 2a to 2c based on the vehicle drive control data signal f for performing such braking control is the same as that of the above-mentioned embodiment, and therefore its explanation is omitted.

Next, the operation of another embodiment shown in FIG. 4 will be described.

On the vehicle-dedicated road 1, when the intermediate vehicle 2b of the plurality of vehicles 2a to 2c traveling in a row enters the branch road 1a of the vehicle-dedicated road 1 (indicated by a dotted line), the intermediate vehicle 2b becomes the leading vehicle 2a and The formation relationship with the rear vehicle 2c is released, and a new formation is formed by the two vehicles 2a and 2c.

That is, the trailing vehicle 2c becomes a vehicle following the leading vehicle 2a and has a new direct inter-vehicle communication relationship.

This operation status is continuously transmitted from the vehicles 2a to 2c to the operation management center 3 by the operation status data signal e via the ground station 6a by the wide area radio a.

Whether the operation management center 3 is functioning normally on the basis of the information of the operation status data signal e in the current positions of the vehicles 2a to 2c and the vehicle-to-vehicle communication means 10 between the vehicles 2a and 2c. Always monitor whether or not.

When the operation status data signal e is abnormal, the operation management center 3 causes the wide area wireless communication means 4 to replace the vehicle-to-vehicle communication means 10 to drive the vehicles 2a and 2c in a row.

When there is a predetermined abnormality such as inter-vehicle communication in each of the vehicles 2a to 2c, the vehicle control PC 12 uniquely recognizes this abnormality and at the same time transmits an abnormality signal n to the operation management center 3.

Upon receipt of this abnormal signal n, the operation management center 3 immediately transmits the braking command signal x to the vehicle having the above abnormality and controls the operation so that the vehicle can travel safely.

When the wide area wireless communication means 4 travels in a row, the respective positions of the vehicles 2a and 2c,
The operation is controlled while the operation management center 3 constantly monitors the operation status such as speed.

Next, the operation of still another embodiment shown in FIG. 5 will be described.

On the vehicle-dedicated road 1, when the intermediate vehicle 2b of the plurality of vehicles 2a to 2c traveling in a row enters the bypass road 1b of the vehicle-dedicated road 1, the intermediate vehicle 2b becomes a leading vehicle 2a and a tail vehicle 2c. The vehicle formation relationship is canceled, and a new formation is formed by the two vehicles 2a and 2c.

That is, the trailing vehicle 2c becomes a vehicle following the leading vehicle 2a, and the vehicle-to-vehicle communication is newly established.

When, for example, the leading vehicle 2a of each of these vehicles 2a to 2c leaves the platoon running relationship and enters the bypass road 1b (shown by the dotted line), the intermediate vehicle 2b leaves the platoon, and thus each vehicle A new formation is formed by the two vehicles 2a and 2c.

The operation status data obtained by this operation status is continuously transmitted to the operation management center 3 by the operation status data signal e via the ground station 6a by the wide area radio a.

The operation management center 3 constantly monitors, based on the information of the operation status data signal e, whether the vehicle-to-vehicle communication means 10 between the vehicles 2a and 2c is functioning normally.

When the operation status data signal e is abnormal, the operation management center 3 substitutes the inter-vehicle communication means 10 and causes the wide area wireless communication means 4 to drive the vehicles 2a and 2c in a row.

When the wide area wireless communication means 4 travels in a row, the respective positions of the vehicles 2a and 2c,
The operation is controlled while the operation management center 3 constantly monitors the operation status such as speed.

According to the above-described embodiment of the present invention, the operation management is performed between the vehicles traveling in a row while performing the vehicle-to-vehicle communication, when the vehicle-to-vehicle communication becomes abnormal due to some failure or when a specific vehicle becomes abnormal. W-C from the center
Based on a vehicle control signal or a braking command signal transmitted using wide area wireless such as DMA or narrow area wireless such as beacon,
It is possible to provide safe driving support so that an accident such as a rear-end collision does not occur between vehicles traveling in a row.

Next, as described above, each of the vehicles 2a to 2c
FIGS. 1 and 4 show another embodiment of the vehicle operation control system for the vehicle-dedicated road 1 in which the vehicle-to-vehicle communication device 11 is provided to travel along the vehicle-dedicated road 1 while the vehicle-dedicated road 1 adopts the wide area wireless communication means 4. This will be described in detail with reference to FIG. 6 in which the same parts are designated by the same reference numerals.

A branch road 1a is provided in the middle of the vehicle-dedicated road 1. To this branch road 1a, for example, a vehicle 2b out of the plurality of vehicles 2a to 2c traveling in a row separates from the row. It is supposed to enter 1a.

As shown in FIG. 2, the vehicles 2a to 2c traveling in a row are equipped with vehicle-to-vehicle communication means 10, and are operated by vehicle-to-vehicle communication by the vehicles 2a to 2c.

A plurality of vehicles 2a to 2 in this row running
The configuration of c is the same as the configuration shown in FIG. 4, so description thereof will be omitted.

Reference numeral 40 indicates a short range wireless communication means, and the operation management center 33 and this operation management center 33.
Communication means for managing the operation of each vehicle 2a to 2c traveling in a row by, for example, a spread spectrum wireless data transmission device (hereinafter referred to as ground beacon communication means) 3
1 is adopted.

The terrestrial beacon communication means 31 is a narrow area wireless system having a data transmission rate of, for example, 1 Mbps and using a narrow area wireless J suitable for road-vehicle communication.

The terrestrial beacon communication means 31 can be adapted to road-to-vehicle communication due to the characteristics of short range wireless communication.
A plurality of ground beacon communication antennas 32a to 32c are installed at predetermined intervals on the road side of the vehicle-dedicated road 1 so that data communication can be performed with respect to the vehicles 2a to 2c traveling in a row.

The terrestrial beacon communication means 31 has the same function as that of the wide area wireless communication means 4 in the above-mentioned embodiment, and can be adopted in place of the wide area wireless communication means 4.

Each ground beacon communication antenna 32a-32
The reachable range of the communication radio wave of c is a narrow range with a radius of about 2 to 300 meters, as indicated by z1 to z3, respectively.

That is, considering that the reachable range of the inter-vehicle communication signal b is usually about 500 m in a linear distance from the ground beacon communication antennas 32a to 32c, it is 3 to.
It is desirable to lay ground beacon communication antennas at intervals of about four hundred meters.

In particular, this ground beacon communication antenna 32
It is desirable that the installation locations of a to 32c be in the vicinity of the branch road 1a, particularly in an area requiring monitoring.

For example, the ground beacon communication antenna 32c installed near the branch road 1c of the branch road 1a includes a leading vehicle 2a running on the vehicle dedicated road 1 and an intermediate vehicle 2b (shown by a dotted line) scheduled to run on the branch road 1a. Both are located in the reach range z3 of communication radio waves.

This is because under such a condition that the vehicle departs from platooning, the data communication capacity becomes large and desired communication quality is required.

The plurality of vehicles 2a to 2c traveling in a row on the vehicle dedicated road 1 are transmitted by the vehicle-to-vehicle communication means 10 to the vehicle-to-vehicle communication data signals a1, b1 and c1 for forward transmission of the respective vehicles 2a to 2c, and for backward transmission. The vehicle-to-vehicle communication data signals a2 and b2 allow the vehicle to be operated while continuously repeating transmission and reception.

Each vehicle 2a-obtained by this operation state
The operation data of 2c is continuously transmitted to the operation management center 3 via the ground stations 6a and 6b by the wide area radio a as an operation status data signal e transmitted and received by each of the vehicles 2a to 2c. .

Operation status data signal e for each vehicle 2a-2c
The operation management center 3 that has received the information has a function of monitoring the operation status such as the position and speed of each of the plurality of vehicles 2a to 2c based on the operation status data signal e.

According to this monitoring method, in the operation management center 3, the operation status data signal e transmitted from each of the vehicles 2a to 2c traveling in a row during normal operation and the abnormality signal n transmitted from the vehicle when an abnormality occurs in a specific vehicle. Is received, and the operation of each vehicle is controlled by making a comprehensive judgment based on each of these signals.

The operation management center 3 is provided for each of the vehicles 2a to 2c.
Each operation status data signal e is sent to the data signal processing unit 3
When it is determined that the operation status data signal e is abnormal as compared with the data signal e during normal operation, the vehicle control signal k is transmitted to each of the vehicles 2a to 2c.

This vehicle control signal k is used by the operation management center 3 side to detect that each of the vehicles 2a to 2c that are running in a row is not operating normally, and an accident such as a rear-end collision may occur. The action to prevent is done.

Next, the vehicle-to-vehicle communication means 10 of the vehicles 2a to 2c can be stopped, and instead of the wide area wireless communication means 4, the vehicles 2a to 2c can always be linked.

This link is made by switching the signal system at the operation management center 3.

It should be noted that the operation management center 3 newly transmits a vehicle-to-vehicle communication permission signal 1 to the vehicles where no abnormality is found by detecting the operation status data signal e of each of the vehicles 2a to 2c, and the inter-vehicle communication is performed. Will be continued.

When a particular vehicle, for example, the intermediate vehicle 2b has an abnormality such as a vehicle-to-vehicle communication failure, the abnormality signal n is transmitted from the intermediate vehicle 2b to the operation management center 3.

At the same time that the operation management center 3 receives the abnormal signal n, the vehicle control signal k from the wide area wireless communication means 4 is transmitted to the intermediate vehicle 2b in the previous term.

As a result, the vehicle 2b is switched to the operation control by the wide area wireless communication means 4 and operates.

Furthermore, under such a circumstance, when the wide area wireless communication means 4 fails and communication becomes impossible, the operation management center 3 transfers the vehicle following the intermediate vehicle 2b, that is, the rear vehicle 2c. On the other hand, the travelable zone signal m is transmitted so that the travelable zone B capable of preventing a rear-end collision is set.

As a result, the intermediate vehicle 2b comes to automatically stop within the travelable zone B.

At normal times during platooning, the operation management center 3 monitors the operation status such as the position and speed of each vehicle 2a to 2c while constantly receiving them at the operation management center 3 to monitor each vehicle. Each operation status data is transmitted to 2a to 2c by an operation status data signal e.

[0228] Here, if the vehicle comes into a range in which vehicle-to-vehicle communication is possible with another platoon in front of the leading vehicle 2a or with the preceding vehicle 2n running alone, the operation management center 3 makes the same platoon by Incorporated.

The preceding vehicle 2n is the vehicle 2 of the original platoon.
Operation is controlled under the supervision of a to 2c and platooning.

When each of the vehicles 2a to 2c forms a row, for example, the leading vehicle 2a leaves the platooning relationship (the leading vehicle 2a advances a considerable distance from the intermediate vehicle 2b or the trailing vehicle 2c is in the middle). When the vehicle departs from the platoon after a considerable distance from the vehicle 2b), the distant vehicle is released from the platooning relationship.

Further, for example, if the rear vehicle 2c leaves the platoon, this rear vehicle 2c belongs to another subsequent platoon or operates alone.

Furthermore, each of the vehicles 2a to 2c which are running in a row.
In the event of an emergency such as a failure while any one of the above is running, the operation control center 3 carries out operation control by the wide area radio a in the same manner as in the case of leaving the formation.

Next, the operation of the other embodiment described above will be described.

The vehicle operation control system in this embodiment uses the ground beacon communication means 31 in place of the wide area wireless communication means 4 employed in the above-mentioned embodiments.

On the vehicle-dedicated road 1, when the intermediate vehicle 2b of the plurality of vehicles 2a to 2c traveling in a row enters the branch road 1a of the vehicle-dedicated road 1, the intermediate vehicle 2b becomes the head vehicle 2a and the tail vehicle 2c. The formation of the
A new platoon is formed by two vehicles of each vehicle 2a and 2c.

That is, the trailing vehicle 2c becomes a vehicle following the leading vehicle 2a, and the vehicle-to-vehicle communication is newly established.

When each of these vehicles 2a to 2c, for example, the leading vehicle 2a leaves the platoon traveling and enters the branch road 1a (shown by a dotted line), the intermediate vehicle 2b leaves the platoon, thereby leading the leading vehicles 2a and 2c. A new formation is formed by the two vehicles of the rear vehicle 2c.

The operation status data obtained by this operation status is data-transmitted by the short range radio j by the operation status data signal e via the ground beacon communication antennas 32a to 32c.

The operation management center 3 constantly monitors, based on the information of the operation status data signal e, whether the vehicle-to-vehicle communication means 10 between the vehicles 2a and 2c is functioning normally.

When the operation status data signal e is abnormal, the operation management center 3 substitutes the inter-vehicle communication means 10 by the ground beacon communication means 31 to replace each vehicle 2a.
And run 2c in a row.

When the ground beacon 31 is used for platooning, the operation management center 3 constantly monitors the operation status of each vehicle 2a and 2c, such as the position and speed, to control the operation.

According to the embodiment employing this ground beacon communication means 31, the ground beacon communication antenna 3
On the road side where 2a to 32c are installed, when arranging at a predetermined interval along the road side, a range where road-vehicle communication is not interrupted is desirable, but only a specific area such as the branch road 1a is monitored. It can be used for practical purposes.

[0243]

As described above, according to the present invention,
Wide-area wireless communication means or narrow-area wireless communication means are used together for vehicles that can perform vehicle-to-vehicle communication between vehicles forming a platoon. When the vehicle of the above-mentioned fails, the wide-area wireless communication means or the wide-area wireless communication means described above can be used as an alternative to provide a vehicle operation control method and system in a vehicle-dedicated road that can safely control the operation of each vehicle. it can.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of an embodiment of a vehicle operation control system for a vehicle dedicated road according to the present invention.

FIG. 2 is a diagram for explaining an outline of a configuration and functions of a vehicle that travels on a vehicle dedicated road.

FIG. 3 is a diagram for explaining inter-vehicle communication means in FIG.

FIG. 4 is a diagram showing an outline of another embodiment of a vehicle operation control system for a vehicle dedicated road according to the present invention.

FIG. 5 is a diagram showing an outline of still another embodiment of a vehicle operation control system for a vehicle dedicated road according to the present invention.

FIG. 6 is a diagram showing an outline of still another embodiment of a vehicle operation control system for a vehicle dedicated road according to the present invention.

[Explanation of symbols]

1 Vehicle Dedicated Road 1a Branch Road 1b Bypass Road 2a Leading Vehicle 2b Intermediate Vehicle 2c Rear Vehicle 2n Preceding Vehicle 3,33 Operation Management Centers 3a, 33a Data Signal Processing Unit 4 Wide Area Wireless Communication Means 6a-6n Ground Station 10 Inter-Vehicle Communication Means 11 Inter-vehicle communication device 11a Front communication antenna 11b Rear communication antenna 12 Vehicle control PC 12a Display screen 13 Wide area communication In-vehicle terminal 13a Communication antenna 14 Vehicle drive control device 15 GPS (Global Positioning)
System) 15a GPS antennas 16a to 16e, 23, 24, 25, 26 communication line 18 data processing unit 18a abnormal signal generation unit 22 transmission / reception unit 22a transmission unit 22b reception unit 31 ground beacon communication means (spread spectrum wireless data transmission device) 32a to 32c Ground beacon communication antenna 33a Vehicle position detection device 40 Short range wireless communication means B Travelable zone a Wide area wireless b Inter-vehicle communication signals a1, b1, c1 Forward transmission inter-vehicle communication data signal a2, b2, n2 Rear transmission inter-vehicle Communication data signal e Operation status data signal f Vehicle drive control data signal g Positioning data signal h Operation information data signal j Narrow area wireless k Vehicle control signal l Inter-vehicle communication permission signal m Travelable zone signal n Abnormal signal x Braking command signal z1 Range of z3 communication radio waves

Continued front page    (72) Inventor Shoji Matsuda             1-1 Shibaura, Minato-ku, Tokyo Co., Ltd.             Toshiba headquarters office (72) Inventor Masatoshi Toshimitsu             1-24 East, 2-24 Harumi-cho, Fuchu-shi, Tokyo             Shiba Transport Engineering Stock Association             In-house F-term (reference) 3D044 AA24 AA25 AA28 AA29 AA30                       AA35 AB01 AC01 AC26 AC55                       AC59 AE01                 5H180 AA01 BB04 BB05 BB17 CC12                       FF05 FF13 FF27 LL04 LL09                 5J062 AA06 BB01 CC07                 5K067 AA26 AA35 BB03 BB21 CC13                       EE02 EE10 FF01

Claims (16)

[Claims] 1. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means to travel in a vehicle by vehicle-to-vehicle communication to operate a plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication through the operation management center, and the operation of the operation at the operation management center When it is determined that the situation data signal is abnormal, the operation management center substitutes for the inter-vehicle communication means, and The line communication section, the vehicle travel control method in a vehicle-only road, characterized by comprising the steps of: allowed to row running each vehicle. 2. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road in which a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a vehicle by vehicle-to-vehicle communication to drive a plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication through the operation management center, and the operation of the operation at the operation management center When it is determined that the situation data signal is abnormal, the operation management center substitutes for the inter-vehicle communication means, and By line communication unit, the steps of allowed to each vehicle platoon, among the respective vehicle, for a vehicle capable of the inter-vehicle communication,
A step of transmitting a vehicle-to-vehicle communication permission signal so that vehicle-to-vehicle communication has priority, and a vehicle capable of vehicle-to-vehicle communication receives a vehicle-to-vehicle communication permission signal to form a vehicle-to-vehicle communication formation between vehicles capable of vehicle-to-vehicle communication. A method of controlling vehicle operation on a vehicle-dedicated road, comprising the step of starting traveling. 3. The vehicle-to-vehicle communication signal in the vehicle-to-vehicle communication means includes operation control information of a front vehicle of each vehicle, and the front vehicle and the following vehicle can operate in synchronization with each other. The vehicle operation control method on the vehicle dedicated road according to claim 2. 4. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means to travel by vehicle-to-vehicle communication and the plurality of vehicles are operated. The step of monitoring the operation status such as each position and speed at the operation management center equipped with wide area wireless communication means, and the operation status of each vehicle of each platoon monitored by the operation management center for each vehicle, When communication is performed and an abnormality occurs in any of the vehicle-to-vehicle communication means between the vehicles in the platoon, the specific vehicle in which the abnormality has occurred,
An abnormal signal is transmitted, the operation management center receives the abnormal signal, thereby transmitting a braking command signal to the specific vehicle, and the specific vehicle receiving the braking command signal A step of transmitting a drivable zone signal that sets a drivable zone of the specific vehicle based on the braking command signal; and a specific vehicle that has received the drivable zone signal can travel within a range of the drivable zone. A method of controlling vehicle operation on a vehicle-dedicated road. 5. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a vehicle by vehicle-to-vehicle communication to drive a plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication via the operation management center, and the inter-vehicle communication between each vehicle When at least one of the vehicles cannot transmit, an error signal indicating that communication is impossible is transmitted to the operation management center. The center transmits the vehicle control signal to the vehicle that has transmitted the abnormality signal by the wide area wireless communication unit, and the vehicle that has transmitted the abnormality signal is controlled by the vehicle control signal by the wide area wireless communication unit. And a step of performing platooning, a vehicle operation control method on a vehicle dedicated road. 6. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means to travel in a vehicle by vehicle-to-vehicle communication to operate a plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the wide area wireless communication via the operation management center, and each platoon traveling, In case of emergency such as when wide area wireless communication is not possible due to failure of wide area wireless communication etc. A vehicle-dedicated road for both of them, the step of transmitting a travel-enabled zone signal for temporarily setting a travel-enabled zone based on a position where it is determined that the specific vehicle has failed. Vehicle operation control method. 7. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means to perform vehicle-to-vehicle communication by vehicle-to-vehicle communication. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data of each vehicle obtained by the wide area wireless communication via the operation management center, and each for the specific vehicle, When wide area wireless communication is not possible, the actual position of the specific vehicle is detected by the vehicle position detection device using ground beacon communication means. The step of transmitting the actual position data of the specific vehicle to the operation management center by the ground beacon communication means, and the step of temporarily setting the travelable zone based on the actual position data of the specific vehicle. And a vehicle operation control method on a vehicle-dedicated road. 8. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a vehicle by vehicle-to-vehicle communication to drive the plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while monitoring the operation status data of each vehicle obtained by the wide area wireless communication through the operation management center, and the plurality of vehicles The step of a specific vehicle entering a branch road provided in the middle of a vehicle-dedicated road, and the step of the specific vehicle entering the branch road. , The step of being detected by the ground beacon communication means provided on the roadside, the step of transmitting the information detected by this ground beacon communication means to the operation management center by the ground beacon communication means, and the operation management center for each vehicle And notifying that a specific vehicle that has entered the branch road has left the platoon, and if a vehicle traveling in the platoon has entered the specific vehicle or the branch road, a vehicle following this specific vehicle , A vehicle operation control method on a vehicle-dedicated road, characterized in that the vehicle can newly travel in a row with respect to a preceding vehicle of the vehicle. 9. A vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, wherein a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a vehicle by vehicle-to-vehicle communication to operate the plurality of vehicles. A step of monitoring the operation status such as each position and speed at an operation management center equipped with wide area wireless communication means, and communication of the operation status monitored by the operation management center to each vehicle by wide area wireless communication means Then, the step of informing, the step of running each platoon while monitoring the operation status data of each vehicle obtained by the wide area wireless communication via the operation management center, and the plurality of vehicles A step of a specific vehicle entering a bypass road provided in the middle of the vehicle-only road, and a specific vehicle entering the bypass road By and,
The step detected by the ground beacon communication means provided on the roadside, the step of transmitting the information detected by this ground beacon communication means to the operation management center by the ground beacon communication means, and the operation management center for each vehicle And a step of informing that a specific vehicle that has entered the bypass road has left the platoon, and a method for controlling vehicle operation on a vehicle dedicated road. 10. Wide area wireless communication is performed between an operation management center and a vehicle traveling on a vehicle dedicated road via a ground station arranged along the vehicle dedicated road. And a vehicle operation control method on the vehicle dedicated road according to any one of 4 to 9 above. 11. In a vehicle operation control method for operating a plurality of vehicles on a vehicle-dedicated road, each vehicle is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication. A step of monitoring the operation status such as each position and speed at an operation management center equipped with ground beacon communication means, and transmitting the operation status monitored by the operation management center to each vehicle by the ground beacon communication means Then, the step of informing, the step of running each platoon while mutually monitoring the operation status data signal of each vehicle obtained by the ground beacon communication means via the operation management center, and the operation management center performing the above operation If it is determined to be abnormal based on the situation data, the above-mentioned vehicle-to-vehicle communication means is replaced, and The communication means, a vehicle travel control method in a vehicle-only road, characterized by comprising the steps of: allowed to row running each vehicle. 12. A vehicle operation control system in which a plurality of vehicles are equipped with vehicle-to-vehicle communication means and travel in a row by vehicle-to-vehicle communication to drive a plurality of vehicles on a vehicle-dedicated road. Wide-area wireless communication means for monitoring operation status such as speed by wide-area wireless communication, and this wide-area wireless communication means, an operation management center provided to enable wide-area wireless communication for all vehicles traveling on a vehicle dedicated road, This operation management center is provided with a data signal processing unit capable of receiving operation status data signals from the plurality of vehicles and transmitting operation information data signals to the plurality of vehicles through the wide area wireless communication. A vehicle operation control system on a vehicle-dedicated road. 13. A vehicle operation control system for operating a plurality of vehicles on a vehicle-dedicated road, wherein each vehicle is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication to operate the plurality of vehicles. Wide-area wireless communication means for monitoring operation status such as speed by wide-area wireless communication, and this wide-area wireless communication means, an operation management center provided to enable wide-area wireless communication for all vehicles traveling on a vehicle dedicated road, A data signal processing unit provided in the operation management center, capable of receiving an operation status data signal from the plurality of vehicles and transmitting an operation information data signal to the plurality of vehicles by the wide area wireless communication; When vehicle-to-vehicle communication between vehicles is not possible, at least one of the vehicles sends an error signal indicating that communication is impossible to the operation management session. Vehicle operation control system in a vehicle-only road, characterized by comprising a vehicle communication apparatus having an abnormality A signal generator to transmit to the coater. 14. A vehicle operation control system for operating a plurality of vehicles on a vehicle-dedicated road, wherein each of the plurality of vehicles is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication to operate the plurality of vehicles. Wide-area wireless communication means for monitoring operation status such as speed by wide-area wireless communication, and this wide-area wireless communication means, an operation management center provided to enable wide-area wireless communication for all vehicles traveling on a vehicle dedicated road, A data signal processing unit provided in the operation management center, capable of receiving operation status data signals from the plurality of vehicles and transmitting operation information data signals to the plurality of vehicles through the wide area wireless communication; Vehicle position to detect the actual position of the vehicle when the communication means fails and the operation information data is not transmitted to each vehicle Vehicle operation control system in a vehicle-only road, characterized by comprising a ground beacon communication means having a data signal processing unit having a detection function. 15. A vehicle operation control system for operating a plurality of vehicles on a vehicle-dedicated road, wherein each of the plurality of vehicles is equipped with vehicle-to-vehicle communication means and travels in a row by vehicle-to-vehicle communication to operate the plurality of vehicles. Wide-area wireless communication means for monitoring operation status such as speed by wide-area wireless communication, and this wide-area wireless communication means is provided with an operation management center capable of wide-area wireless communication for all vehicles traveling on a vehicle dedicated road. A data signal processing unit provided in the operation management center, capable of receiving operation status data signals from the plurality of vehicles and transmitting operation instruction data signals to the plurality of vehicles through the wide area wireless communication; If a specific vehicle out of a number of traveling vehicles enters a branch road or bypass road provided in the middle of a vehicle-dedicated road, this Off to detect the vehicle, the vehicle travel control method system in a vehicle-only road, characterized by comprising a ground beacon communication means for transmitting the operation status data signals to the operation management center. 16. A vehicle operation control system in which a plurality of vehicles are equipped with vehicle-to-vehicle communication means to run in a row by vehicle-to-vehicle communication to operate a plurality of vehicles on a vehicle-dedicated road, A ground beacon communication means for monitoring the operation status such as speed by road-to-vehicle communication, and this ground beacon communication means, an operation management center provided for road-to-vehicle communication for all vehicles traveling on a vehicle dedicated road, This operation management center is provided with a data signal processing unit capable of receiving operation status data signals from the plurality of vehicles and transmitting operation instruction data signals to the plurality of vehicles through the road-to-vehicle communication. A vehicle operation control system on a vehicle-dedicated road.