JP7111503B2 - platooning system - Google Patents

Description

The present invention relates to a platooning system.

BACKGROUND ART Conventionally, as described in Patent Document 1, for example, there is known a technique of causing a plurality of vehicles to run in a row by executing vehicle-to-vehicle distance control using vehicle-to-vehicle communication in a plurality of vehicles.

JP 2012-30666 A

When platooning, general vehicles may cut into the platoon. For example, when a general vehicle joins a lane in which a plurality of vehicles are platooning, it is easy to cut into the platoon.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle platooning system capable of appropriately coping with an interruption of a platoon of general vehicles.

A platooning system capable of achieving the above object is based on the premise that a plurality of vehicles are platooned using wireless communication. The platooning system generates approach information indicating that the platoon is approaching the merging point when it is recognized that the platoon is approaching the merging point on the road based on the location information of the platoon. and a second device that, when the approach information is received, notifies the received approach information to general vehicles heading for the junction.

According to this configuration, information about the platoon approaching the merging point is notified to general vehicles heading toward the merging point. By making the drivers of general vehicles aware of the platoon approaching information, it becomes easier to obtain their cooperation in platooning. Therefore, it is possible to suppress the interruption of general vehicles into the platoon at the merging point. Therefore, by informing the general vehicles of the platoon approach information, it is possible to appropriately cope with the interruption of the platoon of general vehicles.

In the platooning system described above, the first device uses, as the approach information, at least the distance from the current position of the platoon to the merging point and the time until the platoon reaches the merging point based on the positional information of the platoon. It is preferable to compute one.

According to this configuration, the driver of the general vehicle can obtain more specific information as the platoon approach information.
In the platooning system described above, the first device may be a management system that acquires platoon position information through wireless communication with vehicles forming a platoon.

In the platooning system described above, the first device is mounted on each of a plurality of vehicles forming a platoon, and controls the own vehicle so that the own vehicle follows the preceding vehicle through wireless communication with the preceding vehicle. It may be a vehicle control system that controls.

In the platooning system described above, the second device may be provided in the general vehicle, or may be provided in road equipment installed on the road.
In the platooning system described above, it is preferable that the second device notifies the approach information visually.

According to the platooning system of the present invention, it is possible to appropriately cope with the interruption of the platoon of general vehicles.

1 is a configuration diagram showing an outline of an embodiment of a vehicle platooning system; FIG. 1 is a block diagram of a vehicle control system according to one embodiment; FIG. 1 is a block diagram of a management system according to one embodiment; FIG. The block diagram of the alerting|reporting system in one embodiment. (a) is a front view showing a first notification mode by the reporting device according to the embodiment, and (b) is a front view showing a second reporting mode by the reporting device.

An embodiment of the vehicle platooning system will be described below.
As shown in FIG. 1, a platooning system 10 includes a vehicle control system 11 installed in each of a plurality of vehicles CS1, CS2, and CS3 forming a platoon (three in this case), a platoon operation management center, and the like. has a management system 12 provided in the . The platooning system 10 also has a first notification system 13 provided for general vehicles CO that do not form a platoon and a second notification system 15 provided for on-road equipment 14 . However, the platooning system 10 only needs to have at least one of the first notification system 13 and the second notification system 15 .

<Vehicle control system>
As shown in FIG. 2, the vehicle control system 11 includes an ECU (electronic control unit) 20, a forward monitoring sensor 21, a rearward monitoring sensor 22, a side monitoring sensor 23, a vehicle speed sensor 24, an acceleration sensor 25, a GPS receiver 26 and a It has a vehicle-to-vehicle communication device 27 . The vehicle control system 11 also has a throttle actuator 31 , a brake actuator 32 , a steering actuator 33 and an external communication device 34 .

The front monitoring sensor 21 is provided in the front part of the vehicle, monitors the front of the vehicle, and detects the inter-vehicle distance between the vehicle running in front of the vehicle and the vehicle. The rearward monitoring sensor 22 is provided at the rear of the vehicle, monitors the rear of the vehicle, and detects the inter-vehicle distance between the vehicle and a vehicle running immediately behind the vehicle. The side monitoring sensor 23 is provided on the side of the vehicle, monitors the side of the vehicle, and detects the inter-vehicle distance between the vehicle traveling on the side of the vehicle and the vehicle. These surveillance sensors (21, 22, 23) include, for example, laser radars or millimeter wave radars and cameras.

A vehicle speed sensor 24 detects the running speed of the own vehicle. The acceleration sensor 25 detects the longitudinal acceleration of the vehicle. The GPS receiver 26 receives positioning signals from artificial satellites for GPS (Global Positioning System), and detects the position (latitude, longitude) and azimuth of the vehicle based on the received positioning signals. The vehicle-to-vehicle communication device 27 performs wireless communication between vehicles.

The throttle actuator 31 adjusts the amount of fuel supplied to the engine by adjusting the throttle opening. Brake actuator 32 adjusts the braking force for decelerating the vehicle through the brakes. The steering actuator 33 steers the left and right wheels by axially driving a steering rod (steering shaft). The external communication device 34 performs wireless communication with the management system 12 . The external communication device 34 exchanges wireless signals using a wireless communication network such as a mobile phone network and an ETC communication network.

The ECU 20 centrally controls the entire vehicle. The ECU 20 controls engine output through a throttle actuator 31 . The ECU 20 increases the amount of fuel supplied to the engine via the throttle actuator 31 when accelerating the vehicle, and decreases the amount of fuel supplied to the engine via the throttle actuator 31 when decelerating the vehicle. The ECU 20 also controls the braking force of the vehicle through the brake actuator 32 . The ECU 20 controls the vehicle speed and inter-vehicle distance through the throttle actuator 31 and the brake actuator 32 . The ECU 20 also controls the steering angle of the vehicle (the steering angle of the tires) through the steering actuator 33 .

Through the vehicle-to-vehicle communication device 27, the ECU 20 exchanges information such as vehicle travel data and identification information (ID) with other vehicles in which the vehicle-to-vehicle communication device 27 is mounted. The traveling data is information about the traveling state of the own vehicle, and includes information such as the position, speed, acceleration and azimuth (traveling direction) of the own vehicle, for example.

The ECU 20 executes ACC (Adaptive Cruise Control) control. ACC control measures the distance to the immediately preceding vehicle (including general vehicles) through the forward monitoring sensor 21, and follows the acceleration, deceleration, and stopping of the vehicle ahead while maintaining the preset inter-vehicle distance and speed. It means the control for running with In ACC control, a deviation in the vehicle width direction between the preceding vehicle and the own vehicle is detected through a forward monitoring sensor 21 (laser radar, camera), and the steering of the own vehicle is controlled so as to eliminate the detected deviation.

For example, when a preceding vehicle is not detected during execution of ACC control, the ECU 20 controls the running of the vehicle so that the vehicle runs while maintaining the set vehicle speed. Further, when a preceding vehicle traveling at a speed lower than the set vehicle speed is detected, the ECU 20 performs follow-up control so as to keep the inter-vehicle distance from the preceding vehicle at a preset inter-vehicle distance. The ECU 20 controls the acceleration of the vehicle so that the inter-vehicle distance to the preceding vehicle does not become smaller than a preset inter-vehicle distance. That is, when the vehicle speed of the preceding vehicle is lower than the set vehicle speed, the ECU 20 reduces the vehicle speed of the host vehicle to maintain the inter-vehicle distance.

The ECU 20 executes CACC (Cooperative Adaptive Cruise Control) control. CACC refers to control for platooning a plurality of vehicles in cooperation with vehicles in front of and behind the vehicle on the same lane through wireless communication. In platooning, a plurality of vehicles equipped with the vehicle control system 11 travel in tandem in the same lane while maintaining a constant inter-vehicle distance and a constant speed without intervening general vehicles. Say things.

In CACC control, acceleration of own vehicle is controlled based on information about other vehicles in the platoon acquired through inter-vehicle communication. As a result, the own vehicle follows the vehicle so as to keep the inter-vehicle distance to the preceding vehicle in the platoon at the target inter-vehicle distance. The vehicles CS1 to CS3 forming a platoon mutually exchange information such as specifications and travel data of their own vehicles through the vehicle-to-vehicle communication device 27 . That is, the vehicle control systems 11 of all the vehicles CS1 to CS3 forming a platoon share information such as specifications and travel data of all the vehicles CS1 to CS3 forming a platoon.

For example, when the brakes are operated in the leading vehicle of the platoon, the information is transmitted to all vehicles in the platoon. All vehicles in the platoon automatically decelerate at the appropriate time while maintaining the distance between them. When the lead vehicle accelerates, the degree of acceleration of the lead vehicle is communicated to all vehicles in the platoon. All vehicles in the platoon automatically accelerate to maintain their respective following distances and speeds throughout the platoon.

<Management system>
As shown in FIG. 3, the management system 12 has a server 41 and a communication device 42 . The communication device 42 performs wireless communication with the vehicles CS1 to CS3 forming the platoon, with the general vehicle CO, and with the road equipment 14, respectively. The server 41 acquires travel data of the vehicles CS1 to CS3 traveling in platoons through the communication device 42 . The server 41 comprehends the operation status of the platoon based on the travel data of the vehicles CS1 to CS3 acquired through the communication device 42, and provides a notification signal Sc for informing the general vehicles CO of the thus-obtained operation status of the platoon. to generate The server 41 wirelessly transmits the notification signal Sc through the communication device 42 .

<Notification system>
As shown in FIG. 4 , the first notification system 13 has a communication device 51 , a control device 52 and a notification device 53 . The communication device 51 performs wireless communication with the server 41 of the management system 12 . When the notification signal Sc is received through the communication device 51, the control device 52 notifies the driver of the general vehicle CO of the operation status of the platoon based on the received notification signal Sc. As notification device 53, for example, a display (display device) provided in the vehicle interior is employed.

The second notification system 15 basically has the same configuration as the first notification system 13 . That is, the second notification system 15 has a communication device 61, a control device 62, and a notification device 63, as indicated by parenthesized symbols in FIG. However, as the notification device 63, a display device such as a display installed on the road or an electronic bulletin board is adopted.

<Operation of platooning system>
Next, the action of the platooning system will be described.
As shown in FIG. 1, for example, when three vehicles CS1, CS2, and CS3 are platooning through execution of CACC control, following two vehicles CS2, The running state of CS3 is controlled. The leading vehicle CS1 may be manually driven by the driver, or may run while maintaining the set vehicle speed through the execution of ACC control. The ECUs 20 of the following vehicles CS2 and CS3 control the running states of the vehicles CS2 and CS3 so as to follow the leading vehicle CS1.

Incidentally, the vehicles CS2 and CS3 other than the vehicle CS1 at the head of the platoon may follow the preceding vehicle based on the running state of the preceding vehicle. In this case, the running state of the second vehicle CS2 in the platoon is controlled based on the running state of the leading vehicle CS1. The running state of the third vehicle CS3 in the platoon is controlled based on the running state of the preceding vehicle CS2.

Here, when the vehicles CS1 to CS3 are platooning, there is concern that the general vehicle CO may cut into the platoon. For example, as shown in FIG. 1, a situation is assumed in which a general vehicle CO joining the road R1 along which the vehicles CS1 to CS3 are traveling in a platoon from a confluence road R2 cuts into the platoon. Incidentally, the confluence road R2 merges with the road R1 at the confluence point Pc.

Therefore, the platooning system 10 handles the interruption of the general vehicle CO into the platoon as follows.
As shown in FIG. 1, the server 41 acquires travel data of the vehicles CS1 to CS3 traveling in a platoon through wireless communication, and grasps the operation status of the platoon based on the acquired travel data of the vehicles CS1 to CS3. When the platoon (CS1-CS3) is approaching the merging point Pc, the server 41 calculates the current position of the platoon (leading vehicle) as the expected arrival information of the platoon with respect to the merging point Pc based on the traveling data of the vehicles CS1-CS3. to the confluence point Pc and the time t until the formation reaches the confluence point Pc. This expected arrival information is also the approach information of the platoon with respect to the merging point Pc. The server 41 generates a notification signal Sc including the expected arrival information (t, L), and wirelessly transmits the generated notification signal Sc.

The server 41 determines that the platoon is approaching the merging point Pc, for example, when the platoon (leading vehicle) reaches a position a set distance ahead of the merging point Pc. The set distance is set based on, for example, whether or not the general vehicle CO can merge onto the road R1 at the confluence point Pc without colliding with the platoon. The set distance is set based on the assumed speed of general vehicles CO, the operating speed of the platoon, and the like.

The server 41 recognizes the current position of the platoon based on the position information of the vehicles CS1 to CS3 included in the travel data, and determines that the platoon is approaching the merging point Pc based on the recognized current position of the platoon. . The server 41 identifies the road R1 on which the platoon is currently traveling based on the current position of the platoon using road map data stored by itself, and acquires information about the road R1 and the junction Pc. The server 41 calculates the distance L between the platoon (leading vehicle) and the merging point Pc based on the road map data and the current position of the platoon. The server 41 also calculates the time t until the platoon (leading vehicle) reaches the confluence point Pc based on the distance L between the platoon and the confluence point Pc and the running speed of the platoon.

The control device 52 of the first notification system 13 causes the notification device 53 to display the expected arrival information included in the notification signal Sc when the notification signal Sc is received. As the display format of the notification device 53, for example, character display or simple graphic display is adopted.

As shown in FIG. 5(a), when character display is adopted as the display format of the notification device 53, the notification device 53 displays a message indicating that the platoon is approaching (such as "approaching platoon vehicles"). , the remaining time t until the formation reaches the meeting point Pc, and the distance L from the current position of the formation to the meeting point Pc are displayed in characters. Therefore, the driver of the general vehicle CO can confirm the state of approach of the platoon to the merging point Pc by looking at the notification device 53 provided on the own vehicle.

As shown in FIG. 5(b), when a simple graphic display is adopted as the display format of the notification device 53, the notification device 53 displays the road R1, the confluence R2, the position of the platoon, and the position of the own vehicle in a simple manner. displayed in a simple shape. Therefore, the driver of the general vehicle CO can visually recognize the positional relationship between the platoon and the own vehicle. Incidentally, in addition to the simple graphic display, the expected arrival information may be displayed in characters.

The control device 62 of the second notification system 15 causes the notification device 63 to display the expected arrival information included in the notification signal Sc when the notification signal Sc is received. The display format of the notification device 63 may be either the character display shown in FIG. 5(a) or the simple graphic display shown in FIG. 5(b). The driver of the general vehicle CO can confirm the state of approach of the platoon to the merging point Pc by looking at the notification device 63 provided on the road.

<Effect of Embodiment>
Therefore, according to this embodiment, the following effects can be obtained.
When the vehicle platooning system 10 has the first notification system 13, the driver of the general vehicle CO who is about to merge onto the road R1 from the confluence road R2 receives the expected arrival information displayed on the notification device 53 of the own vehicle. By visually observing , it is possible to know that the formation is approaching the confluence point Pc. In addition, when the platooning system 10 has the second notification system 15, the driver of the general vehicle CO who is about to join the road R1 from the junction R2 is displayed on the notification device 63 provided on the road. By visually checking the expected arrival information, it is possible to know that the formation is approaching the merging point Pc.

Therefore, the driver of the general vehicle CO adjusts the speed of the own vehicle based on the remaining time t until the platoon reaches the merging point Pc and the distance L from the current position of the platoon to the merging point Pc. be able to. For example, the driver of the general vehicle CO accelerates when he wants to join the road R1 before the platoon reaches the confluence point Pc, or decelerates when he wants to wait for the platoon to pass the confluence point Pc and join the road R1. can be In this way, by making the driver of the general vehicle CO aware of the operation status of the platoon, it is possible to suppress interruptions to the platoon. Therefore, it is possible to appropriately deal with the interruption of the platoon of general vehicles CO.

<Other embodiments>
It should be noted that this embodiment may be implemented with the following modifications.
The expected arrival information of the platoon with respect to the merging point Pc may be calculated by the ECU 20 of any one of the plurality of vehicles CS1 to CS3 forming the platoon. The ECU 20 generates a notification signal Sc including the expected arrival information (t, L), and wirelessly transmits the generated notification signal Sc through the external communication device 34 . This notification signal Sc is received by at least one of the first notification system 13 and the second notification system 15 via the server 41 of the management system 12 . Also, the notification signal Sc generated by the ECU 20 may be directly received by at least one of the first notification system 13 and the second notification system 15 .

- As the notification device 63 of the second notification system 15, an ETC in-vehicle device provided in the room of the general vehicle CO may be employed. In this case, the expected arrival information of the platoon at the merging point Pc is notified to the driver of the general vehicle CO through the built-in speaker of the ETC on-board device. Further, the estimated arrival information may be notified through another speaker provided in the general vehicle CO instead of the built-in speaker of the ETC vehicle-mounted device.

- A lamp installed on the road may be employed as the notification device 63 of the second notification system 15 . In this case, the operation status of the platoon can be communicated to the driver of the general vehicle CO by, for example, changing the lighting color of the lamp. Specifically, when the lamp is lit in red, it indicates that the formation is crossing the merging point Pc. When the lamp is lit yellow, it indicates that the formation is approaching the confluence point Pc. If the lamp is lit yellow, it indicates that there is no formation approaching the merging point Pc.

As the expected arrival information of the platoon, only one of the distance L from the current position of the platoon to the merging point Pc and the time t until the platoon reaches the merging point Pc may be calculated.
- The report signal Sc may contain pure approach information indicating only that the train is approaching the confluence point Pc without including the train arrival forecast information (L, t). In this case, only a message indicating that the formation is approaching is displayed on the notification devices 53 and 63 (see FIG. 5(a)).

DESCRIPTION OF SYMBOLS 10... Platooning system, 11... Vehicle control system (first device), 12... Management system (first device), 13... First notification system (second device), 14... Road equipment, 15... Second notification system (second device) 20...ECU (control device) 34...External communication device 41...Server (control device) CS1, CS2, CS3...Vehicles (composing a platoon), CO... General vehicles (not forming a platoon), L: distance, Pc: merging point, t: time.

Claims (5)

In a platooning system that uses wireless communication to run a plurality of vehicles in a platoon,
When it is recognized that the platoon is approaching the confluence point on the road based on the position information of the platoon, approach information indicating that the platoon is approaching the confluence point is generated, and the generated approach information is transmitted by radio. a transmitting first device;
a second device that, when the approach information is received, notifies the received approach information to general vehicles heading for the junction;
a third device that is a management system that wirelessly communicates with the first device and with the second device;
The first device is a vehicle control system that is mounted on each of a plurality of vehicles forming a platoon and controls the own vehicle so that the own vehicle follows the preceding vehicle through wireless communication with the preceding vehicle. hand,
The vehicle control system has an electronic controller,
The electronic control device of any one of the plurality of vehicles forming the platoon generates the approach information, and the generated approach information is received by the second device via the third device. platooning system. In the platooning system according to claim 1,
The first device calculates, as the approach information, at least one of the distance from the current position of the platoon to the merging point and the time until the platoon reaches the merging point based on the position information of the platoon. . In the platooning system according to claim 1 or claim 2 ,
The second device is a platooning system provided in the general vehicle. In the platooning system according to any one of claims 1 to 3 ,
The second device is a vehicle platooning system provided in road equipment installed on the road. In the platooning system according to any one of claims 1 to 4 ,
The second device is a platooning system that visually notifies the approach information.

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