JP7186412B1 - fleet of vehicles - Google Patents

Abstract

A technology is provided for safely and quickly turning one vehicle at a time when a platoon including a plurality of automated driving vehicles turns at an intersection. SOLUTION: In a state where a driven vehicle is following a leading vehicle in a following mode, the own vehicle position detection unit 5 of the leading vehicle detects that the own vehicle has stopped in an intersection where the vehicle is scheduled to turn right. , the transmitting unit 15 of the leading vehicle transmits an instruction signal to the receiving unit 16 of the driven vehicle immediately behind the host vehicle to cancel the follow mode and drive in the right turn mode after the leading vehicle turns right at the intersection. This allows each following self-driving car to safely and quickly turn an intersection. [Selection drawing] Fig. 1

Description

TECHNICAL FIELD The present invention relates to a group of vehicles including a plurality of vehicles, and more particularly to a group of vehicles that run in a platoon including vehicles having a plurality of driving modes.

In recent years, the development of automatic driving technology for automobiles has accelerated, and the technology has reached a level where human operation is almost unnecessary, combined with car navigation technology, advanced wireless communication technology, AI technology, etc.
The invention disclosed in Patent Document 1 divides the platoon into front and rear when the length of the platoon is longer than the length of the merging section of the highway on which the vehicle is traveling in a platoon. Vehicles scheduled to merge can enter between the divided vehicles and merge.

JP 2016-146129 A

However, although the invention of Patent Document 1 is a technique that divides the platoon of vehicles by itself in a merging section of an expressway, the application of the invention is not applicable when a group of vehicles turn left or right at an intersection of a general road. Have difficulty.

SUMMARY OF THE INVENTION An object of the present invention is to provide a technology for a group of vehicles to safely and quickly turn left or right at an intersection on a general road.

According to the first aspect of the present invention, a group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein the leading vehicle is a self-driving vehicle that detects the position of the vehicle. A vehicle position detection unit and a transmission unit for transmitting an instruction signal instructing the driven vehicle to travel , and each of the plurality of driven vehicles detects other vehicles in front of the own vehicle and other vehicles in the oncoming lane. A follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the front radar unit, the side radar unit that detects other vehicles on the side of the vehicle, and the detection result of the other vehicle in front of the vehicle from the front radar unit . and an instruction signal for instructing a right turn mode to automatically turn right at an intersection using the detection result of the other vehicle in the oncoming lane by the front radar unit and the detection result of the other vehicle on the side of the own vehicle by the side radar unit. and a receiving unit for receiving , in a state in which each of the driven vehicles follows the vehicle immediately preceding the own vehicle in the following mode, with the leading vehicle leading the vehicle , the own vehicle of the leading vehicle. When the position detection unit detects that the own vehicle has stopped at the intersection where the vehicle is scheduled to turn right, the transmission unit of the leading vehicle switches the reception units of the following vehicles from the follow mode to the right turn mode. Sends an instruction signal to

With this configuration, when the own vehicle position detection unit of the leading vehicle detects that the own vehicle has stopped in the intersection where the vehicle is scheduled to turn right, the transmitting unit of the leading vehicle sends the right turn signal to the receiving unit of each driven vehicle. By sending a signal to switch to the mode, each of the driven vehicles switches to the right turn mode, so that even if the leading vehicle turns right, it will not immediately follow, and will automatically turn right at the intersection by itself. escape.

In the second aspect of the present invention, a group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein the leading vehicle is a self-driving vehicle that detects the position of the vehicle. A vehicle position detection unit and a transmission unit for transmitting an instruction signal instructing the driven vehicle to travel , and each of the plurality of driven vehicles detects other vehicles in front of the own vehicle and other vehicles in the oncoming lane. A follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the front radar unit, the side radar unit that detects other vehicles on the side of the vehicle, and the detection result of the other vehicle in front of the vehicle from the front radar unit . and an instruction signal for instructing a right turn mode to automatically turn right at an intersection using the detection result of the other vehicle in the oncoming lane by the front radar unit and the detection result of the other vehicle on the side of the own vehicle by the side radar unit. and a receiving unit for receiving , in a state in which each of the driven vehicles follows the vehicle immediately preceding the own vehicle in the following mode, with the leading vehicle leading the vehicle , the own vehicle of the leading vehicle. When the position detection unit detects that the own vehicle has passed a position a predetermined distance before the intersection where the vehicle is scheduled to turn right, the transmission unit of the leading vehicle instructs the reception unit of each of the following vehicles to switch from the following mode. An instruction signal for switching to the right turn mode is transmitted.

With this configuration, while the driven vehicle is following the leading vehicle in the following mode, the own vehicle position detection unit of the leading vehicle has passed a position a predetermined distance before the intersection where the own vehicle is scheduled to turn right. is detected, the transmitting unit of the leading vehicle transmits to the receiving unit of each driven vehicle an instruction signal for switching from the following mode to the right-turn mode . After receiving the instruction signal, it switches to the right turn mode and automatically turns right at the intersection to exit. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the third aspect of the present invention, a group of vehicles traveling in a formation comprising a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein each of the plurality of driven vehicles is the own vehicle . It transmits a forward radar unit that detects other vehicles immediately ahead and other vehicles in the oncoming lane, a side radar unit that detects other vehicles on the side of the own vehicle, and an instruction signal that instructs the other following vehicles to run. a transmitting unit, a receiving unit that receives an instruction signal from the transmitting unit of the other driven vehicle, a vehicle position detecting unit that detects the vehicle position, and a detection result of the other vehicle ahead of the vehicle from the forward radar unit. from the follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in the oncoming lane from the front radar unit and the detection result of the other vehicle on the side of the vehicle from the side radar unit. and a mode switching unit for switching to a right-turn mode for automatically turning right at a vehicle group, wherein each of the driven vehicles follows the vehicle immediately before the subject vehicle in the follow-up mode, with the leading vehicle leading the vehicle. state, when the vehicle position detection unit of at least one of the driven vehicles detects that the vehicle has stopped in the intersection where the vehicle is scheduled to turn right, the transmission unit of the driven vehicle detects the reception units of the other driven vehicles. , an instruction signal for switching from the follow mode to the right turn mode is transmitted.

With this configuration, when the own vehicle position detection unit of at least one of the driven vehicles detects that the own vehicle has stopped in the intersection where the vehicle is scheduled to turn right, the transmission unit of the driven vehicle detects the reception unit of the other driven vehicle. , by transmitting an instruction signal to drive in the right-turn mode, the other driven vehicle immediately follows and does not turn right at the intersection even if the vehicle in front of the own vehicle turns right, and automatically Turn right at the intersection and exit. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the fourth aspect of the present invention, a group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein each of the plurality of driven vehicles A forward radar unit that detects other vehicles and other vehicles in the oncoming lane, a side radar unit that detects other vehicles on the side of the own vehicle, and a transmission that transmits an instruction signal that instructs the other following vehicles to travel. a receiving unit for receiving an instruction signal from a transmitting unit of the other driven vehicle; a vehicle position detecting unit for detecting the vehicle position; From the follow-up mode in which the vehicle follows the vehicle in front of the own vehicle using the detection result of the other vehicle in the oncoming lane from the front radar unit and the detection result of the other vehicle on the side of the own vehicle from the side radar unit, the vehicle reaches the intersection. and a mode switching unit for switching to a right-turn mode in which the driven vehicle automatically turns to the right when the driven vehicle is in a state in which the driven vehicle follows the vehicle in front of the subject vehicle in the follow-up mode, with the leading vehicle leading the vehicle. When the vehicle position detection unit of at least one of the driven vehicles detects that the vehicle has passed a predetermined distance before the intersection where the vehicle is to turn right, the transmission unit of the driven vehicle detects that the other driven vehicle An instruction signal for switching from the follow mode to the right turn mode is transmitted to the receiver of the vehicle.

With this configuration, when the own vehicle position detection unit of at least one of the following vehicles detects that the own vehicle has passed a position a predetermined distance before the intersection where the vehicle is to turn right, the transmission unit of the following vehicle detects another vehicle. By transmitting an instruction signal for driving in the right-turn mode to the receiving unit of the driven vehicle, the other driven vehicle immediately follows and crosses the intersection even if the vehicle in front of the own vehicle turns right. Instead of turning right, the vehicle automatically turns right at the intersection and escapes by switching to the right turn mode. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the fifth aspect of the present invention, a group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein the leading vehicle is one of the driven vehicles. a transmission unit for transmitting an instruction signal for instructing travel; and a position information acquisition unit for acquiring information indicating that the vehicle is positioned in an intersection . Reception for receiving instruction signals from a forward radar unit that detects other vehicles and other vehicles in the oncoming lane, a side radar unit that detects other vehicles on the side of the own vehicle, and a transmission unit of the other driven vehicle. and a follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit and the detection result of the other vehicle in the oncoming lane by the front radar unit and the side direction. and a mode switching unit for switching to a right turn mode for automatically turning right at an intersection using the detection result of the other vehicle on the side of the own vehicle in the vehicle group, wherein the driven vehicle leads the leading vehicle . When the location information acquisition unit of the leading vehicle acquires information indicating that the vehicle has stopped in an intersection where the vehicle is scheduled to turn right while following the vehicle in front of the vehicle in the following mode, the leading vehicle The transmission unit of the vehicle transmits an instruction signal for switching from the follow mode to the right turn mode to the reception unit of each driven vehicle.

With this configuration, while the leading vehicle is following the leading vehicle in a follow-up mode in which the following vehicle follows the preceding vehicle , the position information acquisition unit of the leading vehicle stops at the intersection where the vehicle is scheduled to turn right. When the information is acquired, the transmitting unit of the leading vehicle transmits an instruction signal for switching from the following mode to the right-turn mode to the receiving unit of each driven vehicle. switches to right turn mode and automatically turns right at the intersection to exit. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the sixth aspect of the present invention, a group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein the leading vehicle is a driving vehicle of the driven vehicle. and a receiving unit for receiving a signal from the driven vehicle, and each of the plurality of driven vehicles detects another vehicle in front of the own vehicle and another vehicle in the oncoming lane. A forward radar unit for detecting, a side radar unit for detecting other vehicles on the side of the own vehicle, a receiving unit for receiving instruction signals from the transmitting unit of the other following vehicle, and the position of the own vehicle in an intersection. a position information acquisition unit that acquires information indicating that the position information acquisition unit has acquired the position information acquisition unit; a transmission unit that transmits the acquisition result of the position information acquisition unit to the reception unit of the leading vehicle; From the follow-up mode in which the vehicle follows the vehicle in front of the own vehicle using the detection result of the other vehicle in the oncoming lane of the front radar unit and the detection result of the other vehicle on the side of the own vehicle from the side radar unit. and a mode switching unit for switching to a right-turn mode in which the driven vehicle automatically turns to the right when the driven vehicle is in a state in which the driven vehicle follows the vehicle in front of the subject vehicle in the follow-up mode, with the leading vehicle leading the vehicle. When the position information acquiring unit of at least one of the following vehicles acquires information indicating that the own vehicle is positioned at the intersection where the vehicle is scheduled to turn right, the transmitting unit of the driven vehicle transmits the acquisition result to the receiving unit of the leading vehicle. After the receiving unit of the leading vehicle receives the acquisition result, the transmitting unit of the leading vehicle sends an instruction signal to the receiving unit of each driven vehicle to switch from the follow mode to the right turn mode. to send.

With this configuration, in a state in which the driven vehicle is following the leading vehicle in the following mode, the position information acquisition unit of at least one driven vehicle acquires information indicating that the vehicle is positioned at an intersection where the vehicle is scheduled to turn right. In this case, the transmitting unit of the driven vehicle transmits the acquisition result to the receiving unit of the leading vehicle, and after the receiving unit of the leading vehicle receives the acquisition result, the transmitting unit of the driven vehicle transmits the information of each driven vehicle . By transmitting an instruction signal for switching from the following mode to the right-turn mode to the receiving unit, each driven vehicle that receives the instruction signal switches to the right-turn mode and automatically turns right at the intersection . escape. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the seventh aspect of the present invention, a group of vehicles traveling in a formation having a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, wherein the leading vehicle determines the position of the vehicle. and a transmission unit for transmitting an instruction signal for canceling the current mode of the driven vehicle immediately behind the own vehicle. a receiving unit for receiving an instruction signal for canceling the current mode; a transmitting unit for transmitting an instruction signal for canceling the current mode of the vehicle immediately behind the own vehicle; Following the vehicle in front of the vehicle by using the front radar unit that detects other vehicles, the side radar unit that detects other vehicles on the side of the vehicle, and the detection result of the other vehicle in front of the vehicle from the front radar unit. A mode in which the following mode is switched to a right turn mode in which the vehicle automatically turns right at an intersection using the detection result of the other vehicle in the oncoming lane by the front radar unit and the detection result of the other vehicle on the side of the own vehicle by the side radar unit. When the switching unit and the receiving unit of each driven vehicle receive the instruction signal, the following mode of the own vehicle is canceled, and the front radar unit of each driven vehicle detects another vehicle within a predetermined range in front of the own vehicle. a control unit for controlling the mode switching unit of each driven vehicle to switch to the right turn mode by detecting that there is no vehicle, and for controlling the transmission unit to transmit the instruction signal to the driven vehicle immediately behind the host vehicle; In a state in which each of the driven vehicles follows the preceding driven vehicle in the following mode with the leading vehicle leading, the own vehicle position detection unit of the leading vehicle detects that the own vehicle is scheduled to turn right. When it is detected that the vehicle has stopped in the intersection, the transmitting section of the leading vehicle transmits the instruction signal to the receiving section of the driven vehicle immediately behind the host vehicle.

With this configuration, while the driven vehicle is traveling in a following mode in which the driven vehicle follows the preceding vehicle with the leading vehicle at the head, the leading vehicle stops at an intersection where the leading vehicle is scheduled to turn right. , the leading vehicle turns right at the intersection after transmitting an instruction signal for canceling the following mode to the immediately following driven vehicle. The driven vehicle that was immediately behind the leading vehicle receives the instruction signal and stops on the spot. When the leading vehicle in front of the vehicle disappears, the driven vehicle switches to right turn mode and automatically clears the intersection. turn right to The driven vehicle transmits an instruction signal for canceling the following mode to the driven vehicle immediately behind the own vehicle, whereby the driven vehicle immediately after the driven vehicle receives the instruction signal and stops on the spot to change the state of the own vehicle. When there are no more vehicles in front, the system switches to right turn mode and automatically turns right at the intersection. In this way, following driven vehicles automatically turn right at successive intersections. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the eighth aspect of the present invention, there is provided a group of vehicles having a leading vehicle and a plurality of driven vehicles having a plurality of driving modes, and traveling in a platoon, wherein the leading vehicle determines the position of the vehicle. and a transmission unit for transmitting an instruction signal for canceling the current mode of the driven vehicle immediately behind the own vehicle. a receiving unit for receiving an instruction signal for canceling the current mode; a transmitting unit for transmitting an instruction signal for canceling the current mode of the vehicle immediately behind the own vehicle; Following the vehicle in front of the vehicle by using the front radar unit that detects other vehicles, the side radar unit that detects other vehicles on the side of the vehicle, and the detection result of the other vehicle in front of the vehicle from the front radar unit. A mode in which the following mode is switched to a right turn mode in which the vehicle automatically turns right at an intersection using the detection result of the other vehicle in the oncoming lane by the front radar unit and the detection result of the other vehicle on the side of the own vehicle by the side radar unit. When the switching unit and the receiving unit of each driven vehicle receive the instruction signal, the following mode of the own vehicle is canceled, and the front radar unit of each driven vehicle detects another vehicle within a predetermined range in front of the own vehicle. a control unit for controlling the mode switching unit of each driven vehicle to switch to the right turn mode by detecting that there is no vehicle, and for controlling the transmission unit to transmit the instruction signal to the driven vehicle immediately behind the host vehicle; In a state in which each of the driven vehicles follows the preceding driven vehicle in the following mode with the leading vehicle leading, the own vehicle position detection unit of the leading vehicle detects that the own vehicle is scheduled to turn right. When it is detected that the vehicle has passed a predetermined distance before the intersection, the transmitter of the leading vehicle transmits the instruction signal to the receiver of the driven vehicle immediately behind the host vehicle.

With this configuration, in a following mode in which the driven vehicle follows the preceding vehicle with the leading vehicle leading, the own vehicle position detection unit of the leading vehicle detects that the own vehicle is scheduled to turn right. When it is detected that the leading vehicle has passed a predetermined distance before the intersection, the leading vehicle turns right at the intersection after transmitting an instruction signal for canceling the following mode to the following driven vehicle. The driven vehicle that was immediately behind the leading vehicle receives the instruction signal and stops on the spot. When the leading vehicle in front of the vehicle disappears, the driven vehicle switches to right turn mode and automatically clears the intersection. turn right to The driven vehicle transmits an instruction signal for canceling the following mode to the driven vehicle immediately behind the own vehicle, whereby the driven vehicle immediately after the driven vehicle receives the instruction signal and stops on the spot to change the state of the own vehicle. When there are no more vehicles in front, the system switches to right turn mode and automatically turns right at the intersection. In this way, following driven vehicles automatically turn right at successive intersections. As a result, the vehicles in the platoon can escape from the intersection one by one.

In the present invention, a vehicle group including a plurality of vehicles can safely and quickly turn right or left at an intersection on a general road or the like.

1 is a circuit configuration block diagram in an embodiment of a vehicle group of the present invention; FIG. 1 is a circuit configuration block diagram in an embodiment of a vehicle group of the present invention; FIG. 4 is an operation flowchart in Embodiment 1 of the vehicle group of the present invention; FIG. 10 is an operation flowchart in Example 2 of the vehicle group of the present invention; FIG. FIG. 10 is an operation flowchart in Example 3 of the vehicle group of the present invention; FIG. FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention; FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention; FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention; FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention; FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention; FIG. 4 is an explanatory diagram of traveling in an embodiment of a group of vehicles of the present invention;

(Example 1)
An embodiment of a vehicle group according to the present invention will be described below with reference to the drawings. In addition, the present invention is not limited to the following examples.

1 and 2, the configuration of circuit blocks in an embodiment of a vehicle of a vehicle group according to the present invention will be described in detail. Here, FIG. 1 shows the circuit block of the leading vehicle A, and FIG. 2 shows the circuit block of the driven vehicle B (1 to 3), but both vehicles have exactly the same configuration. . Accordingly, in both figures, functional units with the same name have the same function.

The vehicle group of this embodiment has one leading vehicle A and a plurality of driven vehicles B (1 to 3) that travel following the leading vehicle. Further, in this embodiment, both the leading vehicle and each driven vehicle are vehicles capable of automatic driving. Although the details will be described later, each driven vehicle also has a function of follow-up running, in which the vehicle follows the preceding vehicle. This also applies to other embodiments.

The configuration of the circuit block of the lead vehicle A of this embodiment will be described with reference to FIG. The main vehicle A includes an accelerator unit 1A for driving operation in basic running, an accelerator control unit 1B controlled by the accelerator unit, an engine unit 2 as a drive source, a steering unit 3A for steering, and a steering unit for controlling the steering unit 3A. It has a control unit 3B, a brake unit 4A for braking the own vehicle, and a brake control unit 4B for controlling the same.

In addition, the vehicle is equipped with a manual driving function, an automatic driving function (levels 1 to 4), a car navigation function, a follow-up driving function, and the like. In other words, regarding the automatic driving function of this automatic driving car, there are an automatic driving mode in which the vehicle can automatically run without any operation by the driver, and a follow-up mode in which the vehicle follows the preceding vehicle while keeping a predetermined distance. have Therefore, in this automatic driving vehicle, the control unit 18 consisting of an ECU (Electronic Control Unit) etc. automatically controls the driving operation of the accelerator unit 1A, the brake unit 4A, the steering wheel (steering unit) 3A, and the direction indicator unit 18. do. That is, the vehicle has a travel route set by the car navigation function unit 5, and receives travel guidance along the travel route. Automatic driving or follow-up driving can be performed by the units 14 and 34 . The direction indicating unit 18 indicates the direction manually or automatically when the vehicle turns left or right.

In addition, the front camera unit 8 captures images of the surroundings of the vehicle. The pointing direction of the direction indicator 18 of the forward vehicle can be detected.
Further, the front radar unit 9 can measure the distance to an object in front using a millimeter wave radar. The same applies to the front sound wave measurement unit 10, and these two can be used differently depending on the weather and day and night.
The front camera section, front radar section, and front sound wave measurement section are collectively referred to as "another vehicle detection section."
Furthermore, the side camera unit 12 images both sides of the vehicle. Similarly, the side radar unit 13 and the side sound wave measurement unit 14 measure the presence and distance of objects on both sides of the vehicle. Images captured by the camera units 8 and 12 are stored in the storage unit 17 and used for various detections.

The vehicle position detection unit 5 is also a car navigation function unit, and can detect the position of the vehicle using a GPS (Global Positioning System). to provide driving guidance. The display unit 6 displays the above-described route and the like. The mode switching unit 7 switches between an automatic driving mode, a following mode, a right-turn mode, a left-turn mode, and the like.
The transmitting unit 15 transmits an instruction signal from the own vehicle to each of the following vehicles when the own vehicle is the leading vehicle and the following vehicles are driven in order. Furthermore, the receiver 16 receives various signals from the driven vehicle. The position information acquisition unit 11 can obtain information that the vehicle is located within the intersection from a position information providing system (not shown) provided at the intersection. Furthermore, the control unit 19 controls the entire other functional units.

Next, regarding the detailed configuration of the circuit blocks in the driven vehicles B1, B2 and B3, the configuration is the same as that of the leading vehicle A as described above. It also has the same functions as the lead vehicle. Therefore, detailed description thereof will be omitted.

Next, the operation of the vehicle group in this embodiment will be described in detail with reference to FIG. In step 1, the driver first sets the destination and waypoints in the leading vehicle A using the car navigation function unit 5 . After the setting, the transmitting unit 15 of the leading vehicle A transmits an instruction signal to the receiving unit 36 of each driven vehicle so that each car navigation function unit 25 can set the destination and waypoint set by the leading vehicle. However, the destination and waypoints are also set for each driven vehicle.

At the time of departure, the leading vehicle, which is the leading vehicle in the platoon, is manually driven by the driver, while the following vehicles are in automatic driving mode (levels 2 to 4) and following mode (predetermined distance from the preceding vehicle). It is possible to select a left-turn mode, a right-turn mode, or a tracking mode, but a follow-up mode is set.
In the following mode, the driven vehicles B1, B2, and B3 travel while maintaining a predetermined distance from the preceding leading vehicle A by means of the front camera section 28, front radar section 29, and front sound wave measurement section 30. However, in this mode, the side camera unit 32, the side radar unit 33, and the side sound wave measurement unit 34 of the driven vehicle are not operating, or even if they are operating, the information acquired from them is not reflected in the current running of the own vehicle.

In step 2, when the leading vehicle A of the vehicle group is manually started by the driver, the leading vehicle B1 of the following vehicles starts following the leading vehicle A, follows the driven vehicle B1, The next driven vehicle B2 departs, and following this driven vehicle B2, the next driven vehicle B3 departs. In this way, each driven vehicle departs in succession, thereby starting to run as a platoon. (See Figure 6).

Referring to FIG. 6, in step 3, after the platoon departs, the vehicle position detectors 5 or 15 of the leading vehicle A or the driven vehicles B1 to B3 determine that each vehicle is stopped within the intersection (see FIG. 7). ), or when it detects that it has reached a predetermined distance L (Fig. 6) from the intersection that it is scheduled to arrive at, if the detection is by the vehicle position detection unit of the leading vehicle A, then the vehicle An instruction signal for canceling the current following mode is transmitted from the transmitting unit 15 to the receiving unit 26 of the driven vehicle B1 that is following the vehicle immediately after the vehicle. If so, the transmitting section 35 transmits an instruction signal for canceling the current follow mode to the receiving sections 36 of all other driven vehicles (step 4).

Here, in the case of the detection by the position detection unit of the driven vehicle, it is also possible to temporarily transmit a signal indicating the detection to the leading vehicle A, and then transmit the instruction signal from the leading vehicle A to each driven vehicle.
The following vehicle, which has received the cancellation instruction signal from the transmitting section of the leading vehicle or the following vehicle by the receiving section 36, is released from the current following mode by the mode switching section and stops at the current position.
The position of the vehicle can also be detected by obtaining information that the vehicle is located within the intersection from a position information providing system (not shown) provided at the intersection by the position information acquisition unit 11 of the leading vehicle A. and the operation of step 4 above is achieved.

Next, the driver of the lead vehicle A operates the steering unit 3A and the accelerator unit 1A by himself to turn right at the intersection just before along the set (planned) travel route.

Referring to FIG. 7, at step 5, any one of the front camera section 28, front radar section 29, and front sound wave measurement section 30 of the driven vehicle B1 in the intersection detects that the leading vehicle A has turned right from the intersection. If detected (see FIG. 8), that is, if any one of the front camera unit 28, the front radar unit 29, or the front sound wave measurement unit 30 detects that there is no vehicle in a predetermined range ahead, the car navigation system of the own vehicle Based on the right turn schedule at the current intersection set by the function unit 25, the following mode is automatically switched to the right turn mode (step 6). Further, when left-turn traveling is scheduled, the mode is switched to left-turn mode.
The switching to the right/left turn mode is based on the fact that the car navigation function unit has already determined the travel route or the travel schedule, and has detected whether to turn left or right at the next intersection. Therefore, if the next intersection is to turn right, the instruction signal is set to the right turn mode.
Further, the driven vehicle B1, which has been switched from the follow mode canceled state to the right turn mode within the intersection, automatically moves to the center position of the intersection.

This switching can also be done by transmitting an instruction signal for switching to the right turn mode from the transmitter 15 of the leader vehicle A to the receiver 36 of the driven vehicle B1 when the leading vehicle A has finished turning right at the intersection. can switch. Therefore, the driven vehicle B1 switched to the right-turn mode activates the front camera section 28, the front radar section 29, or the front sound wave measurement section 30, and automatically becomes ready to turn right from the intersection.

At the same time when the driving mode of the driven vehicle B1 is switched to the right-turn mode, the transmitting unit 15 of the driven vehicle B1 transmits an instruction signal for canceling the following mode to the receiving unit 26 of the driven vehicle B2, and the driven vehicle B2 follows. The mode is released (step 7). The driven vehicle B2, whose follow-up mode has been canceled, stops at that position.
Therefore, in FIG. 7, the driven vehicle B1 is in a state of shifting from the following mode to the right-turn mode, and the driven vehicle B2 is in a state in which the following mode is cancelled.

In step 8, if any of the front camera unit 28, front radar unit 29, or front sound wave measurement unit 30 of the driven vehicle B2 detects whether or not the driven vehicle B1 at the head of the platoon has turned right (step 8 : YES), the process proceeds to step 9, and if the last vehicle in the platoon is in the right turn mode (step 9: YES), this operation is stopped.
Therefore, in the case of NO in step 9, the process proceeds to step 4, and the driven vehicle at the head of the platoon at the intersection enters the right turn mode, and at the same time, the following driven vehicle is released from the following mode. This operation is repeated until the last vehicle in the platoon switches to the right turn mode, in other words, until the main platoon exits the intersection (FIGS. 9 to 11).

In FIG. 9, the driven vehicle B1 has finished turning right and the driven vehicle B2 has become the head of the platoon, so the driven vehicle B2 is in the right turn mode, and the driven vehicle B3 is released from the following mode. state. Also, in FIG. 9, the driven vehicle B2 has finished turning right and the driven vehicle B3 has become the head of the platoon, so the driven vehicle B3 is in the right turn mode, and the driven vehicle B3 is the tail end of the platoon. Since it is the vehicle of , this operation ends, and the driven vehicle B3 automatically turns right at this intersection in the right turn mode (see FIG. 11).

Here, when the leading vehicle A has finished turning right, the vehicle position is detected by the vehicle position detection unit 5, and information about the position or which lane of the plurality of lanes the leading vehicle is traveling is detected. is simultaneously transmitted from the transmission unit 15 to the reception units 36 of the following driven vehicles. While each driven vehicle is stopped at the intersection, the above information received by the receiving unit 36 of the driven vehicle is sent to the car navigation function unit 25, and the steering unit 23A is operated by the automatic driving function in the right turn mode. And the accelerator unit 21A is controlled, the driven vehicle turns right, enters the same lane as the leading vehicle A according to the above information, reaches the rear of the leading vehicle, and detects the forward camera unit 28, the forward radar unit 29, and the forward sound wave measuring unit 30. When the detects that the lead vehicle A is directly in front of the own vehicle, it automatically switches to the follow mode again and starts following the lead vehicle A. As a result, each driven vehicle determines which lane the driven vehicle turning right at the intersection after the leading vehicle A should enter, and quickly forms a platoon again.

The position information from the above-mentioned leading vehicle is transmitted only to the driven vehicle B1 immediately after, and then transmitted sequentially from the driven vehicle that left the intersection to the driven vehicles B2 and B3 that are in the front row of the platoon. can also be This ensures that even if the forward platoon that has left the intersection (turned around the intersection) is forced to change lanes or enter another lane, the following platoon can reliably follow.
In addition, in this embodiment, a right turn of a group of vehicles at an intersection has been described, but this operation can also be effectively performed for a left turn by the above-described detection before entering the intersection or the above-described detection within the intersection. do. This also applies to other embodiments.

(Example 2)
Next, a vehicle group according to a second embodiment of the present invention will be described in detail with reference to the drawings.
The configuration of the leading vehicle and the driven vehicle of the vehicle group of the second embodiment is the same as that of the first embodiment, but the software program controlling the operation is different. Therefore, a detailed description of the configuration of both vehicles in the vehicle group of the second embodiment will be omitted.

The operation of the vehicle group according to the second embodiment will be described in detail below with reference to the drawings.
In FIG. 5, steps 11 and 12 are the same as those in the first embodiment, so description thereof will be omitted.
Next, in step 13, whether the platoon that departed in step 12 has reached a predetermined distance L from the intersection where the leading vehicle A is to turn right, or (2) has stopped within the intersection. is detected by the vehicle position detector 5 (FIGS. 6 and 7).
Simultaneously with the above detection in step 13, in step 18, the own vehicle position detection unit 25 of any one of the driven vehicles B1, B2, and B3 performs the above detections (1) and (2).

Next, when the process proceeds from step 13 to step 14 (step 13: YES), the leading vehicle A transmits to each driven vehicle an instruction signal for switching from the follow mode to the right turn mode. That is, the instruction signal transmitted from the transmitting section 15 of the leading vehicle A to the receiving section 26 of each driven vehicle is sent to the mode switching section 27 of the driven vehicle, and the current following mode is switched to the right-turn mode (step 15).

Next, referring to FIG. 8, at step 16, when the leading vehicle A turns right at the intersection, the driven vehicle B1 comes to be positioned at the head of the platoon and overtakes the oncoming vehicle traveling in the oncoming lane. Avoid and turn right by the front camera section 28, the front radar section 29, and the front sound wave measurement section 30 (see FIG. 9). Next, the driven vehicle B2, which has become the head of the platoon, similarly avoids the oncoming vehicle and turns right (see FIG. 10). Further, the driven vehicle B3, which has become the head of the platoon, also turns right (see FIG. 11). Since the lane selection after each vehicle turns right is the same as in the first embodiment, the explanation thereof will be omitted.

Next, after the platoon departs, in step 18, the following (1) and (2) are detected by the driven vehicle as described above. If any one of the following vehicles detects the above (step 18: YES), the process proceeds to step 19, and a predetermined signal is sent from the transmitting unit 25 of the detected driven vehicle to the receiving unit 16 of the leading vehicle A. is transmitted, and in step 20, an instruction signal for switching from the follow mode to the right turn mode is transmitted from the transmitter 15 of the leading vehicle A to the receiver 36 of each driven vehicle. The receiving unit of each driven vehicle that has received the switching signal switches to the right turn mode by the mode switching unit 27 . The driven vehicle then passes through the center of the intersection and turns right.
Next, the process proceeds from step 20 to step 15, and when all vehicles in the platoon finish turning right at step 16, at step 7, the original platoon is formed again.

It should be noted that the lane selection after the leading vehicle A leaves the intersection (turns right) and the driven vehicle turns right is the same as in the first embodiment, so a description thereof will be omitted.
In this embodiment 2, since the positions of both the leading vehicle and the driven vehicle are detected by the own vehicle position detection unit, for example, in an area with high-rise buildings, sufficient GPS satellite signals cannot be obtained. In some cases, it is particularly effective.

(Example 3)
Next, a vehicle group according to a third embodiment of the present invention will be described in detail with reference to the drawings.
The configuration of the leading vehicle and the driven vehicle of the vehicle group of the third embodiment is the same as that of the first embodiment, but the software program controlling the operation is different. Therefore, the detailed description of the configuration of both vehicles in the vehicle group of the third embodiment is omitted.

The operation of the vehicle group according to the third embodiment will be described in detail below with reference to the drawings.
In FIG. 5, steps 31 and 32 are the same as those in the first embodiment, so description thereof will be omitted. Next, in FIG. 6, in step 33, the group of vehicles traveling toward the intersection where the right turn is to be made determines whether or not the driven vehicle B1 has reached a predetermined distance from the intersection where the right turn is to be made. It is detected by the position detection unit) 25 . Next, in step 34 (step 33: YES), the front camera section 28 detects whether the direction indicator (winker) 18 of the leading vehicle A, which is the preceding vehicle, indicates a right turn.

When the front camera section 28 detects blinking of the direction indicator section 18, the following mode of the driven vehicle B1 is canceled by the mode switching section 27 in step 35 (see FIG. 7).
Further, in step 36, when the front camera section or the like detects that the leading vehicle A has left the intersection, in step 37, the mode switching section 27 of the driven vehicle switches to the right turn mode (see FIG. 8). .

After that, in step 38, the driven vehicle B1 automatically turns right at the intersection (see FIG. 9), and when the car navigation unit function unit 25 detects the right turn, in step 39, the mode of the driven vehicle B1 is switched. Unit 27 switches from right turn mode to tracking mode.

This tracking mode is a mode in which position information is obtained from a vehicle located in front of the own vehicle, and the vehicle in front is automatically tracked based on that information.
Therefore, the driven vehicle B1 can automatically track the leading vehicle A. When the front camera unit 28 or the car navigation function unit 25 detects that the driven vehicle B1 has reached the rear of the vehicle A, the mode switching unit 27 switches to the tracking mode. Mode is switched to tracking mode (step 40).

After that, the driven vehicle B1 follows the leading vehicle A and travels.
Further, referring to FIGS. 10 and 11, a plurality of driven vehicles B2 following the driven vehicle B1 that has escaped from the intersection are similarly released from the follow mode and then changed to the right turn mode. It makes a right turn at the intersection and tracks the driven vehicle B1 in tracking mode.
After that, the driven vehicle B3 also performs the same operation, and finally, all the vehicles travel as one platoon.

INDUSTRIAL APPLICABILITY The present invention relates to a group of vehicles including a plurality of self-driving vehicles, and in particular, it is a technology related to turning right or left at an intersection of the group of vehicles, so it has high industrial applicability.

5 Vehicle position detection unit (car navigation function unit)
7 Mode switching unit 8 Front camera unit 9 Front radar unit 11 Position information acquisition unit 12 Side camera unit 13 Side radar unit 15 Transmitter 16 Receiver

Claims (8)

Has a lead vehicle and multiple driving modespluralA group of vehicles traveling in a platoon consisting of driven vehicles,
The lead vehicle is
an own vehicle position detection unit that detects the own vehicle position;
a transmission unit that transmits an instruction signal that instructs the driven vehicle to run;,
ofhave
Each of the plurality of driven vehicles,
Forward radar unit that detects other vehicles in front of the vehicle and other vehicles in the oncoming lane When,
A side radar unit for detecting other vehicles on the side of the own vehicle,
A follow-up mode in which the vehicle follows the vehicle in front of the vehicle by using the detection result of the other vehicle in front of the vehicle in the front radar unit, the detection result of the other vehicle in the oncoming lane by the front radar unit, and the vehicle in the side radar unit. A right-turn mode that automatically turns right at an intersection using the detection result of the side of the car. a receiver that receives an instruction signal to instruct,
ofIn a fleet of vehicles with
Saideachthe driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the vehicle position detection unit of the leading vehicle detects that the vehicle has stopped in an intersection where the vehicle is scheduled to turn right while the following vehicle is traveling in the following mode, the transmitting unit of the leading vehicle: SaideachA group of vehicles that transmits an instruction signal for switching from the follow mode to the right turn mode to the receiver of the driven vehicle. Has a lead vehicle and multiple driving modespluralA group of vehicles traveling in a platoon consisting of driven vehicles,
The lead vehicle is
an own vehicle position detection unit that detects the own vehicle position;
a transmission unit that transmits an instruction signal that instructs the driven vehicle to run;,
ofhave
Each of the plurality of driven vehicles,
Forward radar unit that detects other vehicles in front of the vehicle and other vehicles in the oncoming lane When,
A side radar unit for detecting other vehicles on the side of the own vehicle,
A follow-up mode in which the vehicle follows the vehicle in front of the vehicle by using the detection result of the other vehicle in front of the vehicle in the front radar unit, the detection result of the other vehicle in the oncoming lane by the front radar unit, and the vehicle in the side radar unit. A right-turn mode that automatically turns right at an intersection using the detection result of the side of the car. a receiver that receives an instruction signal to instruct,
ofIn a fleet of vehicles with
Saideachthe driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the vehicle position detector of the leading vehicle detects that the vehicle has passed a predetermined distance in front of the intersection where the vehicle is scheduled to turn right while the following vehicle is traveling in the following mode, the leading vehicle The transmitter ofeachA group of vehicles that transmits an instruction signal for switching from the follow mode to the right turn mode to the receiver of the driven vehicle. A group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes,
Each of the plurality of driven vehicles,
a front radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
a transmission unit that transmits an instruction signal that instructs the other driven vehicle to travel;
a receiving unit that receives the instruction signal from the transmitting unit of the other driven vehicle;
an own vehicle position detection unit that detects the own vehicle position;
From the following mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit, the detection result of the other vehicle in the opposite lane by the front radar unit and the detection result of the side radar unit A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of the side of the vehicle;
In a fleet of vehicles having
Saideachthe driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the vehicle position detection unit of at least one of the following vehicles detects that the vehicle has stopped in the intersection where the vehicle is scheduled to turn right while the following vehicle is traveling in the following mode, the transmission unit of the following vehicle. and a group of vehicles for transmitting an instruction signal for switching from the following mode to the right-turn mode to the receivers of the other driven vehicles. A group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes,
Each of the plurality of driven vehicles,
a forward radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
a transmission unit that transmits an instruction signal that instructs the other driven vehicle to travel;
a receiving unit that receives the instruction signal from the transmitting unit of the other driven vehicle;
an own vehicle position detection unit that detects the own vehicle position;
From the follow-up mode in which the vehicle follows the vehicle in front of the own vehicle using the detection result of the other vehicle in front of the own vehicle of the front radar unit, the detection result of the other vehicle in the opposite lane of the front radar unit and the detection result of the side radar unit A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of another vehicle on the side of the own vehicle;
In a fleet of vehicles having
The driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the vehicle position detection unit of at least one of the following vehicles detects that the vehicle has passed a predetermined distance in front of the intersection where the vehicle is scheduled to turn right while following the vehicle in the following mode, A vehicle group in which the transmitting unit of the driven vehicle transmits an instruction signal for switching from the following mode to the right-turn mode to the receiving units of the other driven vehicles. A group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes,
The lead vehicle is
Saideacha transmission unit that transmits an instruction signal that instructs the driven vehicle to travel;
a location information acquisition unit that acquires information indicating that the vehicle is located in an intersection;
has
Each of the plurality of driven vehicles,
a forward radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
a receiving unit that receives the instruction signal from the transmitting unit of the other driven vehicle;
From the follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit, the detection result of the other vehicle in the opposite lane by the front radar unit and the vehicle in the side radar unit. A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of another vehicle on the side of the vehicle;
In a fleet of vehicles having
The driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the position information acquiring unit of the leading vehicle acquires information indicating that the own vehicle has stopped in the intersection where the vehicle is scheduled to turn right while the following vehicle is traveling in the following mode, the transmitting unit of the leading vehicle: SaideachA group of vehicles that transmits an instruction signal for switching from the follow mode to the right turn mode to the receiver of the driven vehicle. A group of vehicles traveling in a platoon consisting of a leading vehicle and a plurality of driven vehicles having a plurality of driving modes,
The lead vehicle is
a transmission unit that transmits an instruction signal that instructs the driven vehicle to run;
a receiving unit that receives a signal from the driven vehicle;
Each of the plurality of driven vehicles,
a forward radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
a receiving unit that receives the instruction signal from the transmitting unit of the other driven vehicle;
a location information acquisition unit that acquires information indicating that the vehicle is located in an intersection;
a transmission unit that transmits the acquisition result of the position information acquisition unit to the reception unit of the leading vehicle;
From the follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit, the detection result of the other vehicle in the opposite lane by the front radar unit and the vehicle by the side radar unit. A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of another vehicle on the side of the vehicle;
In a fleet of vehicles having
The driven vehicle is the leading vehicleto the vehicle immediately before the vehicleWhen the position information acquisition unit of at least one of the following vehicles acquires information indicating that the own vehicle is positioned at an intersection where the vehicle is scheduled to turn right while the following vehicle is traveling in the following mode, the transmission unit of the following vehicle. transmits the acquisition result to the receiving unit of the leading vehicle, and after the receiving unit of the leading vehicle receives the acquisition result, the transmitting unit of the leading vehicle,each of the aboveA group of vehicles that transmits an instruction signal for switching from the follow mode to the right turn mode to the receiver of the driven vehicle. Has a lead vehicle and multiple driving modespluralA group of vehicles having driven vehicles and traveling in platoon,
The lead vehicle is
an own vehicle position detection unit that detects the own vehicle position;
a transmission unit that transmits an instruction signal for canceling the current mode of the driven vehicle immediately after the host vehicle;
has
Each driven vehicle,
a receiving unit for receiving an instruction signal from the vehicle immediately preceding the own vehicle to cancel the current mode;
a transmission unit that transmits an instruction signal to cancel the current mode of the vehicle immediately after the host vehicle;
a front radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
From the follow-up mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit, the detection result of the other vehicle in the opposite lane by the front radar unit and the vehicle in the side radar unit. A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of the side of the vehicle;
When the receiving unit of each driven vehicle receives the instruction signal, the following mode of the own vehicle is canceled, and the front radar unit of each driven vehicle detects that there is no other vehicle within a predetermined range ahead of the own vehicle. a control unit for controlling the mode switching unit of each driven vehicle to switch to the right turn mode by doing so, and for controlling the transmission unit to transmit the instruction signal to the driven vehicle immediately behind the own vehicle;
has
In a state in which each of the driven vehicles is following the preceding driven vehicle with the leading vehicle at the head in the following mode, the vehicle position detection unit of the leading vehicle is positioned within the intersection where the vehicle is scheduled to turn right. the transmission unit of the leading vehicle transmits the instruction signal to the reception unit of the driven vehicle immediately after the subject vehicle. group of vehicles. Has a lead vehicle and multiple driving modespluralA group of vehicles having driven vehicles and traveling in platoon,
The lead vehicle is
an own vehicle position detection unit that detects the own vehicle position;
a transmission unit that transmits an instruction signal for canceling the current mode of the driven vehicle immediately after the host vehicle;
has
Each driven vehicle,
a receiving unit for receiving an instruction signal from the vehicle immediately preceding the own vehicle to cancel the current mode;
a transmission unit that transmits an instruction signal to cancel the current mode of the vehicle immediately after the host vehicle;
a front radar unit that detects other vehicles in front of the vehicle and vehicles in the oncoming lane;
a side radar unit for detecting other vehicles on the side of the own vehicle;
From the following mode in which the vehicle follows the vehicle in front of the vehicle using the detection result of the other vehicle in front of the vehicle by the front radar unit, the detection result of the other vehicle in the opposite lane by the front radar unit and the detection result of the side radar unit A mode switching unit that switches to a right turn mode for automatically turning right at an intersection using the detection result of another vehicle on the side of the own vehicle;
When the receiving unit of each driven vehicle receives the instruction signal, the following mode of the own vehicle is canceled, and the front radar unit of each driven vehicle detects that there is no other vehicle within a predetermined range ahead of the own vehicle. a control unit for controlling the mode switching unit of each driven vehicle to switch to the right turn mode by doing so, and for controlling the transmission unit to transmit the instruction signal to the driven vehicle immediately behind the own vehicle;
has
In a state in which each of the driven vehicles follows the preceding driven vehicle in the following mode with the leading vehicle leading, the vehicle position detection unit of the leading vehicle is located in front of the intersection where the vehicle is scheduled to turn right. , the transmitting unit of the leading vehicle transmits the instruction signal to the receiving unit of the driven vehicle immediately after the subject vehicle. group of vehicles.

Images