JPH0855300A - Controller of vehicle group travel system - Google Patents

Abstract

PURPOSE:To determine a proper target vehicle-to-vehicle distance for vehicles and enable a safe vehicle group travel with small hunting by providing a means which measures acceleration/deceleration response characteristics of vehicles and setting a reference target vehicle-to-vehicle distance according to the response characteristics. CONSTITUTION:A speed controller 1 inputs the acceleration or deceleration alphap of a precedent vehicle, a target vehicle distance XD, a vehicle distance Xi and a vehicle distance deviation Xr measured by a vehicle distance sensor 4, and a relative speed Vr measured by a relative speed sensor 3. A vehicle driving part 2 inputs the output of the speed controller 1 and a disturbance. Then the output speed Vi of the vehicle driving part 2 is fed back to the speed controller 1 by the relative speed sensor 3 and converted by an integration element (1/S) 8 into a vehicle distance Xi, which is fed back by a vehicle distance sensor 4 to perform control so that the vehicle distance deviation Xr becomes zero. Consequently, the safe vehicle group travel having small hunting and a follow-up travel are enabled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a vehicle group traveling system for controlling traveling of a plurality of vehicles when the vehicles are traveling in a group at a high speed in a tandem manner with a reduced inter-vehicle distance.

[0002]

2. Description of the Related Art Control of a vehicle group traveling system is performed by, for example, 1
SAE Technical Paper Series No. 891708 issued in 989, longitudinal Control Concept
s for Automated and Trucks Operating on a Coorperat
In the conventional technology, a vehicle model is created in consideration of response delays of vehicle sensors and actuators, response delays due to wind pressure, and dead time until the sensors and actuators operate. The controllability during PID control has been clarified.

FIG. 3 is a block diagram of a control device for a conventional vehicle group traveling system. In the figure, 6 is an inter-vehicle distance control unit that receives an inter-vehicle distance deviation Xr between a target inter-vehicle distance X _D and an inter-vehicle distance Xi measured by the inter-vehicle distance sensor 4, and 1 is an output of the inter-vehicle distance control unit 6 and a preceding vehicle. A speed regulator that receives a speed deviation Vr between an output of a vehicle speed tuning control unit 7 that receives a vehicle speed and an output that is fed back from a vehicle driving unit 2 such as an internal combustion engine (not shown). The output is input to the vehicle drive unit 2, the output of the vehicle drive unit 2 is fed back to obtain the speed deviation Vr, and the traveling distance by the integral element (1 / S) 8 is converted into the inter-vehicle distance as a result. Is measured by the inter-vehicle distance sensor 4.

In a conventional vehicle group traveling system controller,
The speed adjuster 1 so that the above speed deviation Vr becomes zero.
Then, the speed deviation Vr is multiplied by the control gain G _D and output to the actuator of the vehicle drive unit 2. On the other hand, the vehicle driven by the vehicle drive unit 2 is subject to disturbances such as resistance due to wind and slopes. Is controlled so that the inter-vehicle distance becomes the target inter-vehicle distance and the vehicle speed becomes the same as the preceding vehicle.

[0005]

However, in the control device of the conventional vehicle group traveling system as described above, the target inter-vehicle distance and the control gain are fixed, so that the load capacity of the baggage increases or the length of the load increases suddenly. When the acceleration / deceleration response characteristics of the vehicle change, such as when the road surface is wet due to slopes or rain and the coefficient of friction with the tire decreases, the convergence of the vehicle speed and the inter-vehicle distance deteriorates, and in particular, There is a problem that the influence on the vehicle behind becomes great and there is a danger of a rear-end collision due to hunting.

The present invention has been made in order to solve such a problem, and even if the acceleration / deceleration response characteristic of the vehicle changes, the convergence of the vehicle speed and the inter-vehicle distance is good, and the hunting is small. An object of the present invention is to obtain a control device for a vehicle group traveling system that performs vehicle group traveling control.

[0007]

According to a first aspect of the present invention, there is provided a control device for a vehicle group traveling system, wherein a plurality of vehicles are traveling in a group at a high speed in a tandem manner while the inter-vehicle distances are reduced. In a control device of a vehicle group traveling system for performing control, acceleration / deceleration response characteristic measuring means for measuring an acceleration / deceleration response characteristic of a vehicle is provided, and a reference target inter-vehicle distance is set according to the acceleration / deceleration response characteristic.

According to a second aspect of the present invention, there is provided a control device for a vehicle group traveling system, which performs vehicle traveling control when a plurality of vehicles are traveling in a group at a high speed in a tandem manner by shortening an inter-vehicle distance. In a control device of the system, an acceleration / deceleration response characteristic measuring means for measuring an acceleration / deceleration response characteristic of a vehicle is provided, and a control gain is variable according to the acceleration / deceleration response characteristic.

According to a third aspect of the present invention, there is provided a vehicle group traveling system control device according to the first or second aspect of the vehicle group traveling system control system, wherein a reference target inter-vehicle distance is set according to the acceleration / deceleration response characteristic. The control gain is set.

A vehicle group traveling system control device according to a fourth aspect of the present invention is the vehicle group traveling system control device according to any one of the first to third aspects, in which the vehicle weight of the vehicle is measured. Means are provided, the acceleration / deceleration response characteristic of the vehicle is evaluated according to the vehicle weight, and the reference target inter-vehicle distance and the control gain are set.

According to a fifth aspect of the present invention, there is provided a vehicle group traveling system control device according to any one of the first to third aspects of the vehicle group traveling system control device, which is a database showing a vehicle locator and a road gradient. Is installed, the acceleration / deceleration response characteristic of the vehicle is evaluated according to the road gradient in a predetermined section of the traveling point, and the reference target inter-vehicle distance and the control gain are changed.

According to a sixth aspect of the present invention, there is provided a control device for a vehicle group traveling system in the vehicle group traveling system control device according to any one of the first to third aspects, wherein a predetermined section of a traveling point is provided by road-vehicle communication. Is provided, the acceleration / deceleration response characteristic of the vehicle is evaluated based on the road gradient information, and the reference target inter-vehicle distance and the control gain are changed.

According to a seventh aspect of the present invention, there is provided a vehicle group traveling system control device, wherein the vehicle group traveling system control device according to any one of the first to third aspects uses the vehicle-to-vehicle communication to determine weather conditions at a traveling point. A means for acquiring information on the dependent friction coefficient of the road surface is provided, the adjustment response characteristic of the vehicle is evaluated from the friction coefficient information of the road surface, and the reference target inter-vehicle distance and the control gain are changed.

[0014]

In the controller for the vehicle group traveling system according to the first aspect of the present invention, the acceleration / deceleration response characteristic measuring means measures the acceleration / deceleration response characteristic of the vehicle in the vehicle group traveling state, and according to the acceleration / deceleration response characteristic. Since the reference target inter-vehicle distance is set in accordance with the reference target inter-vehicle distance, an appropriate target inter-vehicle distance is set for each vehicle, and safe vehicle group traveling and follow-up traveling with less hunting can be performed.

In the control device for the vehicle group traveling system according to claim 2 of the present invention, the acceleration / deceleration response characteristic measuring means measures the acceleration / deceleration response characteristic of the vehicle in the vehicle group traveling state, and the acceleration / deceleration response characteristic is measured according to the acceleration / deceleration response characteristic. Since the control gain is variable by using the control gain, it is possible to select a control gain suitable for the vehicle.

According to a third aspect of the present invention, there is provided a vehicle group traveling system control device according to the first or second aspect of the vehicle group traveling system control system, wherein the reference target inter-vehicle distance is set according to the acceleration / deceleration response characteristic. Since the control gain is set, it is possible to set an appropriate target inter-vehicle distance for the vehicle and select an appropriate control gain.

According to a fourth aspect of the present invention, there is provided a vehicle group travel system control device, wherein the vehicle group travel system control device according to any one of the first to third aspects of the present invention measures a vehicle weight of a vehicle. Means is provided to evaluate the acceleration / deceleration response characteristics of the vehicle according to the vehicle weight, and the reference target inter-vehicle distance and the control gain are set. You can perform safe vehicle group traveling and follow-up traveling.

According to a fifth aspect of the present invention, there is provided a control device for a vehicle group traveling system according to any one of the first to third aspects, which is a database indicating a locator and a road gradient on a vehicle. Is installed, the acceleration / deceleration response characteristics of the vehicle are evaluated according to the road gradient in a predetermined section of the traveling point, and the reference target inter-vehicle distance and the control gain are changed, so safety with less hunting even when the road conditions change. It is possible to run various vehicle groups and follow up.

According to a sixth aspect of the present invention, there is provided a control device for a vehicle group traveling system, wherein the vehicle group traveling system control device according to any one of the first to third aspects uses road-vehicle communication to perform a predetermined section of a traveling point. Means for obtaining the road gradient information, the acceleration / deceleration response characteristic of the vehicle is evaluated based on the road gradient information, and the reference target inter-vehicle distance and the control gain are changed. Therefore, even when traveling on a road with a road gradient. Allows safe vehicle group traveling and follow-up traveling with little hunting.

According to a seventh aspect of the present invention, there is provided a vehicle group traveling system control device, wherein the vehicle group traveling system control device according to any one of the first to third aspects uses road-to-vehicle communication to determine the weather at the traveling point. A means for acquiring information on the coefficient of friction of the dependent road surface is provided, and the adjustment target response characteristic of the vehicle is evaluated from the friction coefficient information of the road surface, and the reference target inter-vehicle distance and the control gain are changed. Even if the road conditions change, safe vehicle group traveling and follow-up traveling with little hunting can be performed.

[0021]

【Example】

Example 1. FIG. 1 is a block diagram showing an embodiment of the present invention. In the figure, 1 is the acceleration / deceleration α _P of the preceding vehicle,
A speed controller 2 that receives the vehicle-to-vehicle distance Xr between the target vehicle-to-vehicle distance X _D and the vehicle-to-vehicle distance Xi measured by the vehicle-to-vehicle distance sensor 4 and the relative speed Vr measured by the relative speed sensor 3 as inputs. The output speed Vi of the vehicle drive unit 2 is fed back to the speed adjuster 1 by the relative speed sensor 3 and the inter-vehicle distance Xi is obtained by the integral element (1 / S) 8. And is fed back by the inter-vehicle distance sensor 4 and adjusted so that the inter-vehicle distance deviation Xr becomes zero.

FIG. 2 is a schematic diagram of a vehicle group traveling system. In the figure, vehicles A, B, C, D and E respectively respond to acceleration / deceleration with a time constant t _A of a response delay characteristic,
It has t _B , t _C , t _D and t _E. Since vehicle A is the leading vehicle, there is no target inter-vehicle distance, but A and B, B and C,
Target inter-vehicle distance D such as C and D, D and E
_B , D _C , D _D and D _E are the time constants t _B , t _C and t of the response delay characteristic.
_The control gain G _P is determined according to _D , t _E, and the target inter-vehicle distances D _B , D _C , D _D , D _E. Through communication between the vehicles, the acceleration / deceleration of the vehicle traveling in front, the traveling speed, etc. can be obtained as information, and each vehicle is provided with an inter-vehicle distance sensor 4 and a relative speed sensor 3.

Next, the operation will be described. In FIG. 1, the speed adjuster 1 includes an acceleration / deceleration α _P of a preceding vehicle acquired through communication, an inter-vehicle distance deviation Xr between a target inter-vehicle distance X _D and an inter-vehicle distance Xi measured by the inter-vehicle distance sensor 4,
The relative speed Vr measured by the relative speed sensor 3 is input, and from these values, the product of the vehicle-to-vehicle distance deviation Xr and the control gain G _P with respect to the target vehicle-to-vehicle distance X _D is α1, the relative speed Vr and the control gain G _D. the product [alpha] 2, the product of the temporal change rate and the control gain G _J of the relative velocity as .alpha.3, calculates the acceleration αi by the following equation, issues a deceleration command αi to the vehicle drive unit 2.

Αi = (α1 + α2 + α3) × k + α _P (1)

Here, k is a constant determined by the table function or the characteristics of the vehicle actuator. The above acceleration / deceleration command αi is normally output to an actuator that operates an accelerator for acceleration and an actuator that operates a brake for deceleration.

The acceleration / deceleration response characteristic of the vehicle is determined by the output power of the engine and drive system constituting the vehicle drive unit 2, the performance of the brakes, the load weight, etc., but the slope of the slope or the road surface due to rain, snow, etc. It also greatly changes due to disturbance factors such as changes in the friction coefficient of. The output of the engine and drive system and the performance of the brakes are almost fixed values, and there is no problem in determining the control gain, but the loaded weight varies with each run, so the weight change within a certain range. If so, there is almost no problem even with a fixed control gain, but if the loading amount becomes extremely large, a fixed control gain becomes unsuitable and hunting easily occurs. In such a case, generally, the target inter-vehicle distance is set large and the control gain is set small so that smooth control can be performed. For the loaded weight, a weight sensor (not shown) may be placed in the vehicle drive unit 2, the weight may be measured when the vehicle is stopped, and the measured value may be input to the speed controller 1, or when the vehicle departs. Alternatively, the weight may be measured by an external facility and manually set using wireless communication or key input.

Further, if there is a large road gradient, the delay of the acceleration response becomes large on the uphill, and the delay of the deceleration response becomes large on the downhill. Smooth travel can be performed by changing the distance and resetting the control gain to an appropriate value according to the road gradient. The existence of a slope is equipped with a locator, always locates the vehicle position, keeps data about the slope on a map database, and by referring to it, when entering a slope that is expected to have a great influence on control, , Allows you to change the target inter-vehicle distance and control gain. The slope data can be detected by a device installed in the vehicle by installing a pattern, such as a bar code or an optical pattern, which a computer can easily determine on the road surface or road side. Alternatively, a method of transmitting slope information from a transmitter installed on the road side and acquiring the information by road-vehicle communication in which a receiver mounted on the vehicle receives the information. Similarly, information about the friction coefficient of the road such as rain, snow, and freezing can be obtained by road-vehicle communication.

By obtaining such information, the target inter-vehicle distance is changed to an appropriate value, and the control gain is also changed accordingly, so that smooth and safe vehicle group traveling or following traveling can be performed.

[0029]

The control device for the vehicle group traveling system according to the first aspect of the present invention performs the traveling control of the vehicles when a plurality of vehicles are traveling in a group at a high speed in a row in parallel while shortening the inter-vehicle distance. In the control device of the vehicle group traveling system, since the acceleration / deceleration response characteristic measuring means for measuring the acceleration / deceleration response characteristic of the vehicle is provided and the reference target inter-vehicle distance is set according to the acceleration / deceleration response characteristic, it is suitable for the vehicle. The target vehicle-to-vehicle distance is set, and it is possible to perform safe vehicle group traveling and follow-up traveling with less hunting.

According to a second aspect of the present invention, there is provided a control device for a vehicle group traveling system, wherein the vehicle group performs vehicle traveling control when a plurality of vehicles are traveling in a group at a high speed in a tandem manner by shortening an inter-vehicle distance. In the control device of the traveling system, since the acceleration / deceleration response characteristic measuring means for measuring the acceleration / deceleration response characteristic of each vehicle is provided and the control gain is variable according to the acceleration / deceleration response characteristic, an appropriate control gain for each vehicle is provided. Is selected, an effect that smooth and safe vehicle group traveling and follow-up traveling can be performed.

According to a third aspect of the present invention, there is provided a vehicle group traveling system control device according to the first or second aspect of the vehicle group traveling system control system, wherein the reference target inter-vehicle distance is set according to the acceleration / deceleration response characteristic. Since the control gain is set,
The effect that the target distance between vehicles is determined appropriately and the appropriate control gain is selected to enable smooth and safe vehicle group traveling and follow-up traveling.

A vehicle group traveling system control device according to a fourth aspect of the present invention is the vehicle group traveling system control device according to any one of the first to third aspects, in which the vehicle weight is measured. Means is provided, the acceleration / deceleration response characteristics of the vehicle are evaluated according to the vehicle weight, and the reference target inter-vehicle distance and the control gain are set. The effect is that safe vehicle group traveling and follow-up traveling can be performed.

According to a fifth aspect of the present invention, there is provided a vehicle group traveling system control device according to any one of the first to third aspects of the vehicle group traveling system control device, which is a database showing a vehicle locator and a road gradient. Is installed, the acceleration / deceleration response characteristics of the vehicle are evaluated according to the road gradient in a predetermined section of the traveling point, and the standard target inter-vehicle distance and the control gain are changed, so safety with less hunting even when the road conditions change. The effect that various vehicle groups can be run and follow-up running can be achieved.

According to a sixth aspect of the present invention, there is provided a control device for a vehicle group traveling system in the vehicle group traveling system control device according to any one of the first to third aspects, in which a predetermined section of a traveling point is provided by road-vehicle communication. Means for acquiring the road gradient information, the acceleration / deceleration response characteristic of the vehicle is evaluated based on the road gradient information, and the reference target inter-vehicle distance and the control gain are changed. Therefore, even when traveling on a road with a road gradient. It is possible to perform safe vehicle group traveling and follow-up traveling with little hunting.

According to a seventh aspect of the present invention, there is provided a vehicle group traveling system control device according to any one of the first to third aspects of the vehicle group traveling system control system, which uses road-to-vehicle communication to determine weather conditions at a traveling point. A means for acquiring information on the friction coefficient of the dependent road surface is provided, and the adjustment response characteristic of the vehicle is evaluated from the friction coefficient information of the road surface, and the reference target inter-vehicle distance and the control gain are changed. Even if the road condition changes, the vehicle can travel smoothly and safely with less hunting and follow-up running.

[Brief description of drawings]

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

FIG. 2 is a schematic explanatory diagram of a vehicle group traveling system.

FIG. 3 is a block diagram of a control device for a conventional vehicle group traveling system.

[Explanation of symbols]

1 speed adjuster, 2 vehicle drive unit, 3 relative speed sensor, 4 inter-vehicle distance sensor, 6 inter-vehicle distance control unit, 7 vehicle speed tuning control unit.

Claims (7)

[Claims] 1. A control device of a vehicle group traveling system for controlling traveling of a plurality of vehicles in a case where a plurality of vehicles are traveling in a group at a high speed in parallel with each other with a reduced inter-vehicle distance, to measure acceleration / deceleration response characteristics of the vehicles. A control device for a vehicle group traveling system, comprising: an acceleration / deceleration response characteristic measuring means, and setting a reference target inter-vehicle distance according to the acceleration / deceleration response characteristic. 2. The acceleration / deceleration response characteristic of the vehicle is measured in a control device of a vehicle group traveling system which controls traveling of the vehicle when a plurality of vehicles are traveling in a group at a high speed in a row while shortening an inter-vehicle distance. A control device for a vehicle group traveling system, comprising: an acceleration / deceleration response characteristic measuring means, wherein a control gain is variable according to the acceleration / deceleration response characteristic. 3. The vehicle group traveling system control apparatus according to claim 1 or 2, wherein a reference target inter-vehicle distance and a control gain are set according to the acceleration / deceleration response characteristic. Control device. 4. The control device for a vehicle group traveling system according to claim 1, further comprising a vehicle weight measuring means for measuring a vehicle weight of the vehicle, and an acceleration / deceleration response of the vehicle according to the vehicle weight. A control device for a vehicle group traveling system, which evaluates characteristics and sets a reference target inter-vehicle distance and a control gain. 5. The vehicle group traveling system control device according to claim 1, wherein a locator and a database showing a road gradient are installed in the vehicle, and the locator and a database indicating a road gradient are installed in the vehicle according to a road gradient in a predetermined section of the traveling point. A control device for a vehicle group traveling system, which evaluates acceleration / deceleration response characteristics of a vehicle and changes a reference target inter-vehicle distance and a control gain. 6. The controller for the vehicle group traveling system according to claim 1, wherein the vehicle-to-vehicle communication is used.
A vehicle traveling system characterized in that a means for acquiring road gradient information of a predetermined section of a traveling point is provided, acceleration / deceleration response characteristics of the vehicle are evaluated based on the road gradient information, and a reference target inter-vehicle distance and a control gain are changed. Control device. 7. The control device for a vehicle group traveling system according to claim 1, wherein road-to-vehicle communication is used.
A means for acquiring information about a friction coefficient of a road surface depending on the weather at a running point is provided, the adjustment response characteristic of the vehicle is evaluated from the friction coefficient information of the road surface, and a reference target inter-vehicle distance and a control gain are changed. Control device for vehicle group traveling system.