CN110103980A - The method of operating and medium of control device, control device - Google Patents
The method of operating and medium of control device, control device Download PDFInfo
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- CN110103980A CN110103980A CN201811491769.2A CN201811491769A CN110103980A CN 110103980 A CN110103980 A CN 110103980A CN 201811491769 A CN201811491769 A CN 201811491769A CN 110103980 A CN110103980 A CN 110103980A
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- vehicle
- control device
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- predetermined time
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of technology travelling the multiple vehicles to stop by signal etc. together is provided.A kind of control device, carry out the traveling control of vehicle, have: receiving unit receives the information of starting predetermined time；And control unit, control the vehicle, so as to recall required time corresponding with the drive form of the vehicle since the starting predetermined time and starting preparation.
Description
Technical field
The present invention relates to vehicle-mounted control devices, the method for operating and medium of control device.
Background technique
Describe following content in patent document 1: the car-mounted device for being equipped on vehicle obtains signal lamp from road device
Color is switched to the green transformation period point of green, controls the vehicle to start the advance of vehicle in green transformation period point.
Describe following content in patent document 2: road equipment sends traveling relative to more passing vehicles of parking
Signal is controlled, so that more passing vehicles become the time point of transitable instruction substantially in signal lamp for vehicle while rising
Step.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2008-242569 bulletin
Patent document 2: Japanese Unexamined Patent Publication 10-079099 bulletin
Summary of the invention
It is solved the problems, such as needed for invention
However, in existing technology, being waited according to the difference of the drive form of vehicle and preparing the starting of each vehicle
The required time is different, and therefore, it is difficult to travel multiple vehicles in parking together, there are can generate congestion or eliminate congestion
Until to spend time taking project.
The present invention is to recognize that the project is completed as opportunity, it is intended that providing a kind of for making because of letter
The technology that number equal and in parking multiple vehicles travel together.
The method for solving problem
One embodiment of the present invention is related to a kind of control device,
The control device carries out the traveling control of vehicle, has:
Receiving unit receives the signal including the information comprising the starting predetermined time；And
Control unit controls the vehicle, so as to the driving of backtracking and the vehicle from the starting predetermined time
Start starting the time required to form is corresponding to prepare.
Other modes of the invention are related to a kind of control device,
The control device carries out the traveling control of vehicle, has:
Acquisition unit obtains the peripheral information of the vehicle；
Estimation unit is estimated based on starting predetermined time of the peripheral information to the vehicle；And
Control unit controls the vehicle, so as to the driving of backtracking and the vehicle from the starting predetermined time
Start starting the time required to form is corresponding to prepare.
Other aspects of the present invention are related to a kind of method of operating of control device, the method for operating of the control device be into
The method of operating of the control device of the traveling control of driving, the method for operating of the control device include
Receiving step receives the information of starting predetermined time in this step；And
Rate-determining steps control the vehicle in this step, so as to the backtracking from the starting predetermined time and the vehicle
Drive form it is corresponding the time required to and start starting and prepare.
Other aspects of the present invention are related to a kind of method of operating of control device, the method for operating of the control device be into
The method of operating of the control device of the traveling control of driving, the method for operating of the control device include
Obtaining step obtains the peripheral information of the vehicle in this step；
Estimating step is estimated based on starting predetermined time of the peripheral information to the vehicle in this step；
And
Rate-determining steps control the vehicle in this step, so as to the backtracking from the starting predetermined time and the vehicle
Drive form it is corresponding the time required to and start starting and prepare.
Invention effect
In accordance with the invention it is possible to travel the multiple vehicles being in parking because of signal etc. together.
Detailed description of the invention
Fig. 1 is the figure for the structural example for illustrating the vehicle of an embodiment of the invention.
Fig. 2 is the block diagram for the structural example for illustrating the vehicle of an embodiment of the invention.
Fig. 3 is the block diagram for the structural example for illustrating the vehicle of an embodiment of the invention.
One exemplary process of the step of Fig. 4 is for illustrating processing that the control device of first embodiment implemented
Figure.
Fig. 5 is the figure for indicating the situation of the transmitting on the starting opportunity of vehicle of first embodiment.
Fig. 6 is to indicate that the starting of each vehicle of stopping fleet of first embodiment prepares an example on the opportunity started
Figure.
Fig. 7 is to indicate that a part of the stopping fleet of first embodiment starts the figure of the situation travelled together.
One exemplary process of the step of Fig. 8 is the processing for illustrating the control device implementation of second embodiment
Figure.
Fig. 9 is the figure for indicating the situation of the transmitting on the starting opportunity of vehicle of second embodiment.
One exemplary process of the step of Figure 10 is the processing for illustrating the control device implementation of third embodiment
Figure.
Figure 11 is the feelings stopped in fleet comprising vehicle and inter-vehicular communication non-corresponding vehicle indicated in third embodiment
One exemplary figure of the information transmitting under condition.
Figure 12 is that 1 trolley of the stopping fleet of third embodiment is unable to catch up with travelling the processing in the case where starting together
Explanatory diagram.
Symbol description
1: vehicle；13: control device；131~135:ECU.
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.In addition, each figure is merely used for illustrating to implement
The schematic diagram of mode, such as the size of each element in figure may not slice-of-life size.In addition, being marked in figure to same element
Same appended drawing reference in the present specification omits the description duplicate content.
(first embodiment)
<vehicle composition>
Fig. 1 and Fig. 2 is the figure for the structure for illustrating the vehicle 1 of first embodiment.The vertical view of vehicle 1 is used in Fig. 1
Figure and side view indicate the connection relationship between the allocation position and element of each element described below.Fig. 2 is the system frame of vehicle 1
Figure.
In addition, in the following description, there are using front/rear, up/down, side (left/right) etc. to show, it
Be used as the performance of relative direction for indicating to show on the basis of the vehicle body of vehicle 1.For example, " preceding " front and back for indicating vehicle body
Upward front, "upper" indicate the short transverse of vehicle body.
Vehicle 1 have operating mechanism 11, periphery monitoring apparatus 12, control device 13, driving mechanism 14, arrestment mechanism 15,
Steering mechanism 16 and communication device 17.In addition, vehicle 1 is carriage in the present embodiment, but the quantity of wheel is not limited to
This.
Operating mechanism 11 includes acceleration operating parts 111, braking operating parts 112 and steering operating parts 113.It is typical
For, accelerate to be accelerator pedal with operating parts 111, braking operating parts 112 is brake pedal, uses operating parts 113 in addition, turning to
For steering wheel.But, for these operating parts 111~113, the component of the other modes such as rod-type, push button also can be used.
Periphery monitoring apparatus 12 includes video camera 121, radar 122 and optical radar (Light Detection and
Ranging (LiDAR)) 123, they are used as the biography for being monitored or being detected for the surrounding enviroment to vehicle (this vehicle) 1
Sensor and function.Video camera 121 is, for example, the filming apparatus using ccd image sensor, cmos image sensor etc..Thunder
It is, for example, the range units such as millimetre-wave radar up to 122.In addition, optical radar 123 is, for example, the range units such as laser radar.Such as figure
Illustrated by 1 like that, be respectively arranged at can be to position that the surrounding enviroment of vehicle 1 are detected, such as vehicle body for above-mentioned component
Front side, rear side, upper side and side side.
The example of surrounding enviroment as above-mentioned vehicle 1 can enumerate the running environment of vehicle 1 and associated there
The environment (the extended direction in lane, can travel region, the color of signal lamp etc.) on 1 periphery of vehicle, 1 periphery of vehicle object
Information (the presence or absence of objects such as other vehicles, pedestrian, barrier, the attribute of the object, position, the direction of movement, speed etc.) etc..
From this viewpoint, periphery monitoring apparatus 12 can also show as the detection device etc. of the peripheral information for detecting vehicle 1.
Control device 13 is configured to control vehicle 1, such as based on from operating mechanism 11, periphery monitoring apparatus 12
And/or the signal of aftermentioned communication device 17, each mechanism 14~16 is controlled.Control device 13 includes multiple ECU (electronics
Control unit) 131~135.Each ECU includes CPU, memory and communication interface.Each ECU via communication interface based on receiving
Information (data or electric signal) implements defined processing using CPU, is processed to result and is stored in memory or via communication
Interface is exported to other element.
ECU131 is to accelerate to use ECU, such as based on driver control acceleration with the operating quantity of operating parts 111 aftermentioned
Driving mechanism 14.
ECU132 is braking ECU, such as controls brake with the operating quantity of operating parts 112 to braking based on driver
Structure 15.Arrestment mechanism 15 is, for example, the disk brake for being set to each wheel.
ECU133 is to turn to use ECU, such as control turning machine with the operating quantity of operating parts 113 to steering based on driver
Structure 16.Steering mechanism 16 is for example comprising power steering gear.
ECU134 is the analysis ECU being arranged in correspondence with periphery monitoring apparatus 12.ECU134 is based on being filled by environment monitoring
It sets the surrounding enviroment of the vehicle 1 of 12 acquisitions and implements defined analysis/processing, its result is exported to ECU131~133.Example
Such as, ECU134 exports control signal to ECU131~133, so that the color according to signal lamp makes 1 starting of vehicle/stopping, and makes
Vehicle 1 is turned along lane.
ECU135 is the analysis ECU being arranged in correspondence with aftermentioned communication device 17.ECU135 is based on filling via communication
It sets the information that the signals of 17 transmitting-receivings is included and implements defined analysis/processing, its result is exported to ECU131~133.This
Outside, as needed, communication device 17 is controlled to send signal.
Communication device 17 has vehicle and inter-vehicular communication portion 171 and road and inter-vehicular communication portion 172.Vehicle and vehicle
Between communication unit 171 be responsible for the mutual communication of vehicle, 1 or more the vehicle in the front relative to this vehicle, 1 or more of rear
Vehicle send signal or from they receive signal.Details will be addressed below, and signal includes the letter of starting predetermined time
Breath.Road and inter-vehicular communication portion 172 are responsible for the communication of road device (such as signal lamp) and this vehicle, such as from signal lamp etc.
Road device receive the signal intensity of signal lamp until remaining time information.That is, being until changing from red to green
Time, and be indicate starting the predetermined time information.
That is, ECU131~133 can control each mechanism 14~16 based on the signal from ECU134 and/or ECU135.
According to such composition, control device 13 can implement the traveling control of vehicle 1 corresponding with surrounding enviroment, such as implement automatic
It drives.
In the present specification, automatic Pilot refers to, implements driver behavior (accelerate, brake and turn to) in 13 side of control device
Part or all, rather than driver side implement.That is, in the concept of automatic Pilot, in addition in 13 side of control device
Other than the mode (so-called fully automated driving) for implementing whole driver behaviors, also it is included in 13 side of control device and only implements to drive
The mode (so-called driving auxiliary) of a part of operation.As the example for driving auxiliary, speed control can be enumerated and (patrolled automatically
Boat control) function, vehicle headway control (adaptive learning algorithms) function, deviation prevent auxiliary (lane keeps auxiliary) function
It can, collide and avoid miscellaneous function etc..
In addition, control device 13 is not limited to this composition.For example, (the face ASIC also can be used in each ECU131~135
To the integrated circuit of special-purpose) etc. semiconductor devices.That is, the function of each ECU131~135 can also pass through hardware and software
Any one of realize.In addition, part or all of ECU131~135 can also be made of single ECU.
Fig. 3 is the block diagram of a part, particularly driving mechanism 14 for illustrating the structure of vehicle 1.In present embodiment
In, driving mechanism 14 includes power source 141 and automatic transmission 142.Internal combustion engine is used as power source 141, but as it
Motor also can be used for embodiment in he.Automatic transmission 142 includes torque-converters 1421 and gear 1422, according in this way
Composition, speed change is carried out to the power (revolving speed) of power source 141 based on defined gear ratio, will through not shown transmission mechanism
The power is transferred to wheel.
The fluid that torque-converters 1421 is arranged between the output shaft of power source 141 and the input shaft of gear 1422 connects
The power of power source 141 can be transferred to gear 1422 via fluid (such as oil) by the apparatus for starting of head dummy.In this reality
It applies in mode, as torque-converters 1421, uses the output shaft comprising can directly link power source 141 and gear 1422
The torque-converters of locking clutch including the lock-up clutch 1421A of input shaft.It is incited somebody to action in lock-up clutch 1421A by driving
Under the state (direct connecting state) that the output shaft of power source 141 and the input shaft of gear 1422 are mechanically linked, power source
141 power is transferred directly to gear 1422.On the other hand, in (the release of lock-up clutch 1421A undriven state
State) under, the power of power source 141 is transferred to gear 1422 via fluid.In addition, lock-up clutch 1421A can also
Becoming direct connecting state and the intermediate state of release conditions and locally driving (can slidably be fastened on power source
State between 141 output shaft and the input shaft of gear 1422), additionally it is possible to it is adjusted by being controlled its drive volume
Save the transmission efficiency of the power of power source 141.
In the present embodiment, use includes multiple planetary gear mechanisms and multiple clamping mechanisms in gear 1422
Planetary gear type gearbox including (such as clutch, brake etc.).Gear 1422 is based on carrying out self-control device 13
Signal each clamping mechanism is controlled and is switched the transmission path of the power from power source 141, thus selective landform
At a gear ratio in multiple gear ratio, shift gear is thereby determined that.According to such composition, gear 1422 with speed change
Corresponding gear ratio is kept off to carry out speed change to the power of power source 141 and export.
Such as K is set as 1 or more integer, the case where shift gear in selection is become (K+1) speed gear from K speed gear is referred to as
Upshift, in addition, referred to as downshift the case where the shift gear in selection is become K speed gear from (K+1) speed gear.As the example of upshift,
The case where becoming 2 speed gear when accelerating from 1 speed gear and decline gear ratio can be enumerated.As the example of downshift, can enumerate
The case where becoming 3 speed gear when slowing down from 4 speed gear and improve gear ratio.In addition, upshift and downshift are collectively referred to as variable block (speed change
Operation).
ECU135 implements defined analysis/processing based on the information that the signal received and dispatched via communication device 17 is included,
Its result is exported to ECU131~133.
<processing>
Next, being illustrated referring to details of the Fig. 4 to Fig. 7 to the processing of first embodiment.Fig. 4 is for illustrating the
The exemplary flow chart of the step of traveling control of the vehicle of one embodiment.The content of this method is by control device 13
(mainly ECU131~135) implement.Fig. 5 is the shape for indicating the transmitting of the starting predetermined time of vehicle of first embodiment
The figure of condition.Fig. 6 is to indicate that the starting of each vehicle of stopping fleet of first embodiment prepares an example on the opportunity started
Figure.Fig. 7 is to indicate that at least part of the stopping fleet of first embodiment starts the figure of the situation travelled together.
Fig. 4 step S1010 (hereinafter, only showing " S1010 ".It is also the same for other steps.) in, control device 13
Whether the operating mode to this vehicle is that automatic driving mode determines.Enter step in the case where being in automatic driving mode
Rapid S1020 is tied under (driver implements the case where normal mode of whole driver behaviors) be not automatic driving mode the case where
This process of beam.In addition, normal mode/automatic driving mode switching of the operating mode as vehicle 1 by driver (or
The people of driver can be become when releasing automatic Pilot) press defined switch in the car to implement.
In step S1020, whether 13 pairs of this vehicles of control device, which are in stopping, determining.Stopping said here
In refer to, this vehicle is relative to the no motion of halted state of road, and no matter whether engine stops.It is in stopping in this vehicle
In the case where, enter step S1030.On the other hand, in the case where this vehicle is not in stopping, S1100 is entered step.Example
Such as, as shown in figure 5, contemplate road device 50 (such as signal lamp) to be red and vehicle 1~5 stops on road as feelings
Condition.
In step S1030, whether 13 pairs of this vehicles of control device are that the top vehicle stopped in fleet determines.?
In the case that this vehicle is top vehicle, S1040 is entered step.On the other hand, in the case where this vehicle is not top vehicle,
Enter step S1080.Here, being top vehicle if this vehicle is vehicle 1, if this vehicle in the exemplary situation of Fig. 5
For 2~4 then be not top vehicle.In addition, the vehicle 1~4 of Fig. 5 is vehicle vehicle corresponding with inter-vehicular communication, vehicle 5 is vehicle
With inter-vehicular communication non-corresponding vehicle (such as non-automatic driving vehicle).
In step S1040, whether control device 13 is to passing through road and vehicle based on road Yu inter-vehicular communication portion 172
It is communicated between and obtains and determined from the signal message that road device 50 is sent.Containing up to signal lamp in signal message
The information of remaining time until signal intensity, the information for predetermined time of starting to walk.In the example of hgure 5, by vehicle 1 from the road
Device 50 obtains information as " being green there are also variation in 5 seconds ".In the case where receiving signal message, enter step
S1050.On the other hand, in the case where not receiving signal message, S1090 is entered step.
In step S1050, control device 13 between vehicle and vehicle based on vehicle and inter-vehicular communication portion 171 by leading to
Believe the information of the starting predetermined time relative to 1 or more stopping vehicle notification (transmission) at rear this vehicle.In showing for Fig. 5
In example, vehicle 1 notifies the stopping vehicle 2~4 of the information of the starting predetermined time of this vehicle rearward.In addition, though also to
Vehicle 5 notifies, but since vehicle 5 is vehicle and inter-vehicular communication non-corresponding vehicle, vehicle 5 does not receive the transmission of vehicle 1
Information.
In step S1060, the backtracking of control device 13 is corresponding with the type of the drive form of this vehicle, the state of driving
Time and start starting prepare.For example, as shown in fig. 6, this vehicle is in the case where this vehicle is equivalent to vehicle 1 or vehicle 3
Electric vehicle spends 0.2 second until motor starting is ready to complete.It starts to walk since the starting predetermined time recalls 0.2 second as a result,
Prepare.In addition, being CVT (Continuously Variable in the case where this vehicle is equivalent to vehicle 2
Transmission) and in idle stop, until engine restores and couples (ingear) and starting is ready to complete
Spend 0.6 second.It starts to walk to prepare since the starting predetermined time recalls 0.6 second as a result,.In addition, being equivalent to vehicle 4 in this vehicle
In the case of, for AT (automatic) vehicle and it is not in idle stop, therefore spend 0.1 second until starting is ready to complete.As a result, from
The starting predetermined time recalls 0.1 second and starts starting preparation.
In step S1070, along with the arrival of starting predetermined time, control device 13 makes this vehicle start.If other
Vehicle is also carried out the control for cooperating the starting predetermined time of this vehicle to start to walk, then multiple when signal intensity is green
Vehicle can start running together.In the example in figure 7,1~vehicle of vehicle 4 forms vehicle group, can start to walk together.
In step S1080, whether control device 13 is to passing through vehicle and vehicle based on vehicle Yu inter-vehicular communication portion 171
The information for receiving the predetermined time of starting to walk from other stopping vehicles being communicated between to be determined.In the example of hgure 5, it not comes directly towards
2~vehicle of vehicle 4 of vehicle receives the information of starting predetermined time from the vehicle 1 as top vehicle.Receiving starting
In the case where the information of predetermined time, S1060 is entered step, implements starting preparation processing.On the other hand, starting is not being received
In the case where the information of predetermined time, S1090 is entered step.
In step S1090, control device 13 implements common starting processing.For example, based on by periphery monitoring apparatus 12
The peripheral information of acquirement, detect this vehicle front stopping vehicle start the case where, to implement the starting of this vehicle
Processing.
In step S1100, control device 13 determines whether the operating mode of vehicle continues automatic driving mode.
In the case where continuing automatic driving mode, return step S1020 terminates this in the case where not continuing automatic driving mode
Process.In addition, the above-mentioned a series of process of step S1010~step S1100 repeats to implement during automatic Pilot, example
It such as, rated conditions can also be opportunity to implement above-mentioned process by temporarily stop because of red light etc. the case where etc..Terminate above
The a series of processing of Fig. 4.
As described above, in the present embodiment, a certain stopping vehicle is using road and inter-vehicular communication from the road
Device obtains the information of starting predetermined time, is opened based on information backtracking required time corresponding with the drive form of this vehicle
Begin to start to walk to prepare, and the information is transferred to the stopping vehicle at rear using vehicle and inter-vehicular communication.The stopping vehicle at rear
Similarly recall it is corresponding with drive form the time required to and start the preparation that starts to walk.It arrives as a result, in the starting predetermined time
When, it can be realized the starting together of multiple vehicles.
According to the present embodiment, the multiple vehicles to stop by signal etc. can be made to travel together.Thereby, it is possible to reduce
The generation of congestion when step can be realized more comfortable traveling control.
(second embodiment)
In the first embodiment, to the stopping vehicle of top using road and inter-vehicular communication from the acquirement of road device
The example for walking the information of predetermined time is illustrated.In contrast, in the present embodiment, not from the acquirement of road device
The information of predetermined time is walked, but by being analyzed the peripheral information obtained by periphery monitoring apparatus 12 come to this vehicle
The starting predetermined time is estimated.Also, stop according to the beginning for the information implementation starting preparation that estimation obtains, and rearward
Only vehicle sends the information.Vehicle composition is identical with first embodiment, and and the description is omitted.In addition, present embodiment is each
Vehicle is not limited to non-automatic driving vehicle (vehicle and inter-vehicular communication non-corresponding vehicle), has structure same as vehicle 1.
<processing>
It is illustrated referring to details of the Fig. 8 and Fig. 9 to the processing of second embodiment.Fig. 8 is for illustrating the second implementation
The exemplary flow chart of the step of traveling control of the vehicle of mode.The content of this method by control device 13 (mainly
ECU131~135) implement.Fig. 9 is the figure for indicating the situation of the transmitting on the starting opportunity of vehicle of second embodiment.
The processing of step S2010 is identical as the processing of step S1010 of Fig. 4, and and the description is omitted.In step S2020,
The peripheral information of this vehicle of the acquirement of control device 13.The step is filled by receiving the ECU134 of control device 13 by environment monitoring
The peripheral information of this vehicle that 12 detect is set to implement.The step with Fig. 4 respectively is managed everywhere in step S2030~step S2040
Manage identical everywhere in rapid S1020~step S1030, and the description is omitted.
In step S2050, starting of the control device 13 based on the peripheral information obtained in step S2020, to this vehicle
Predetermined time is estimated.For example, in the example of figure 9, the vehicle in the crossroad of not signal lamp, from the stopping of top
1 right front obtains the situation that other vehicles travel on intersecting roads for peripheral information towards left front, calculate until
Other vehicles can be started to walk by this vehicle until time, be estimated as starting the predetermined time.In this case, 5 seconds
It is afterwards the starting predetermined time.
In step S2060, control device 13 between vehicle and vehicle based on vehicle and inter-vehicular communication portion 171 by leading to
Believe the letter of the starting predetermined time of this vehicle that 1 or more stopping vehicle notification (transmission) estimation relative to rear obtains
Breath.In the example of figure 9, this vehicle that stopping vehicle 2~4 notice of vehicle 1 rearward is obtained according to peripheral information estimation
The information of starting predetermined time.In addition, though also being notified to vehicle 5, but since vehicle 5 is vehicle and inter-vehicular communication non-corresponding
Vehicle, therefore vehicle 5 does not receive the information of the transmission of vehicle 1.
It is managed everywhere in step S2070~step S2110 and manages phase with everywhere in the step of Fig. 4 S1060~step S1100 respectively
Together, and the description is omitted.Terminate a series of processing of Fig. 8 above.
As described above, in the present embodiment, by the peripheral information obtained by periphery monitoring apparatus 12 into
Row analysis is estimated come the starting predetermined time to this vehicle.Also, the information backtracking obtained according to estimation and drive form
Start starting the time required to corresponding to prepare, and stopping vehicle rearward sends the information.The stopping vehicle at rear
Similarly recall the required time time corresponding with drive form and starts starting and prepare.It arrives as a result, in the starting predetermined time
When, it can be realized the starting together of multiple vehicles.
According to the present embodiment, though on no road device (such as signal lamp) crossroad, can also make to stop
In multiple vehicles travel together.Thereby, it is possible to the generations of congestion when reducing starting, can be realized more comfortable traveling control
System.
(third embodiment)
In the first embodiment, road and inter-vehicular communication are passed through from the acquirement of road device to the stopping vehicle of top
The example for walking the information of predetermined time is illustrated.In contrast, in the present embodiment, vehicle is accompanied in stopping fleet
In the case where with inter-vehicular communication non-corresponding vehicle, the vehicle for implementing to start to walk together is re-formed by multiple stopping vehicles at its rear
The example of group is illustrated.In addition, illustrating following example along with this: there are until the predetermined time of starting to walk come
In the case where the vehicle prepared not as good as starting, which notifies to lay equal stress on to front vehicle by the information of new starting predetermined time
It is new to form the vehicle group for implementing to start to walk together.Vehicle composition is identical with first embodiment, and and the description is omitted.In addition, this reality
Each vehicle for applying mode is not limited to non-automatic driving vehicle (vehicle and inter-vehicular communication non-corresponding vehicle), can also have and vehicle 1
Same structure.
<processing>
0 to Figure 12 the details of the processing of third embodiment are illustrated referring to Fig.1.Figure 10 is for illustrating third reality
One exemplary flow chart of the step of applying the traveling control of the vehicle of mode.The content of this method is (main by control device 13
It is ECU131~135) implement.
Figure 11 is the feelings stopped in fleet comprising vehicle and inter-vehicular communication non-corresponding vehicle indicated in third embodiment
One exemplary figure of the information transmitting under condition.Figure 12 is that 1 trolley of the stopping fleet of third embodiment has little time to start
The explanatory diagram of processing in the case where travelling together.
In the present embodiment, as shown in figure 11, the stopping vehicle 1001 of the top stopped by signal passes through vehicle and vehicle
The letter for the starting predetermined time that communication will be obtained by road and inter-vehicular communication from road device 50 (such as signal lamp) between
Cease rearward vehicle notification.But, vehicle 1002 is vehicle and inter-vehicular communication non-corresponding vehicle, can not form implementation and start to walk together
Vehicle group.Therefore, in order to be set as the vehicle 1003 at 1002 rear of vehicle to implement the starting point of the new vehicle group to start to walk together,
Vehicle 1001 sends the information for indicating to be estimated the information of new starting predetermined time to vehicle 1003.Vehicle 1003
According to the reception of the information, based on the peripheral information obtained by periphery monitoring apparatus 12 to the information of new starting predetermined time into
Row estimation (being " there are also 0.5 second to start to walk " in the example of Figure 12).The processing being capable of method by illustrating in second embodiment
To realize.
As shown in figure 12, the new starting predetermined time that vehicle 1003 is obtained estimation by vehicle and inter-vehicular communication
1 or more the stopping vehicle of information rearward is sent.This vehicle 1004 be electric vehicle, until motor starting be ready to complete for
0.2 second only is spent, therefore can catch up with and start to walk together.But, vehicle 1005 is CVT and in idle stop, until engine
Restore and connection is completed and starts to walk to spend 0.6 second until being ready to complete.Vehicle 1005 has little time to start to walk together as a result,.Therefore,
The information for the starting predetermined time that vehicle 1005 is started to walk after indicating 0.6 second is transmitted to 1 or more front vehicle.Vehicle 1006
Start starting the time required to the backtracking of~vehicle 1008 is corresponding with respective drive form to prepare, to catch up with the starting of transmitting
Predetermined time.Thereby, it is possible to realize the starting together of the vehicle group of 1003~vehicle of vehicle 1004, vehicle is realized with being slightly delayed
The starting together of 1005~vehicle 1008.
Further there are in the case where the vehicle at rear, by implementing same processing, even if including vehicle and vehicle
Communicate non-corresponding vehicle between, the vehicle group at the vehicle group in the front of vehicle and inter-vehicular communication non-corresponding vehicle or rear also can one
Starting.
One example of the step of 0 flow chart controls the traveling of the vehicle of third embodiment referring to Fig.1 is said
It is bright.The content of this method is implemented by control device 13 (mainly ECU131~135).
Everywhere in step S3010~step S3050 reason with managed everywhere in step S1010~step S1050 it is identical, therefore province
Slightly illustrate.
In step S3060, control device 13 is informed about the starting predetermined time of this vehicle from step S3050
The stopping vehicle of 1 or more of rear receives the confirmation response for indicating to receive notice.It is then based on the confirmation response received,
There is vehicle to determine with inter-vehicular communication non-corresponding vehicle to whether there is in front vehicle.For example, in the example of fig. 11, connecing
The confirmation response from vehicle 1003, vehicle 1004 is received, but does not receive the confirmation response from vehicle 1002.Vehicle 1001
The vehicle 1002 for not receiving confirmation response can be determined as vehicle and inter-vehicular communication non-corresponding vehicle.
There are vehicle and inter-vehicular communication non-corresponding vehicle, S3070 is entered step.On the other hand, not
There are in the case where vehicle and inter-vehicular communication non-corresponding vehicle, S3080 is entered step.
In step S3070, control device 13 should estimate the information of new starting predetermined time expression
The stopping that thering is confirmation respond of the information to stopping vehicle (vehicle and inter-vehicular communication non-corresponding vehicle) rear of no confirmation response
Vehicle is sent.In the example of fig. 11, vehicle 1001 should estimate the information of new starting predetermined time expression
Information is sent to the vehicle 1003 for having confirmation to respond at 1002 rear of vehicle of no confirmation response.Vehicle 1003 can as a result,
Form the starting point for realizing the new processing to start to walk together.
Everywhere in step S3080~step S3100 reason with managed everywhere in step S1060~step S1080 it is identical, therefore province
Slightly illustrate.
In step S3110, can the starting preparation of 13 pairs of this vehicles of control device be caught up in step S3100 from other
The starting predetermined time that stopping vehicle receiving is determined.The determination processing can be by until the starting received be predetermined
The size of remaining time and required time corresponding with the drive form of this vehicle until time are compared to implement.It is catching up with
In the case where not upper, S3050 is entered step, this vehicle forms new starting point, and passes through vehicle and inter-vehicular communication for this vehicle
The starting predetermined time information rearward vehicle notification.On the other hand, in the case where being able to catch up with, S3060 is entered step.?
It is corresponding to the drive form of vehicle 1005 relative to the starting predetermined time (there are also 0.5 second to start to walk) of notice in the example of Figure 12
Required time spend 0.6 second, therefore vehicle 1005 is unable to catch up with starting to walk together.Therefore, because vehicle 1005 forms new starting point,
By 1 or more the vehicle notification (transmission) there are also the information of the such new starting predetermined time of starting in 0.6 second rearward.
It is managed everywhere in step S3120~step S3130 identical as step S1090~processing of step S1100.Terminate above
The a series of processing of Figure 10.
As described above, in the present embodiment, vehicle and inter-vehicular communication non-corresponding are accompanied in stopping fleet
In the case where vehicle, the vehicle group for implementing to start to walk together is re-formed by multiple stopping vehicles at its rear.In addition, there are straight
In the case where having little time the vehicle that starting prepares until the predetermined time of starting to walk, the vehicle is by the information of new starting predetermined time
It notifies to re-form the vehicle group for implementing to start to walk together to front vehicle.
According to the present embodiment, even if comprising being difficult to carry out the vehicle started to walk together and inter-vehicular communication non-corresponding vehicle
In the case of, front vehicles group, front vehicle group can also start to walk together.In addition, even if in the presence of the vehicle for being unable to catch up with starting to walk together
, vehicle group can also be re-formed by the later vehicle of the vehicle, realize new starting together.
In addition, making vehicle group while the progress of the example of starting to as starting to walk together in above-mentioned each embodiment
Explanation, but be not necessarily required simultaneously.It is travelled for example, it is also possible to control and be spaced apart defined vehicle headway for each vehicle.
(other)
More than, several preferred modes are instantiated, but the present invention is not limited to these examples, are not departing from master of the invention
In the range of purport, part of it can also be changed.For example, also can be according to purpose, purposes etc. to each embodiment
Content combines other element, and a part of the content of other embodiments can be also combined to the content of a certain embodiment.This
Outside, the term that each term only uses for the purpose of the present invention will be described documented by this specification, certainly
It also may include its impartial meaning the present invention is not limited to the stringent meaning of the term.
In addition, for realizing 1 or more function illustrated by each embodiment program via network or storage media
It is supplied to system or device, the processor of 1 in the computer of the system or device or more can read and execute the journey
Sequence.It also can be realized the present invention in this way.
<summary of embodiment>
The control device of first method is the control device (such as 13) for carrying out the traveling control of vehicle (such as 1),
The control device (such as 13) has:
Receiving unit (such as 135, step S1040 or step S1080) receives the information of starting predetermined time；And
Control unit (such as 131~133, step S1060) controls the vehicle, so as to pre- periodically from the starting
Between rise backtracking it is corresponding with the drive form of the vehicle the time required to and start start to walk preparation.
Thereby, it is possible to travel the multiple vehicles to stop by signal etc. together.Thereby, it is possible to reduce the generation of congestion,
Realize comfortable traveling control.
In second method,
It is also equipped with judging unit (such as 134, step S1030), whether the judging unit is to stop vehicle to the vehicle
Top vehicle in team determined,
The case where the vehicle is the top vehicle under (such as 1), the receiving unit passes through between road and vehicle
It communicates to receive the information (such as 135, step S1040) of the starting predetermined time.
As a result, in the case where this vehicle is to be in the top vehicle in stopping because of signal etc., it can obtain for one
The information of starting.
In Third Way,
The case where the vehicle is not the top vehicle under (such as 2~4), the receiving unit passes through vehicle and vehicle
It is communicated between from other of 1 or more in front and stops information (such as the 135, step that vehicle receives the starting predetermined time
S1080)。
It, can as a result, in the case where this vehicle is to be in the vehicle other than the top vehicle in stopping because of signal etc.
Obtain the information for starting to walk together.
In fourth way,
It is also equipped with transmission unit, the transmission unit passes through vehicle and inter-vehicular communication for the letter of the starting predetermined time
Other of 1 or more of breath rearward stop vehicle and send (such as 135, step S1050).
Front vehicle can obtain the information of starting predetermined time as a result, and implement the starting of this vehicle based on the information
The processing such as preparation.
In the 5th mode,
The receiving unit is corresponding with the transmission of the transmission unit from described 1 or more other stopping vehicles receptions
Response,
The vehicle (such as 1002) of no response is determined as that vehicle is non-right with inter-vehicular communication by described control unit
Answer vehicle (such as 134, step S3060).
Thereby, it is possible in multiple vehicles of this rear of vehicle, discovery is difficult to carry out between the vehicle and vehicle started to walk together
Communicate non-corresponding vehicle.
In the 6th mode,
The transmission unit further to be determined as the vehicle and inter-vehicular communication non-corresponding vehicle vehicle (such as
1002) other stopping vehicles at rear, which are sent, indicates what other stopping vehicles should estimating the new starting predetermined time
Information (such as 135, step S3070).
Thereby, it is possible to realize to be used to form and implement new starting together at the rear for being difficult to carry out the vehicle started to walk together
Vehicle group preparation.
In the 7th mode,
It is also equipped with transmission unit, in the case where not completing starting preparation until the starting predetermined time,
The transmission unit passes through 1 of vehicle and inter-vehicular communication rearward by the information of the new starting predetermined time of the vehicle
Other above stop vehicle transmission (such as being "No", step S3050 in 135, step S3110).
Thereby, it is possible to be formed and implement the new vehicle group to start to walk together at the rear for being difficult to carry out the vehicle started to walk together.
In eighth mode,
The starting predetermined time is the remaining time until the signal intensity of signal lamp (such as 50).
As a result, when signal lamp variation is green, the starting together for stopping vehicle can be realized.
The control device of 9th mode is the control device (such as 13) for carrying out the traveling control of vehicle (such as 1),
The control device (such as 13) has:
Acquisition unit (such as 134, step S2020), obtains the peripheral information of the vehicle；
Estimation unit (such as 131~133, step S2050), it is pre- based on starting of the peripheral information to the vehicle
It fixes time and is estimated；And
Control unit (such as 131~133, step S2070) controls the vehicle, so as to pre- periodically from the starting
Between rise backtracking it is corresponding with the drive form of the vehicle the time required to and start start to walk preparation.
Even if as a result, on no road device (such as signal lamp) crossroad, can also make in parking in it is more
A vehicle travels together.Thereby, it is possible to the generations of congestion when reducing starting, can be realized more comfortable traveling control.
In the tenth mode,
It is also equipped with transmission unit (such as 135, step S2060), the transmission unit will by vehicle and inter-vehicular communication
Other of 1 or more of the information of the starting predetermined time obtained by estimation unit estimation rearward stop vehicle hair
It send.
Front vehicle can obtain the information of starting predetermined time as a result, can implement rising for this vehicle based on the information
The processing such as step preparation.
The method of operating of the control device of 11st mode is the control device for carrying out the traveling control of vehicle (such as 1)
The method of operating of (such as 13),
The method of operating of the control device (such as 13) includes
Receiving step (such as 135, step S1040 or step S1080) receives the starting predetermined time in this step
Information；And
Rate-determining steps (such as 131~133, step S1060) control the vehicle, in this step so as to from described
Start starting the time required to backtracking is corresponding with the drive form of the vehicle from the step predetermined time to prepare.
Thereby, it is possible to realize to travel the multiple vehicles to stop by signal etc. together.Therefore, it can reduce the production of congestion
It is raw, realize comfortable traveling control.
The method of operating of 12nd mode control device is the control device (example for carrying out the traveling control of vehicle (such as 1)
Such as 13) method of operating,
The method of operating of the control device (such as 13) includes
Obtaining step (such as 134, step S2020) obtains the peripheral information of the vehicle in this step；
Estimating step is estimated based on starting predetermined time of the peripheral information to the vehicle in this step；
And
Rate-determining steps (such as 131~133, step S2070) control the vehicle, in this step so as to from described
Start starting the time required to backtracking is corresponding with the drive form of the vehicle from the step predetermined time to prepare.
Even if as a result, on no road device (such as signal lamp) crossroad, can also make in parking in it is more
A vehicle travels together.Thereby, it is possible to the generations of congestion when reducing starting, can be realized more comfortable traveling control.
The medium of 13rd mode is each of the method for operating for making the control device of computer the 11st mode of execution
The medium of step.
The medium of 14th mode is each of the method for operating for making the control device of computer the 12nd mode of execution
The medium of step.
Thereby, it is possible to the processing of the method for operating of control device is realized using computer.
Claims (14)
1. a kind of control device carries out the traveling control of vehicle, which is characterized in that
The control device has:
Receiving unit receives the information of starting predetermined time；And
Control unit controls the vehicle, so as to the drive form of backtracking and the vehicle from the starting predetermined time
Start starting the time required to corresponding to prepare.
2. control device according to claim 1, which is characterized in that
The control device is also equipped with judging unit, and whether the judging unit is the top vehicle stopped in fleet to the vehicle
Determined,
In the case where the vehicle is the top vehicle, the receiving unit is by road and inter-vehicular communication to receive
State the information of starting predetermined time.
3. control device according to claim 2, which is characterized in that
In the case where the vehicle is not the top vehicle, the receiving unit passes through vehicle and inter-vehicular communication from front
Other of 1 or more stop vehicle receiving it is described starting the predetermined time information.
4. control device according to claim 1, which is characterized in that
The control device is also equipped with transmission unit, and the transmission unit is predetermined by the starting by vehicle and inter-vehicular communication
Other of 1 or more of the information of time rearward stop vehicle and send.
5. control device according to claim 4, which is characterized in that
The receiving unit is corresponding with the transmission carried out by the transmission unit from described 1 or more other stopping vehicles receptions
Response,
The vehicle of no response is determined as vehicle and inter-vehicular communication non-corresponding vehicle by described control unit.
6. control device according to claim 5, which is characterized in that
The transmission unit further to be determined as the vehicle and the rear of vehicle of inter-vehicular communication non-corresponding vehicle other stop
Only vehicle, which is sent, indicates that other stopping vehicles should be to the information that the new starting predetermined time is estimated.
7. control device according to claim 1, which is characterized in that
The control device is also equipped with transmission unit, and the transmission unit is not completing institute until the starting predetermined time
State in the case that starting prepares, by vehicle and inter-vehicular communication by the information of the new starting predetermined time of the vehicle backward
Other of 1 or more of side stop vehicle and send.
8. control device according to claim 1, which is characterized in that
The starting predetermined time is the remaining time until the signal intensity of signal lamp.
9. a kind of control device carries out the traveling control of vehicle, which is characterized in that
The control device has:
Acquisition unit obtains the peripheral information of the vehicle；
Estimation unit is estimated based on starting predetermined time of the peripheral information to the vehicle；And
Control unit controls the vehicle, so as to the drive form of backtracking and the vehicle from the starting predetermined time
Start starting the time required to corresponding to prepare.
10. control device according to claim 9, which is characterized in that
The control device is also equipped with transmission unit, and the transmission unit will be single by the estimation by vehicle and inter-vehicular communication
Other of 1 or more of the information for the starting predetermined time that member estimation obtains rearward stop vehicle and send.
11. a kind of method of operating of control device is the method for operating for carrying out the control device of traveling control of vehicle, special
Sign is,
The method of operating of the control device includes
Receiving step receives the information of starting predetermined time in this step；And
Rate-determining steps control the vehicle in this step, so as to the backtracking from the starting predetermined time and the vehicle
Start starting the time required to drive form is corresponding to prepare.
12. a kind of method of operating of control device is the method for operating for carrying out the control device of traveling control of vehicle, special
Sign is,
The method of operating of the control device includes
Obtaining step obtains the peripheral information of the vehicle in this step；
Estimating step is estimated based on starting predetermined time of the peripheral information to the vehicle in this step；And
Rate-determining steps control the vehicle in this step, so as to the backtracking from the starting predetermined time and the vehicle
Start starting the time required to drive form is corresponding to prepare.
13. a kind of medium is stored with each of the method for operating for making control device described in computer perform claim requirement 11
The program of step.
14. a kind of medium is stored with each of the method for operating for making control device described in computer perform claim requirement 12
The program of step.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018015460A JP6637086B2 (en) | 2018-01-31 | 2018-01-31 | Control device, operation method of control device, and program |
| JP2018-015460 | 2018-01-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110103980A true CN110103980A (en) | 2019-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811491769.2A Pending CN110103980A (en) | 2018-01-31 | 2018-12-07 | The method of operating and medium of control device, control device |
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| JP (1) | JP6637086B2 (en) |
| CN (1) | CN110103980A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113593270A (en) * | 2021-08-17 | 2021-11-02 | 广州小鹏汽车科技有限公司 | Vehicle driving control method, control device, and storage medium |
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| JP2003056376A (en) * | 2001-08-16 | 2003-02-26 | Mitsubishi Electric Corp | Idling stop controller and controlling method |
| JP2008242569A (en) * | 2007-03-26 | 2008-10-09 | Sumitomo Electric Ind Ltd | Vehicle control system, in-vehicle device and vehicle |
| JP2012048655A (en) * | 2010-08-30 | 2012-03-08 | Toyota Motor Corp | Driving support device |
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| CN113593270A (en) * | 2021-08-17 | 2021-11-02 | 广州小鹏汽车科技有限公司 | Vehicle driving control method, control device, and storage medium |
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| Publication number | Publication date |
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| JP2019133435A (en) | 2019-08-08 |
| JP6637086B2 (en) | 2020-01-29 |
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