JP2000285364A - Traffic support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traffic support system suitable when vehicles capable of being automatically platoon-traveled is traveled by a diagram by controlling the travel of the vehicles so that the vehicles travelling in a platoon on a dedicated lane are reduced from the platoon based on information including an intra-platoon order. SOLUTION: This system is provided with vehicle 20 such as buses which file-travel on a dedicated lane R1 by automatic driving and travel on general roads R2 in respective cities 1-4 by manual driving and a control system SS having a controller 30. The controller 30 is incorporated with a computer having a CPU, for example to generate various control signals controlling the whole service of the vehicles 20 based on a detection signal from a vehicle detection device, and the signal is transmitted to the vehicle 20 through a control information transmission device. When the specified vehicle is reduced from the vehicles 20 traveling in the platoon of similar organization, the signal controlling the service of the vehicles 20 is transmitted to the vehicles 20 through the control information transmission device based on information containing the intra- platoon order.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traffic support system, and more particularly to a traffic support system suitable for a case where a plurality of vehicles form a platoon and run automatically as platoons.

[0002]

2. Description of the Related Art Conventionally, there has been known a system in which a magnetic marker provided on a road surface is detected by a magnetic sensor of a vehicle and the vehicle is guided along the magnetic marker. Particularly in recent years, a system in which a plurality of vehicles form a platoon and run automatically as a plate tone has been proposed (Japanese Patent Application Laid-Open No. Hei 8 (1996)).
-314541, JP-A-10-261194, etc.).

For example, according to Japanese Patent Application Laid-Open No. 8-314541, in order to improve the utilization efficiency when a large number of vehicles automatically travel along an automatic traveling lane, a vehicle group in a group of vehicles forming a plate tone is designed. The leading vehicle detects displacement from the magnetic nail provided on the road surface, calculates a corrected steering control amount, controls the own vehicle with the calculated control amount, and transmits the control amount data to the following vehicle. However, in the own vehicle, the steering control is performed based on the control amount data from the leading vehicle without detecting the displacement amount with the magnetic nail, and the succeeding vehicle further transmits the control amount data to the next succeeding vehicle, and the subsequent succeeding vehicle A vehicle travel guidance system that performs similar steering control on a vehicle has been proposed.

According to Japanese Patent Laid-Open Publication No. Hei 10-261194, a plurality of vehicles traveling on a road form a vehicle group for the purpose of smoothly performing platooning by forming a vehicle group. A vehicle group forming device that calculates the size of a vehicle group with a configuration in which control information is transmitted between vehicles and limits the group forming vehicles so that the calculated size is within a predetermined limit value has been proposed. I have.

[0005]

The above-described platoon running of a vehicle is not intended specifically for a traffic system such as a bus which operates on a fixed route on a schedule. Therefore, if a platoon is applied to this type of traffic system, various problems related to traffic support, such as increasing or decreasing the number of vehicles forming the platoon, are assumed.

The present invention has been made in view of such conventional technology, and has as its object to provide a traffic support system suitable for automatically driving a vehicle capable of platooning on a diamond.

[0007]

In order to achieve the above object, an invention according to claim 1 is to form a vehicle capable of automatically running in a row, a dedicated line of the vehicle, and a row on the dedicated line. And control means for controlling the running of the vehicle such that the running vehicle is reduced from the platoon based on the order in the platoon.

According to a second aspect of the present invention, in the first aspect of the present invention, the control means is arranged such that the order of the vehicles traveling in the platoon on the dedicated route in the platoon is located last. Means for controlling the running of the vehicle so as to reduce the vehicle from its platoon.

According to a third aspect of the present invention, in the first aspect of the present invention, the control means is arranged such that a vehicle in a platoon on the exclusive route and whose order in the platoon is intermediate. Means for controlling the running of the vehicle so as to reduce the number of vehicles in the platoon.

[0010] According to a fourth aspect of the present invention, in the first aspect of the invention, the control means is arranged such that a vehicle in a row in the row on the dedicated route has an order in the row positioned first. Means for controlling the running of the vehicle so as to reduce the number of vehicles in the platoon.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a new traffic support system according to the present invention will be described below with reference to FIGS.

The traffic support system shown in FIG. 1 is, for example, an IMTS (Intelligent Multi-Mo).
de Transit System). This system is a major infrastructure for vehicle traffic,
A dedicated route (dedicated line) R1 connecting a plurality of cities such as villages, counties, etc. (in the example in the figure, each of the cities 1 to 4); A vehicle 20 such as a bus that is manually driven on a general route (general road) R2 within the vehicle, and an operation schedule plan, a dynamic schedule plan, a platoon run operation, and the like of the vehicle 20 are performed. A traffic control system SS having a traffic control device (constituting the control means of the present invention) 30 that performs on-track management, signal / security control, vehicle tracking, route control, and the like on all routes R1 and R2 based on the route.

In the example shown in FIG. 1, the dedicated route R1 is constituted by a single track system, and a single track section 10 forming the main track thereof and a vehicle 20 traveling in opposite directions in a predetermined section on the single track section 10.
It has a station section 13 and a passing section 14 forming a double track (or a double track) that can pass each other. Of these, in the station section 13, in addition to the passing of the vehicle 20, the waiting, and the general road R
Merging of vehicle 20 from 2 to exclusive route R1, exclusive route R1
From the vehicle to the general road R2 (in the example shown in FIG. 2, a vehicle outflow line 13a is installed in the station 13 to reduce the number of trains).

The vehicle 20 includes, for example, various devices for driving in a multi-mode such as platoon running in a body body having a space for carrying a predetermined number of passengers, such as a vehicle control device, a vehicle security device, a road-to-vehicle communication device, and a vehicle. It is equipped with an inter-vehicle communication device, a magnetic sensor for lane detection, and the like.

As shown in FIG. 2, the control system SS includes, in addition to the control controller 30, a push button device 16 installed in the landing 15 and a double track constituting the station section 13 and the passing section 14, respectively. Vehicle detection devices 31 and 32 installed on the vehicle inflow side and outflow side of the vehicle, and a control information transmission device 33 installed near the outflow side between the two vehicle detection devices 31 and 32.

The vehicle detecting devices 31 and 32 are composed of, for example, loop coils or the like, and when vehicles 20 running in a platoon formation pass from the vehicle 20, the vehicle ID, the number of vehicles of the formation, A signal including the inside order and the like is detected, and this is sent to the control control device 33 as current position information of the vehicle 20.

The control information transmission device 33 is constituted by a communication device such as a communication loop coil capable of spot communication between the road and the vehicle, and is capable of transmitting various control signals between the traffic control device 30 and the vehicle 20. ing.

The traffic control device 30 is equipped with, for example, a computer having a CPU.
Various control signals for controlling the overall operation of the vehicle 20 are generated based on the detection signals and the like from the second device 2 and transmitted to the vehicle 20 via the control information transmission device 33. In particular, when a specific vehicle is to be reduced from the vehicles 20 traveling in the same formation, a signal for controlling the operation of the vehicle 20 based on the information including the order within the formation is transmitted to the vehicle via the control information transmission device 33. 20.

Here, the overall operation of this embodiment will be described with reference to FIGS.

First, a process for reducing the last vehicle in the formation will be described with reference to FIGS. 2 (a) and 2 (b).

In this case, the traffic control device 30
As shown in (a), a vehicle (leading vehicle 20a, intermediate vehicle 20b, rearmost vehicle) running in a plurality of cars (three cars in the example in the drawing) in the station section 13 or the passing section 14 immediately before the vehicle reduction. The vehicle reduction information is transmitted to the vehicle 20c). This transmission is performed in order to grasp the number of vehicles in the formation, all vehicles 2 in the three-car formation.
0a, 20b, and 20c. This allows
As shown in FIG. 2B, the last vehicle 2 that has received the vehicle reduction command
Only 0c changes its course to the outflow line 13a in the station 13a and moves out of the platoon.

Next, the traffic control system 30 determines that the last vehicle 20c to be reduced is, for example, the outflow route 13 in the station section 13.
When passing through the inflow-side vehicle detecting device 31a on a, a "signal reduction complete" is determined when a detection signal including the vehicle ID information of the last vehicle 20c is received from the device 31a.
This determination can also be made when inter-vehicle communication is interrupted when using wide area wireless as a communication means with the vehicle 20.

The control control device 30 deletes information on the last vehicle 20c and reduces the number of trains by "1" from three cars to two cars by a control signal transmission apparatus 33.
The vehicle is sent to the newly formed two-car trains 20a and 20b after the number of vehicles is reduced via a, thereby controlling the subsequent operation.

Next, a process for reducing the number of intermediate vehicles in the formation will be described with reference to FIGS. 3 (a) and 3 (b).

In this case, the traffic control device 30
As shown in (a), vehicle reduction information is transmitted to the vehicles 20a, 20b, and 20c of the three-car train at the station section 13 or the passing section 14 immediately before vehicle reduction. This transmission is performed for all vehicles 20a, 20b, and 20c in order to grasp the number of vehicles in the formation. As a result, as shown in FIG. 3 (b), only the intermediate vehicle 20b that has received the vehicle reduction command changes the course to the outflow line 13a in the station 13a and moves out of the platoon.

Next, the traffic control system 30 determines that the intermediate vehicle 20b to be reduced is, for example, the outflow route 13a in the station section 13.
When passing through the upper inflow-side vehicle detection device 31a, it is determined that "vehicle reduction is completed" when a detection signal including the vehicle ID information of the intermediate vehicle 20b is received from the device 31a. This determination can also be made when inter-vehicle communication is interrupted when using wide area wireless as a communication means with the vehicle 20.

Then, the traffic control device 30 controls the intermediate vehicle 2
The control signal for deleting the information related to 0b and reducing the number of formations from three cars to "1" and changing the order of the vehicle 20c, which was the former third car in the platoon, to the second car is newly transmitted via the control signal transmission device 33a. 2 newly formed after the reduction
The trains are sent to the vehicles 20a and 20c of both trains, thereby controlling the subsequent operation.

Next, a process for reducing the number of leading vehicles in the formation will be described with reference to FIGS. 4 (a) and 4 (b).

In this case, the traffic control device 30
As shown in (a), vehicle reduction information is transmitted to the vehicles 20a, 20b, and 20c of the three-car train at the station section 13 or the passing section 14 immediately before vehicle reduction. This transmission is performed for all vehicles 20a, 20b, and 20c in order to grasp the number of vehicles in the formation. As a result, as shown in FIG. 3B, only the leading vehicle 20a that has received the vehicle reduction command changes its course to the outflow route 13a side in the station 13a and leaves the platoon.

Next, the traffic control controller 30 determines that the leading vehicle 20a to be reduced has the outflow route 13a in the station 13, for example.
When passing through the upper inflow-side vehicle detection device 31a, when a detection signal including the vehicle ID information of the leading vehicle 20c from the device 31a is received, it is determined that "vehicle reduction is completed". This determination can also be made when inter-vehicle communication is interrupted when using wide area wireless as a communication means with the vehicle 20.

Then, the traffic control device 30 controls the leading vehicle 2
The information on 0a is deleted, and the number of trains is reduced by "1" from three cars.
A control signal for newly changing the order in the platoon to the first and second cars is transmitted to the newly formed two-car trains 20b and 20c after the reduction in the number of cars via the control signal transmission device 33a,
This controls the subsequent operation.

At this time, the leading vehicle 20a that has issued the instruction to the other vehicles 20b and 20c no longer exists.
The vehicle 20b which has been in both eyes becomes the leading instruction vehicle and transmits various control information to the other vehicle 20c. In this case, the leading vehicle 20a temporarily disappears from the platoon, and in order to avoid this blank period, the vehicle 2 in the second vehicle at the time when the leading vehicle (pointing vehicle) 20a is reduced at the preceding station.
0b may be changed to the designated vehicle.

Therefore, according to this embodiment, it is possible to easily and quickly reduce a specific vehicle from vehicles running in a platoon on a dedicated line, thereby driving a vehicle capable of platooning on a schedule. In this case, a more practical and suitable traffic support system can be provided.

Although not specifically described in this embodiment, in the case of a transportation system in which a plurality of vehicle groups travel in a formation, each vehicle in the formation depends on how many eyes the own vehicle is running. Since the acceleration / deceleration needs to be changed every time, the information on the order within the platoon is important. In addition, since the arrival times at the next station and the passing section are given for the formation, each vehicle needs to be corrected based on the order of the own vehicle in the platoon. For example, since it is impossible for the first and second vehicles to arrive at the same time at the same time, the rearward correction is performed by adding the distance between the vehicles to the vehicle length. In that sense, the order of each vehicle in the platoon is an important position.
In addition, since the route reservation is performed on a train basis, it is necessary to select a vehicle that issues the request to the ground. Currently, the leading vehicle plays that role. Therefore, when the composition of the formation changes due to increase or decrease in the number of vehicles, it is necessary to accurately grasp the order of the formation in the platoon after the increase or decrease in the number of vehicles.

[0035]

As described above, according to the present invention, specific vehicles can be easily and quickly reduced from vehicles running in a platoon on a dedicated line, and vehicles capable of platooning can be trained. And a more practical and suitable traffic support system can be provided.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing the overall configuration of a traffic support system according to the present invention.

FIGS. 2A and 2B are schematic diagrams illustrating a case where the last vehicle of the formation is reduced.

FIGS. 3A and 3B are schematic diagrams illustrating a case where the number of intermediate vehicles in the formation is reduced.

FIGS. 4A and 4B are schematic diagrams illustrating a case where the number of leading vehicles in a formation is reduced.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Single track part 13 Station part 13a Outflow route 14 Passing part 20 Vehicle 30 Traffic control device 31 Vehicle detection device (inflow side) 32 Vehicle detection device (outflow side) 33 Control information transmission device R1 Dedicated route R2 General route SS control system

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5H180 AA27 CC18 FF01 FF13 FF17 LL01 LL04 LL09 5H301 AA01 BB20 CC03 CC06 DD07 DD08 DD11 DD15 EE02 EE04 EE13 EE18 EE24 FF02 FF11 FF15 FF23 GG19 LL08 LL11 LL04

Claims (4)

[Claims] 1. A vehicle capable of automatically running in a platoon, a dedicated line of the vehicle, and a vehicle running in a platoon on the dedicated line, based on information including the order within the platoon, from the platoon. Control means for controlling the running of the vehicle so as to reduce the number of vehicles. 2. The invention according to claim 1, wherein the control means reduces the number of vehicles traveling in the platoon on the dedicated route that are located last in the platoon from the platoon. And a means for controlling the running of the vehicle. 3. The invention according to claim 1, wherein the control means reduces the number of vehicles in the platoon that are arranged in the platoon on the dedicated route and whose order in the platoon is intermediate from the platoon. A means for controlling the running of the vehicle as described above. 4. The invention according to claim 1, wherein the control means reduces the number of vehicles in the platoon that are in the platoon on the dedicated route and whose order is the first in the platoon from the platoon. A means for controlling the running of the vehicle as described above.