JP2000311299A - Convoy forming method for automatic following traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce time until convoy traveling is started by making following vehicles come to prescribed positions at the back of a leading vehicle without actually driving the following vehicles in the case of forming a convoy. SOLUTION: A communicating means 28 is provided between a leading vehicle 1 and following vehicles 2, the communicating means communicates front images of the following vehicles photographed by a camera 31 provided on each vehicle 2 to the leading vehicle, a displaying means 15 provided in the leading vehicle displays received images by the camera, the communicating means communicates a driving operation signal of the leading vehicle operated by a driver to the respective following vehicles, and the respective following vehicles are made to travel to convoy positions according to the received driving operation signal of the leading vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a platoon formation method for an automatic following system in which a following vehicle is controlled to automatically follow a leading vehicle driven by a driver.

[0002]

2. Description of the Related Art In recent years, there has been proposed an automatic following system in which a plurality of unmanned following vehicles are automatically followed by a manned leading vehicle driven by a driver. According to this automatic following system, there is an advantage that the second and subsequent vehicles can save labor during driving.

The present applicant has previously filed an application for an automatic following system capable of following at a high speed and having a high tracking accuracy with respect to the traveling locus of a preceding vehicle as Japanese Patent Application No. 10-278084.

[0004] The automatic following system of the above-mentioned application transmits a traveling locus (X, Y, θ) of the leading vehicle by manned driving and an operation amount (accelerator, brake, steering) to a following vehicle that is traveling unmanned. The following vehicle seeks the current location to select the manipulated variable to follow at the present time,
The target position of the corresponding leading car is determined, feedforward control is performed with the current operation amount being the operation amount paired with the target position, and feedback control based on the deviation between the target position and the current position is performed. is there.

[0005]

By the way, when the platooning is performed by the above-described automatic following system, it is necessary to form a platoon between vehicles before traveling. That is, it is necessary to arrange the vehicles to be platooned in a line at predetermined intervals. In this case, it is conceivable to embed an induction cable or magnetic nail under the road surface in advance and use the induction cable or the like to automatically drive the following vehicle to the position behind the leading vehicle, but this method is adopted. This is based on the premise that an induction cable or a magnetic nail is embedded under a road surface, and the above method cannot be adopted when the induction cable or the like is not embedded under a road surface.

[0006] Therefore, when the guide cable or the like is not buried under the road surface, the driver must drive not only the leading vehicle but also a plurality of following vehicles positioned behind the leading vehicle to form a platoon. In other words, the driver must repeatedly perform the operation of walking to the place where the following vehicle is stopped, directly driving the following vehicle, and stopping at a predetermined position behind the currently stopped vehicle for forming a platoon. . This is not a problem when the number of following vehicles is small, but as the number of following vehicles increases, the burden on the driver increases. Also,
There is also a problem in that the time required to start platooning becomes longer.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to form a platoon by remotely maneuvering a following vehicle without actually driving the following vehicle to drive the following vehicle. The present invention provides a method for forming a row of an automatic following system that can reach a predetermined position in the rear of the vehicle and shorten the time until the start of row running.

[0008]

The invention according to claim 1 is
In a platoon formation method of an automatic following system in which a following vehicle (for example, the leading vehicle 1 in the embodiment) is controlled to automatically follow a leading vehicle (for example, the leading vehicle 1 in the embodiment) operated by a driver. A communication means (for example, the communication means 28 in the embodiment) is provided between the leading vehicle and the following vehicle, and a camera (for example, the camera 31 in the embodiment) provided for each of the following vehicles is used to control the following vehicle. The image of the front is communicated to the leading car by the communication means, the image of the camera received by the display means (for example, the display device 15 in the embodiment) provided in the leading car is displayed, and is operated by the driver. Communication of the driving operation signal of the leading vehicle to each following vehicle by the communication means,
Each of the following vehicles is driven to the platoon position by the received driving operation signal of the leading vehicle.

According to the present invention, the image of the camera provided on the following vehicle is transmitted to the leading vehicle on which the driver rides, and the driver views the leading vehicle on the display means while watching the image in front of the following vehicle. Steer. A driving operation signal at the time of steering the leading vehicle is transmitted to the following vehicle, whereby the following vehicle is remotely controlled. In other words, the driver can remotely control the following vehicle as if he / she is riding on the following vehicle while watching the image displayed on the display means without changing from the leading vehicle to the following vehicle.

According to a second aspect of the present invention, in the first aspect of the present invention, a platoon number is set for each of the following vehicles, and a platoon indicating means provided in the leading vehicle (for example, the platoon number in the embodiment). According to the formation number input to the indicating device 16), each of the following vehicles is remotely operated one by one sequentially.

According to the present invention, when there are a plurality of following vehicles forming a row, the following cars can be sequentially driven one by one remotely to form a row consisting of a plurality of vehicles.

According to a third aspect of the present invention, in the first aspect of the present invention, a changeover switch (for example, a formation indicating device 16 in the embodiment) is provided on the leading vehicle, and the formation formation mode is set by the changeover switch. Is selected, the driving operation of the leading car is prohibited by the driving operation signal of the leading car, and when the formation running mode is selected by the changeover switch, the leading car is driven by the driving operation signal of the leading car. In addition to being operated, each following vehicle is automatically controlled to follow the leading vehicle.

In the present invention, the leading vehicle is set as a vehicle for remotely controlling the following vehicle by mode switching by the changeover switch.
In addition, the vehicle can be switched freely as a leading vehicle for the following vehicle, and the degree of freedom of the vehicle is increased.

According to a fourth aspect of the present invention, in the first aspect of the present invention, when a following vehicle approaches a preceding vehicle to a predetermined distance during formation of a platoon, remote steering based on an operation amount from the leading vehicle. The operation is stopped, and the operation is switched to automatic operation by automatic operation means.

According to the present invention, the following vehicle is driven by the remote control operation until the following vehicle approaches the immediately preceding vehicle by a predetermined distance, and thereafter, the automatic vehicle is switched to the automatic driving. Can park in position,
The burden on the driver can be reduced.

In the invention according to claim 5, in the invention according to claim 1, when the leading vehicle performs a reverse operation during formation of the platoon, the camera (for example, the camera 41 in the embodiment) provided in the following vehicle. An image of the rear of the following vehicle to be photographed is communicated to the leading vehicle by the communication means.

According to the present invention, the driver of the leading vehicle can perform backward traveling of the following vehicle while looking at the rear view of the following vehicle displayed on the display means, and can easily perform reverse driving of the following vehicle.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment> FIGS. 1 to 3 show a first embodiment of the present invention. 1 (a), 1 (b), 2
(C), (d), and (e) show the process of forming a platoon by the method of the present invention. The electric vehicle is composed of a leading vehicle 1 driven by a driver and following vehicles 2, 2 (single and plural). However, here, the case where there are two following vehicles is shown).

Each of the leading vehicle 1 and the following vehicle 2 is an electric vehicle driven by an electric motor, and is configured to be capable of manned traveling and unmanned traveling, respectively. Control ECU for driving force (el
The motor is supplied to a motor that is controlled via an ectronic control unit, and the driving wheels are rotated by the rotation of the motor to travel.

Each of the electric vehicles such as the leading vehicle 1 and the following vehicle 2 is provided with a control ECU 10 for performing overall control for traveling separately from the control ECU for driving force. The vehicles 1 and 2 shown here have both a function as a leading vehicle and a function as a following vehicle without being distinguished from vehicles for leading vehicles or following vehicles. Therefore, the control ECU 10 also has both a control function as a leading vehicle and a control function as a following vehicle. FIG. 3 shows what kind of sensor or control program is used between the leading vehicle 1 and the following vehicle 2 for convenience of explanation, and the control in this embodiment is shown. Only the parts and devices necessary for the vehicle are shown. In fact, sensors such as an accelerator sensor 11 and a brake sensor 12, which will be described later, and devices such as a display device 15 and a platoon indicating device 16 are also vehicles that follow the leading vehicle 1. 2 are also provided.

As shown in FIG. 3, the control ECU 1 for the leading vehicle
0, an accelerator sensor 11 for detecting the amount of depression of the accelerator pedal, a brake sensor 12 for detecting the amount of depression of the brake pedal, a steering sensor 13 for detecting the steering angle of the steering wheel, a power transmission of the vehicle. Shift position sensor 1 for detecting the shift position of the unit
4. A display device 15 for displaying an image captured by a camera 31, which will be described later, and a platoon instruction device 16 for specifying a vehicle to be operated at the time of remote control and for selecting various modes when driving the vehicle are connected to each other. I have.

The control ECU 10 is connected to an accelerator motor 17, a brake device 18, and an EPS (electric power steering) 19. These driving output units 17, 18, 19 are controlled by the control ECU 10 based on a signal issued from the accelerator sensor 12, for example, when the electric vehicle is directly driven by the driver, for example, when the electric vehicle is driven. The brake device 18 is controlled by a signal from the brake sensor 12 via the control ECU 10, and the EPS 19 is controlled by a signal from the steering sensor 13 via the control ECU 10. That is, the steering, accelerator, and brake of this vehicle operate on the DBW.

The control ECU 10 further stores a platoon lead program 21, a platoon following program 22, an automatic driving program 23, a remote driving program 24, a remote control program 25, a system control program 26, and a communication program 27 as appropriate. Is stored in
In FIG. 3, these programs are distinguished from those enclosed by solid lines and those enclosed by broken lines.
Here, a program enclosed by a solid line indicates a program currently used, and a program indicated by a broken line indicates a program not currently used (FIGS. 5, 7, and FIG. 7). 8).

The platoon lead program 21 is, for example, a program in which the control contents of the lead vehicle when the vehicle functions as a lead vehicle of the platoon (the leading vehicle becomes the lead vehicle in the case of forward running) are written. Specifically, a traveling locus (X, Y, θ) of the vehicle and an operation amount of an operation unit (accelerator, brake, steering) by a driver or the like are paired to a following vehicle that is unmannedly traveled. The content of control for transmission via the communication means 28 is written.

The platoon following program 22 is written with the control contents of the following vehicle 2 when the vehicle functions as the following vehicle 2 of the platoon. In order to select the operation amount, the current position of the vehicle is determined, and the target position of the corresponding leading vehicle is determined, and feedforward control is performed with the operation amount paired with the target position as the current operation amount. In addition, control contents for performing feedback control based on the deviation between the target position and the current position are written.

In the automatic driving program 23, when the vehicle forms a row with the immediately preceding vehicle, the control content for automatically driving from the current position to a predetermined position behind the preceding vehicle is written. Specifically, the relative positional relationship between the own vehicle position and the preceding vehicle is detected by a measuring device such as a radar 29 described later, and a path from the own vehicle position to a predetermined position behind the preceding vehicle is detected. Create a map (where each vehicle passes, and the speed and acceleration of each position in the line are set), and map the vehicle according to the route map.
The content of automatic driving while operating the operation unit (accelerator, brake, steering) is written.

The remote driving program 24 is a program in which the contents of control when the vehicle is remotely controlled are written. Specifically, a video taken by a camera 31 mounted on the vehicle is displayed by the driver. Transmits via the communication means 28 to the vehicle for remote operation via the communication means 28, and transmits a driving operation signal of the driver (accelerator, brake, steering) of the vehicle from the vehicle for remote operation via the communication means 28. The content of receiving and driving the vehicle remotely based on the driving operation signal is written.

The remote control program 25 is a program in which the content of control performed when the driver in the vehicle remotely controls another vehicle is written. While the image of the camera 31 sent from the vehicle to be steered is displayed on the display device 15 mounted on the vehicle, a driving operation signal of the operation unit of the vehicle operated by the driver is remotely transmitted by the communication means 28. The content to be transmitted to the vehicle to be steered is written. In this case, the amount of operation of the driver's operation unit (accelerator pedal, brake pedal, steering wheel) is not output to the device of the own vehicle, but is transmitted only to the vehicle to be remotely controlled.

The system control program 26 includes a control EC
When the vehicle is controlled in U10, the content of the total control for instructing which of the programs 21 to 25 to use for the control is written. Also, the system control program 2
6 is connected to the platoon instruction device 16, and various modes can be selected by switching with the device.

The communication program 27 is used to determine the travel trajectory (X, Y, θ) of the vehicle between the leading vehicle and the following vehicle when the vehicle performs platooning or performs remote control operation.
And control information for transmitting and receiving operation information of the operation unit (accelerator, brake, steering) by the driver, video information of the camera 31, information for operating the brake device 18 and the EPS 19, and the like. .

Further, communication means 28 is connected to the control ECU 10. The communication means 28 is for executing the control contents of the communication program 27,
Specifically, a transceiver and an antenna for inter-vehicle communication,
It comprises a GPS antenna for receiving radio waves from PS satellites and the like.

In this embodiment, the control EC of the following vehicle 2 is controlled.
A radar device 29 is connected to U10. The radar device 29 can detect a relative distance and a difference in direction between the vehicle and a preceding vehicle immediately before the vehicle. The control ECU 10 of the following vehicle 2 is connected to a GPS 30 for measuring the current position of the own vehicle and a camera 31 for photographing the front of the following vehicle.

Next, a method for forming a row in an automatic following system using the above-described apparatus will be described. First, the driver drives the leading vehicle 1 to a place where a row is formed and parks the vehicle (see FIG. 1A). Next, the driver, while sitting in the driver's seat of the leading car 1, designates the second vehicle in the platoon by the platoon instruction device 16 and instructs the start of remote control. At this time, the platoon instruction device 16 is controlled by the control ECU 1
0 to the remote control mode.

The control ECU 10 of the leading vehicle 1 notifies the designated vehicle of the start of remote control via the communication program 27 and the communication means 28. The vehicle notified of the start of the remote control is switched to the remote control mode via the system control program 26, and in accordance with the remote operation program 24, the image of the camera 31 mounted on the vehicle showing the front of the vehicle is read in real time by the leading vehicle 1. Wirelessly via the communication means 28 and the like (see FIG. 1B).

[0035] The leading car 1 displays the transmitted camera image on the display device 15. The driver riding the leading car 1 operates the steering wheel, the accelerator pedal, and the brake pedal of the leading car 1 while watching this image.

In the remote control mode, according to the remote control program 25, the driver's operation amount input to the control ECU 10 is not output to the devices 17 to 19 of the own vehicle, but is specified via the communication means 28 or the like. Is transmitted to the following vehicle 2 (see FIG. 2C).

The control ECU 10 of the following vehicle 2 calculates the control amount based on the received operation amount according to the remote operation program 24, and calculates the accelerator motor 17 and the brake device 1
8, output an electric signal to the EPS 19,
Activate ~ 19.

With the above-described method, the driver can operate the steering wheel, the accelerator motor, and the brake device of the specified following vehicle 2 by operating the steering wheel, the accelerator pedal, and the brake pedal of the leading vehicle 1. Then, the following vehicle 2 is remotely steered to a predetermined position behind the leading vehicle 1 while confirming the front with the image projected on the display means 15. Note that the driver's operation amount is not output to the steering, the accelerator motor, and the brake device of the leading vehicle 1, so that each device of the leading vehicle 1 does not operate.

When the following vehicle is driven to a predetermined position behind the leading vehicle 1 and parked, the driver instructs the platoon instruction device 16 to end remote control. Here, the predetermined position is
This is the initial position when running in a platoon. For example, in a case where a plurality of following vehicles 2 are arranged vertically at a distance of 4 m behind the leading vehicle to form a platoon, this means a rear position that is 4 m away from a vehicle ahead of the vehicle. At this time, the platoon instruction device 16 notifies the control ECU 10 of the end of the remote operation mode. Further, the control ECU 10 of the leading vehicle 1 notifies the following vehicle 2 of the end of the radio control via the communication means 28 or the like (see FIG. 2D). The following vehicle 2 notified of the end of the remote control stops the wireless transmission of the camera image and ends the remote control mode. By repeating the above series of operations, the third or fourth following vehicle, which is the next following vehicle 2, can be driven to the position behind the last vehicle forming the platoon. (See FIG. 2E). In the case of releasing the platoon, similarly, the following vehicle 2 can be returned to a predetermined position by remote control. In addition, a camera that projects the front and a camera that projects the rear are prepared in advance in the following vehicle 2, or one of the cameras is rotatable so that both the image in front of the vehicle and the image in the rear can be taken, so that the driver When the following vehicle is operated forward and remotely, the image of the front of the following vehicle is displayed on the display device 15, and when the following vehicle is remotely controlled (reverse), the image of the rear of the following vehicle is displayed on the display device 15. You may do so. In addition to the image of the camera, the relative distance between the vehicle and the vehicle in front of the vehicle (the distance Xm to the vehicle in front) measured by the radar device 29 is displayed on the display unit 15.
And the direction (the shift angle Y degrees in the right direction (or the left direction with respect to the vehicle in front)) may be displayed simultaneously in the corner of the image. When the driver knows such information, remote control can be more easily performed. According to the present invention, the driver of the leading vehicle can perform backward traveling of the following vehicle while watching the rear view of the following vehicle displayed on the display means, and can easily perform reverse driving of the following vehicle.

<Second Embodiment> FIGS. 4 and 5 show a second embodiment of the present invention. In the above-described first embodiment, the following vehicle 2
Is driven to a predetermined position immediately behind the leading vehicle 1 or the following vehicle 2 behind it. In this case, since the vehicle is remotely controlled, the vehicle to be controlled is accurately stopped at a predetermined position behind the leading vehicle 1 or the like. Hard to do.

Therefore, in the second embodiment, when the following vehicle to be remotely controlled approaches the leading vehicle 1 or the rearmost following vehicle which has already formed a row, the remote control is performed. To automatic driving, and control is performed such that the vehicle is accurately stopped at a predetermined position behind the leading car 1 or the like.

Since the components in the block diagram shown in FIG. 5 are the same as those in the block diagram described in FIG. 3, the same reference numerals are given to the same components, and description thereof will be omitted. .

With reference to FIG. 4 and FIG. 5, a description will be given of a specific method of forming a row in an automatic tracking system. The driver riding in the leading vehicle remotely controls the following vehicle 2 by the same operation as that described in the first embodiment (see FIG. 4A). Then, the display device 15 confirms the road shape up to the leading car 1 as an obstacle, the positional relationship with the leading car 1, and the like, and determines whether switching to automatic driving is possible. When it is determined that automatic driving is possible, the platoon instruction device 16 instructs switching from remote control to automatic driving. The platoon instruction device 16 notifies the following vehicle 2 of the switch to the automatic driving by the communication means 28 (see FIG. 4B). The switching from the remote control to the automatic driving may be automatically performed based on the measurement value of the radar device 29 in addition to the manual operation as described above. That is, by the laser device 29,
We measure the distance between the following vehicle to be remotely controlled and the platooning vehicle in front of it.
When the following distance is reached for the following vehicle to be able to automatically drive to a predetermined position behind the vehicle in front of the formation,
This may be detected by a determination unit (not shown) attached to the system control program 26, and the system control program 26 may automatically switch from remote control to automatic operation based on a signal issued from the determination unit.

Following vehicle 2 receiving an instruction to switch to automatic driving
Switches from the remote control mode to the automatic operation mode.
The following vehicle 2 that has been switched to the automatic driving mode detects the relative positional relationship between the own vehicle and the leading vehicle 1 with a sensor of the radar device 29 or the like, and creates a route map to the leading vehicle 1.

Then, the following vehicle 2 controls the steering 19, the accelerator motor 17, and the brake device 18 in accordance with the route map, and can travel to a predetermined position behind the leading vehicle 1 by automatic driving (FIG. 4C). reference)). According to the above method, the driver does not need to accurately drive the following vehicle to the row formation position, and the work load can be reduced.

It is preferable that the camera image is continuously transmitted from the following vehicle 2 to the leading vehicle 1 even during the automatic traveling, so that the driver can remotely control the steering wheel, adjust the accelerator, and perform emergency braking.

<Third Embodiment> FIGS. 6 and 7 show a third embodiment of the present invention. In the above-described first and second embodiments, the operation control of the following vehicle until formation of a platoon is performed. It shows the contents of control of a car and a following vehicle.

The components in the block diagram shown in FIG. 7 are the same as those in the block diagram described in the third embodiment, and therefore, the same components are denoted by the same reference numerals and description thereof will not be repeated. .

The specific control contents will be described with reference to FIGS. A driver is riding in the leading vehicle 1, and the leading vehicle 1 is directly driven by the driver, while the following vehicle 2 is controlled to automatically follow the leading vehicle 1 to form a platoon. .

In this state, the driver sets the speed change gear of the power transmission system of the leading vehicle 1 to reverse,
Instructs reverse travel. Control ECU 1 of leading car 1
At 0, the system control program 20 shifts to the reverse running mode in response to a detection signal for detecting that the shift gear has been switched to reverse by the shift position sensor 14 or an instruction signal from the platoon instruction device 16.

The control ECU 10 of the leading vehicle 1 notifies the following vehicles 2 via the communication program 27 and the communication means 28 of the backward running mode by wireless communication. Each of the following vehicles 2 that has been notified of the start of the reverse running switches to the reverse running mode, and sets the transmission gear to reverse.

At this point, the last vehicle 2a of the platoon switches from the following vehicle to the leading vehicle, and the leading vehicle 1 of the platoon switches from the leading vehicle to the following vehicle. The tail car 2a transmits the image captured by the camera 41 that projects the rear of the vehicle to the communication program 2
7 and wireless communication to the leading vehicle 1 via the communication means 28 in real time. Then, in the leading car 1, the image of the camera 41 sent is displayed on the display device 15.

The driver operates the steering wheel, the accelerator pedal, and the brake pedal of the leading car 1 while watching the image displayed on the display device 15. When the leading vehicle 1 is in the reverse driving mode, the remote control program 25 and the platoon program 22 function, and when the remote control program 25 functions, the driver's operation units (accelerator pedal, brake The operation amounts of the pedals and the steering wheel are not output to the device of the own vehicle, but are transmitted to the last vehicle via the communication program 27 and the communication means 28.

The control ECU 10 of the last vehicle calculates a control amount based on the operation amount received in accordance with the remote operation program 24, and calculates an accelerator motor 17, a brake device 18,
An electric signal is output to SP19 to control them.
According to the above control, the driver who has boarded the leading car 1 does not change from the leading car 1 to the trailing car 2a, and checks the rear of the trailing car 2a with the video displayed on the display device 15 while checking the image. The rear wheel 2a can be driven backward by remote control.

Further, based on the platoon leading program 21, the last vehicle 2 a transmits the traveling locus of the own vehicle and the operation amount of the operation unit to other platoon vehicles via the communication program 27 and the communication means 28. According to the trajectory information and the like sent from the last vehicle 2a, the other platoon vehicles are operated based on the platoon following program 22 and the accelerator motor 17, the brake device 1
8. The EPS 19 is controlled, and the vehicle is driven to follow the last vehicle 2a in the reverse running.

<Fourth Embodiment> FIG. 8 shows a fourth embodiment of the present invention.
An embodiment will be described. In the third embodiment described above,
This figure shows the contents of control of the leading vehicle and the following vehicle when the vehicle runs backward after forming a platoon once.
In this embodiment, the state behind the platoon can be seen during normal forward running.

In other words, during forward running of the platoon, the driver of the leading car 1 can see the rear of the platoon to some extent with the rearview mirror or the room mirror, but it becomes more difficult as the number of platoons increases. Especially when the platoon goes straight,
I can't see just behind the platoon at all. Therefore, a camera 4 mounted on the vehicle 2a at the end of the platoon that projects rearward.
1 shows the rear of the vehicle and transmits the image to the leading car 1 so that the driver can see the situation behind the platoon.

The components in the block diagram shown in FIG. 7 are the same as the components in the block diagram described in the third embodiment, and therefore, the same reference numerals are given to the same components, and description thereof will be omitted. .

A specific control method will be described with reference to FIG. A driver is in the leading car 1,
The driver shifts the vehicle to the row running mode by the row indicating device 16. When the last vehicle in the platoon shifts to the platoon running mode, the camera 41 mounted on the vehicle wirelessly transmits an image of the rear of the vehicle to the first car 1 via the communication means 28. The leading car 1 displays the transmitted camera image 1
Reflect on 5. By watching the video, the driver can grasp the situation behind the platoon while driving in the platoon.

The design of the present invention can be changed as appropriate without departing from the spirit of the present invention. For example, in the above-described embodiment, the display device 15 is assumed to be a display such as a liquid crystal display. However, the present invention is not limited to this, and it is a goal type that is directly attached to the driver in the leading car. You may. Of course, the goggle type display means may correspond to a stereoscopic image, and the camera 41 of the following vehicle 2 may be configured as a compound eye. In this case, the driver can see the state in front of the following vehicle 2 in a three-dimensional image, and the driver can drive the following vehicle 2 with higher accuracy by seeing the three-dimensional image in this way.

In the above-described embodiment, the driver
By operating the steering wheel, accelerator pedal, and brake pedal of the leading car 1, respectively, the steering, accelerator motor, and brake device of the following vehicle 2 are operated. In this case, the driver operates the steering wheel of the following vehicle 2 I cannot feel the response of the accelerator pedal and brake pedal. If no response can be felt in this way, the driver cannot easily grasp the operation of each device, and feels uncomfortable compared to normal driving. Therefore, it is difficult for the driver to operate the following vehicle as intended, and it is difficult to perform a driving that requires a delicate operation such as stopping vertically behind the leading vehicle 1 in a line.

Therefore, in the first embodiment, the steering 19, the accelerator motor 17, the brake device 18
Is controlled, the response of each device to the control is detected and input to the control ECU 10. And the control ECU
10 transmits the response information of each device as communication data to the leading car 1 by radio, and the control ECU 10 of the leading car 1 receiving the response information sends a response to the steering wheel, accelerator pedal, and brake pedal of the leading car 1. The operation may be performed by outputting an electric signal for generation. Thereby, the response of the following vehicle 2 to the driver's operation is reproduced.

[0063]

According to the method for forming a platoon of the automatic following system according to the first aspect, the driver can look at the image displayed on the display means without changing from the leading car to the following car, and as if the driver were in contact with the following car. It is possible to remotely control the following vehicle as if riding a vehicle, and it is possible to shorten the time required to start platooning.

According to the method for forming a platoon of the automatic following system according to the second aspect, when there are a plurality of following vehicles forming a platoon, the following vehicles are remotely operated one by one to sequentially form a platoon composed of a plurality of vehicles. It can be easily formed.

According to the method for forming a platoon of the automatic following system according to the third aspect, the mode can be switched by the changeover switch so that the leading vehicle can be freely switched as the following vehicle or the leading vehicle. And the degree of freedom of the vehicle is increased.

According to the platoon formation method of the automatic following system according to the fourth aspect, the following vehicle is driven by the remote control operation until the following vehicle approaches the immediately preceding vehicle by a predetermined distance, and thereafter, the mode is switched to the automatic driving. Therefore, the following vehicle can be parked at an accurate rear position with respect to the preceding vehicle, and the burden on the driver can be reduced.

According to the platoon formation method of the automatic following system according to the fifth aspect, the driver of the leading vehicle can perform the backward traveling of the following vehicle while watching the rear view of the following vehicle displayed on the display means. Remote control of the vehicle backwards is also easy.

[Brief description of the drawings]

FIGS. 1 (a) and 1 (b) show a first embodiment of the present invention, and are schematic plan views over time showing the formation of a platoon. FIG.

FIGS. 2 (c), (d), and (e) show the first embodiment of the present invention, and are schematic plan views with time showing the formation of a platoon.

FIG. 3 is a block diagram showing a first embodiment of the present invention.

4 (a), (b) and (c) show a second embodiment of the present invention, and are schematic plan views over time showing the formation of a platoon.

FIG. 5 is a block diagram showing a second embodiment of the present invention.

FIG. 6 shows a third embodiment of the present invention,
It is a schematic plan view which shows reverse running in a platoon state.

FIG. 7 is a block diagram showing a third embodiment of the present invention.

FIG. 8 is a block diagram showing a fourth embodiment of the present invention.

[Explanation of symbols]

 1... Leading car, 2... Following car, 2a... 22 ... platoon following program, 24 ... remote operation program, 25 ... remote control program, 27 ... communication program, 28 ... communication means, 31 ... camera, 41 ... camera,

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F02D 29/02 301 G05D 1/00 B G05D 1/00 B60R 21/00 624G // B62D 109: 00 624C 113 : 00 626G 137: 00 630G F term (reference) 3D032 CC19 CC20 DA03 DA22 DA87 DA88 DA92 DA93 DA95 DB07 DD17 DD18 EC22 FF01 FF07 GG01 3D044 AA21 AB01 AC16 AC22 AC24 AC31 AC39 AC55 AD12 AD21 AE21 AE27 5H04 AA01 CC01 CC01 CC03 5H301 AA01 BB20 CC03 CC06 DD08 EE08 EE31 FF06 FF15 GG03 GG19 HH03 LL03 LL07 LL11 LL14

Claims (5)

[Claims] 1. A method for forming a row of an automatic following system in which a following vehicle is controlled to automatically follow a leading vehicle operated by a driver, wherein a communication means is provided between the leading vehicle and the following vehicle. An image in front of the following vehicle taken by a camera provided in each of the following vehicles is communicated to the leading vehicle by the communication means, and an image of the camera received by the display means provided in the leading vehicle is displayed. The driving operation signal of the leading vehicle operated by the driver is communicated to each following vehicle by the communication means, and each following vehicle is driven to the platoon position by the received driving operation signal of the leading vehicle. A platoon formation method for an automatic following system. 2. A platoon number is set for each of the following vehicles, and each of the following vehicles is remotely operated one by one by a platoon number input to a platoon instructing means provided in the leading vehicle. The method for forming a row of an automatic following system according to claim 1, wherein: 3. A changeover switch is provided on the leading vehicle, and when the formation mode is selected by the changeover switch, the leading vehicle is prohibited from being operated by the leading vehicle driving operation signal, 2. The vehicle according to claim 1, wherein when the platooning mode is selected by the changeover switch, the leading vehicle is operated by a driving operation signal of the leading vehicle, and each of the following vehicles is automatically controlled to follow the leading vehicle.
A method for forming a row of the automatic following system according to the above. 4. When a following vehicle approaches a preceding vehicle to a predetermined distance during a formation of a platoon, remote control operation based on an operation amount from the leading vehicle is stopped, and switching to automatic operation by automatic driving means is performed. The method for forming a row of an automatic following system according to claim 1, wherein: 5. When the leading vehicle performs a reverse operation during formation of a platoon, an image of the rear of the following vehicle taken by a camera provided on the following vehicle is communicated to the leading vehicle by the communication means. 2. A method for forming a row in an automatic following system according to claim 1.