JP2000315112A - Safety device for vehicle traveling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reliably secure the safety of a manned vehicle even when abnormality occurs in a safety device loaded on the manned vehicle. SOLUTION: When a main power supply 53 for a manned vehicle is turned on, abnormality in the function of an operation instruction means is judged. When the function of the operation instruction means is judged abnormal, the traveling of the manned vehicle is prohibited. When the main power supply 53 is turned off, a driving source off signal indicating the OFF of the main power supply 53 is transmitted to a monitoring station. When the driving source off signal is transmitted from the manned vehicle to the monitoring station, abnormality judging processing (signals are transmitted/received to/from the monitoring station by a communication means loaded on the manned vehicle, and when the periodical transmission/reception is interrupted, the monitoring station judges the occurrence of abnormality in the manned vehicle) is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling system in which a plurality of vehicles including at least one manned vehicle are mixed and traveled, and in particular, a safety device capable of ensuring the safety of a manned vehicle in the vehicle traveling system. It is about.

[0002]

2. Description of the Related Art When carrying out earth and sand transport work at a wide-area work site such as a crushed stone site, a mine site, etc., it is possible to avoid accidents due to fatigue of workers, save labor, and increase production time by extending work time. In order to improve the performance, an unmanned vehicle traveling system that operates an unmanned vehicle instead of a manned vehicle (off-road dump truck) has been introduced. To manage the operation of multiple unmanned dump trucks,
An unmanned vehicle traveling system is constructed such that a monitoring station is set up as a ground station, and the monitoring station controls and monitors the plurality of unmanned dump trucks.

However, it is practically impossible to make all of the vehicles traveling on the work site unmanned vehicles. That is, besides dump trucks, watering trucks, graders, wheel loaders, escabetas, trailers, operator pickup vehicles,
This is because it is necessary to drive a manned vehicle such as a measurement vehicle in the work site.

Here, although the traveling of the unmanned vehicle is monitored by the monitoring station, it is not possible for the unmanned vehicle and the manned vehicle to directly communicate with each other between the boarding operators unlike the case of the manned vehicle. For this reason, unexpected interference may occur between the manned vehicle and the unmanned vehicle. Accordingly, it is necessary to avoid unexpected interference with unmanned vehicles and to ensure the safety of manned vehicles.

[0005] Conventionally, in a relatively small work site, a method has been adopted in which the safety of a manned vehicle is ensured by separating the running region of a manned vehicle from the running region of an unmanned vehicle.

However, in a large-scale work site, it is practically difficult to separate the traveling area of a manned vehicle from the traveling area of an unmanned vehicle. That is, it is difficult in terms of cost to provide two traveling paths, a traveling path exclusively for manned vehicles and a traveling path exclusively for unmanned vehicles, over several kilometers to several tens of kilometers one way.

Therefore, in an unmanned vehicle traveling system, it is necessary to run manned vehicles and unmanned vehicles together on the same traveling road, and it is necessary to secure the safety of the manned vehicles by a method other than dividing the traveling road. .

In Japanese Patent Application No. 9-27960, an unmanned vehicle is provided with an obstacle sensor, and both a manned vehicle and an unmanned vehicle are provided with an SS (spread spectrum system) wireless device and a position measurement for measuring the vehicle position. The device is to be mounted. Position data is directly transmitted and received between the manned vehicle and the unmanned vehicle via the wireless device. A monitor is provided in the driver's cab of the manned vehicle. On the monitor,
The positions of other unmanned vehicles are displayed according to the content of the received position data. Thereby, the positional relationship between the own vehicle and the other unmanned vehicles is grasped, interference with other unmanned vehicles is avoided, and the safety of the manned vehicle is ensured. When it is detected that the vehicles have approached each other, an alarm is issued. Thereby, the operator of the manned vehicle is alerted, and the safety of the manned vehicle is ensured.

However, even if the function of the safety device such as the wireless device, the position measuring device, and the monitor becomes abnormal, the positional relationship between the vehicles cannot be grasped.
The technology for ensuring the safety of manned vehicles is not disclosed in the above-mentioned application.

An emergency stop button for emergency stop of the unmanned vehicle is provided on the manned vehicle, and the emergency stop button is operated at the discretion of the operator who has boarded the manned vehicle, so that all the unmanned vehicles or the manned vehicle can be operated. Attempts have been made to ensure the safety of manned vehicles by making an unmanned vehicle around the vehicle emergency stop.

However, even if the function of the emergency stop button becomes abnormal and it becomes impossible to make an unmanned vehicle emergency stop, no measures have been taken to ensure the safety of the manned vehicle.

On the other hand, a technique for remotely controlling an unmanned vehicle using a radio control (registered trademark) is described in Japanese Patent Application Laid-Open No. 7-281754. This publication discloses a technique for controlling an unmanned vehicle using emergency power when an abnormality occurs in a radio control. However, the technology described in this publication does not assume a vehicle traveling system in which manned vehicles and unmanned vehicles travel together. That is, there is no disclosure of a technique for securing the safety of a manned vehicle when an abnormality occurs in the safety device on the manned vehicle side.

As described above, according to the prior art, there is no guarantee that the safety of the manned vehicle is ensured when the safety device mounted on the manned vehicle malfunctions and its function becomes abnormal. That is, if the operator continues to run the manned vehicle without noticing the abnormality of the safety device mounted on the manned vehicle, or without confirming that the safety device is abnormal, the operator may unexpectedly interfere with the unmanned vehicle.

In addition to a vehicle traveling system in which a plurality of manned vehicles and a plurality of unmanned vehicles travel together, it is necessary to ensure the safety of a manned vehicle in a vehicle traveling system in which only manned vehicles travel.

That is, when a plurality of manned vehicles are driven at high altitude where fog is generated, it is difficult to visually confirm other vehicles. For this reason, it is difficult to avoid interference between manned vehicles only by communication between operators. Therefore, as described in the above-mentioned Japanese Patent Application No. 9-27960, each manned vehicle is equipped with an SS radio device and a position measuring device, and the manned vehicles transmit and receive position data directly between the manned vehicles via the radio device. Thus, a method of displaying the positional relationship between vehicles on a monitor and confirming the position of another vehicle is adopted. As a result, even at a work site where it is difficult to visually check other vehicles due to fog, interference between the manned vehicles is avoided and the safety of the manned vehicles is ensured. However, even in such a case, if an abnormality such as a failure occurs in a safety device such as a wireless device mounted on a manned vehicle, a position measuring device, a monitor,
The safety of manned vehicles will not be ensured.

The present invention has been made in view of such circumstances, and a first solution is to ensure the safety of a manned vehicle even if an abnormality occurs in a safety device mounted on the manned vehicle. It is an issue.

[0017] Unlike an unmanned vehicle, an operator can arbitrarily turn off the power by turning off the engine key switch, so that the monitoring station side or the unmanned vehicle side of the vehicle traveling system can detect the abnormality of the safety device of the manned vehicle. There is a problem that it cannot be determined.

That is, if the engine key switch of the manned vehicle is turned on and the manned vehicle is operating, a signal is periodically transmitted and received between the manned vehicle and the monitoring station to determine whether an abnormality has occurred in the manned vehicle. Can be determined on the monitoring station side. For example, if a signal is continuously transmitted from a manned vehicle at regular intervals, a safety device (wireless device) for the manned vehicle
It is determined that no abnormality has occurred in the safety device (wireless device) of the manned vehicle when the periodic signal is interrupted. Further, when the manned vehicle detects an abnormality, the abnormality detection signal can be transmitted to the monitoring station, and the monitoring station can recognize the abnormality of the manned vehicle.

However, if the engine key switch of the manned vehicle is turned off and the power is turned off, the transmission and reception of the above-mentioned periodic signals are interrupted, and the cause is an abnormality in the safety device (wireless device) of the manned vehicle. Depending on what
It becomes impossible for the monitoring station to determine whether the engine key switch has been turned off and the power has been turned off.

[0020] Therefore, the monitoring station side, in order to ensure safety,
Excessive safety processing, such as stopping unmanned vehicles around the manned vehicle, must be performed, causing a problem that the work efficiency of the vehicle is reduced.

Here, the following method can be considered as a method for reliably determining whether an abnormality has occurred in the wireless device of the manned vehicle or whether the engine key switch has been turned off and the power has been turned off. That is, when the manned vehicle is stopped by turning off the engine key switch of the manned vehicle, it is determined in advance that the manned vehicle is stopped at a predetermined parking place, and as long as the manned vehicle is stopped at the parking place, the engine key is stopped. The switch is turned off and the power is turned off (it is not a state where an abnormality has occurred in the safety device of the manned vehicle)
Is determined. However, when this method is adopted, it is necessary to newly provide a facility for detecting that a vehicle has entered the parking place and transmitting the detection to the monitoring station side. Furthermore, if a vehicle other than the designated manned vehicle stops by mistake at the parking place, there is a possibility that the monitoring station may make an erroneous determination. Therefore, this method cannot be adopted.

The present invention has been made in view of such circumstances, and when periodic transmission / reception between a manned vehicle and a monitoring station is interrupted, the cause is that an abnormality has occurred in a safety device of the manned vehicle. A second object of the present invention is to make it possible for the monitoring station to reliably determine whether the power supply has been turned off by turning off the engine key switch.

[0023]

Therefore, in the first invention of the present invention, in order to achieve the first solution, an operation instruction is given to the unmanned vehicle through operation instruction means provided in the manned vehicle. In a safety device for a vehicle traveling system that allows a plurality of unmanned vehicles and at least one manned vehicle to travel while operating the unmanned vehicle, when the driving source of the manned vehicle is turned on, the operation instruction means Abnormality determination means for determining that the function of the manned vehicle is abnormal, and travel prohibition instruction means for instructing prohibition of travel of the manned vehicle when the function of the operation instruction means is determined to be abnormal by the abnormality determination means It is characterized by having.

According to the first invention, as shown in FIGS. 3 and 4, when the drive source 53 of the manned vehicle 10 is turned on, it is determined that the function of the operation instruction means 61 is abnormal. When it is determined that the function of the operation instructing means 61 is abnormal, the prohibition of traveling of the manned vehicle 10 is instructed.

According to the first invention, even if an abnormality occurs in the safety device 61 mounted on the manned vehicle 10, the safety of the manned vehicle 10 is reliably ensured.

According to a second aspect of the present invention, there is provided a safety device for a vehicle traveling system for driving a plurality of vehicles including at least one manned vehicle in a mixed manner so as to achieve the first solution. State display means for displaying the state of another vehicle, abnormality determination means for determining that the function of the state display means is abnormal when the drive source of the manned vehicle is turned on, and the abnormality determination means When the function of the status display means is determined to be abnormal, the prohibition instructing means for instructing prohibition of traveling of the manned vehicle is provided.

According to the second invention, as shown in FIGS. 3 and 4, the state display means 7 provided on the own manned vehicle 10
At 1, 72, and 73, the state of the other vehicle 11 (the approach state between the manned vehicle 10 and the other vehicle 11) is displayed. Then, when the drive source 53 of the manned vehicle 10 is turned on, it is determined that the functions of the status display means 71, 72, 73 are abnormal. When it is determined that the functions of the state display means 71, 72, and 73 are abnormal, the prohibition of traveling of the manned vehicle 10 is instructed.

The second invention is applied not only to a vehicle traveling system in which manned vehicles and unmanned vehicles coexist, but also to a vehicle traveling system in which all vehicles are only manned vehicles.

In a third aspect based on the first or second aspect, the vehicle traveling system includes a monitoring station for transmitting a signal for instructing the plurality of vehicles to travel,
The operation instructing means or the state display means instructs an operation to another vehicle by communication means or displays a state of another vehicle, and the abnormality determination means includes a drive source of the manned vehicle. When turned on, the communication means transmits and receives signals between the manned vehicle and the monitoring station, and determines that the function of the operation instruction means or the status display means is abnormal based on the result of the transmission and reception. It is characterized by that.

In the third invention, as shown in FIG. 1, a monitoring station 20 for transmitting a signal for instructing a plurality of vehicles 10, 11, 12,... To run is provided. Then, as shown in FIGS. 3 and 4, the operation instruction means 61 or the state display means 7
1, 72, 73 communicate with other vehicles 1 by communication means 5, 6.
1 to indicate an operation or display the state of another vehicle 11.

When the driving source 52 of the manned vehicle 10 is turned on, a signal is transmitted and received between the manned vehicle 10 and the monitoring station 20 by the communication means 5, and based on the result of the transmission and reception, the operation instructing means 61 or the state is transmitted. Display means 71, 72, 7
It is determined that the function of No. 3 is abnormal.

According to the fourth aspect of the present invention, in order to achieve the second solution, a plurality of vehicles including at least one manned vehicle are transmitted from a monitoring station by transmitting signals for instructing the vehicles to travel. And run together,
An abnormality determination for transmitting and receiving signals to and from the monitoring station by communication means provided in the manned vehicle, and determining that an abnormality has occurred in the manned vehicle on the monitoring station side when the regular transmission and reception are interrupted. In the safety device for a vehicle traveling system configured to perform a process, when a drive source of the manned vehicle is turned off, a drive source off signal indicating that the drive source of the manned vehicle is turned off is transmitted to the monitoring station. Transmission control means, and abnormality determination processing stop means for stopping the abnormality determination processing when the drive source off signal is transmitted from the manned vehicle to the monitoring station.

According to the fourth invention, as shown in FIG. 3, when the drive source 52 of the manned vehicle 10 is turned off, a drive source off signal indicating that the drive source 52 of the manned vehicle 10 is turned off. Is transmitted to the monitoring station 20. Then, when the drive source off signal is transmitted from the manned vehicle 10 to the monitoring station 20,
Abnormality judgment processing (signals are transmitted to and received from the monitoring station 20 by the communication means 5 provided in the manned vehicle 10, and when the regular transmission and reception are interrupted, an abnormality occurs in the manned vehicle 10 on the monitoring station 20 side. (Abnormality determination processing for determining).

That is, the drive source off signal is transmitted to the monitoring station 20.
The monitoring station 20 recognizes that the engine key switch 52 of the manned vehicle 10 is turned off and the main power supply 53 is turned off. Therefore, monitoring station 2
Even if the periodic transmission of the position data to 0 is interrupted, it is accurately determined that the cause is not caused by the occurrence of an abnormality in the safety device (wireless communication device 5) of the manned vehicle 10. Therefore, the abnormality determination processing of the safety device (wireless communication device 5) based on the vehicle position data periodically transmitted from the manned vehicle 10 is stopped thereafter.

At the monitoring station 20, it is determined that the manned vehicle 10 does not move and remains at the final report position. For this reason, excessive safety processing such as stopping the unrelated unmanned vehicle 11 around the manned vehicle 10 due to erroneous determination is not performed. Thus, it is possible to avoid a reduction in the work efficiency of the vehicle.

According to a fifth aspect of the present invention, in the fourth aspect, the manned vehicle includes operating means for turning off the drive source, and the transmission control means determines that the drive means has been turned off. Accordingly, a process of transmitting the drive source off signal to the monitoring station is performed, and after the transmission process, the drive source is turned off.

According to the fifth invention, as shown in FIG. 3, a drive source off signal is transmitted to the monitoring station 20 in response to the drive source off operation of the operating means 52. Then, after the transmission processing is completed, the driving source 53 is turned off (the manned vehicle controller 50 is in a start-stop state).

In a sixth aspect based on the fourth aspect, the manned vehicle includes operating means for turning off the drive source, and a standby drive source in addition to the drive source. In response to the operation source being operated to turn off the drive source, the drive source is turned off and a process of transmitting the drive source off signal to the monitoring station is performed.After this transmission process, the preliminary drive source is turned off. There is a feature.

According to the sixth aspect, as shown in FIG. 3, the driving source 53 is turned off (the preliminary driving source 54 is turned on) in response to the driving means 52 being turned off. . Then, the drive source off signal is transmitted to the monitoring station 20. Then, after the transmission processing is completed, the preliminary drive source 54 is turned off (the manned vehicle controller 50 is in a start-stop state).

[0040]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a safety device for a vehicle running system according to the present invention will be described with reference to the drawings.

FIG. 1 shows the appearance of a dump truck monitoring system for managing and monitoring a large number of dump trucks 10, 11, 12, 13... At a wide-area work site 30 such as a mine assumed in this embodiment. I have. Here, it is assumed that the dump truck 10 is a manned vehicle on which an operator is boarded, and the other dump trucks 11, 12, 13,... Are unmanned vehicles on which no operator is boarded.

In this embodiment, a dump truck is assumed as a vehicle, but the present invention can be applied to a wheel loader other than a dump truck, a hydraulic shovel, and the like. Further, the present invention can be applied to a system in which a dump truck, a wheel loader, an escavator, and the like are mixed. That is, the manned vehicle 10 may be a vehicle other than the dump truck, such as a watering vehicle, a grader, a wheel loader, an escavator, a trailer, an operator pickup vehicle, and a measurement vehicle. Although the number of the manned vehicle 10 is one for convenience of description, the invention can be applied to a system including a plurality of manned vehicles.

FIG. 2 is a block diagram showing only the radio communication system of the dump truck monitoring system. In this system, the following communication method is adopted.

1) VHF 2) SS (Spread Spectrum System) Radio The VHF system of the above 1) is a long distance (10 km to 20 km)
Communication can be performed, and communication over the entire wide-area work site can be covered. However, the communication speed is relatively slow (9600
bps). Note that UHF can be used instead of VHF.

The 2) SS radio is capable of high-speed communication (256 Kbps), and is capable of transmitting an extremely large amount of information at high speed. However, the reach of radio waves is relatively short (100 m to 1 km).

FIG. 3 is a block diagram showing the configuration of the device mounted on the manned vehicle 10. As shown in FIG.

The manned vehicle controller 50 provided in the manned vehicle 10 includes the radio communication devices 5 and 6 and the position measurement device 5
1. The other vehicle operation operation unit 60 and the status display device 70 are electrically connected via a signal line. Then, power is supplied to the manned vehicle controller 50 from the main power supply 52, and wireless communication processing, position measurement processing, other vehicle operation processing, and state display processing are executed. Manned vehicle controller 50 and main power supply 5
3, an engine key switch 52 is interposed, and the manned vehicle controller 50 and the main power supply 53 are electrically connected via the engine key switch 52. Therefore, when the engine key switch 52 is turned off and the electrical connection between the main power supply 53 and the manned vehicle controller 50 is cut off, the power supply to the manned vehicle controller 50 is turned off, and the various processes in the manned vehicle controller 50 are performed. Is stopped. In addition to the main power supply 53,
A standby power supply 54 is provided for supplying power to the manned vehicle controller 50 when the engine key switch 52 is turned off until the predetermined wireless communication processing is completed.

When the engine key switch 52 is turned on, an engine (not shown) is operated, and the manned vehicle 10 can run.

The radio communication devices 5 and 6 include a monitoring station-to-vehicle communication device 5 and a vehicle-to-vehicle communication device 6.

Hereinafter, description will be made with reference to FIGS.

As shown in FIG. 1, this unmanned dump truck surveillance system is roughly divided into its own vehicle position (X,
A plurality of vehicles 10, 11, 12, 13,... Provided with a vehicle position measuring device 51 (see FIG. 3) described below for measuring Y);
The position data (X, Y) transmitted from each of the plurality of vehicles 10 is received, and based on the received position data, the plurality of vehicles 10 are monitored while the mutual positional relationship between the plurality of vehicles 10 is monitored. , And a monitoring station 20 that transmits instruction data for instructing traveling, stopping, and the like.

As shown in FIG. 2, the monitoring station 20 and the plurality of vehicles 10 are wirelessly communicated by the monitoring station / vehicle communication devices 23 and 5.

That is, the distance between the monitoring station 20 and the plurality of vehicles 10, that is, the communication system capable of wireless communication over the entire wide-area work site 30, ie, the monitoring station / vehicle communication device 23, 5 based on the VHF system is used as the monitoring station. The monitoring station 20 and the plurality of vehicles 10 are disposed on the
The position data and the instruction data are transmitted and received between.

The monitoring station / vehicle communication device 2 on the monitoring station 20 side
Reference numeral 3 denotes a transmission unit 21 and a reception unit 22.
The monitoring station-to-vehicle communication device 5 on the 0 side includes a transmitting unit 1 and a receiving unit 2, and as shown in FIG. 1, wireless communication A via an antenna 20 a of the monitoring station 20 and an antenna 10 a of the vehicle 10.
Is performed. In the same manner for other vehicles, the monitoring station 2
Wireless communication B via the antenna 20a of the monitoring station 20 and the antenna 1a of the monitoring station 20
The wireless communication C is performed by the monitoring station 20 via the second antenna 12a.
The wireless communication D is performed via the antenna 20a of the vehicle 13 and the antenna 13a of the vehicle 13.

On the other hand, wireless communication is performed by the inter-vehicle communication device 6 between a plurality of vehicles.

That is, a communication system capable of wirelessly communicating the distance between the plurality of vehicles and transmitting / receiving data at a higher speed than the monitoring station / vehicle communication devices 23 and 5;
That is, the vehicle-to-vehicle communication device 6 using the SS radio is
, 0, 11, 12, 13..., And the position data is transmitted and received between the plurality of vehicles.

The vehicle-to-vehicle communication device 6 of the vehicles 10 comprises a transmission unit 3 and a reception unit 4, and as shown in FIG.
Wireless communication E via the antenna 10b of the vehicle 11 and the antenna 11b of the vehicle 11 via the antenna 11b of the vehicle 11.
Wireless communication F via the antenna 10b of the vehicle 10, wireless communication G via the antenna 12b of the vehicle 12, and wireless communication H via the antenna 10b of the vehicle 10 and the antenna 13b of the vehicle 13. Wireless communication I via the antenna 12b of the vehicle 12 and the antenna 13b of the vehicle 13.
Are performed respectively. Note that wireless communication may not be possible between long-distance vehicles that are longer than the radio wave reach distance (for example, between the vehicles 11 and 13).

Next, the configuration of the vehicle position measuring device 51 will be described.

The position measurement device 51 may be a position measurement device (INS) using inertial navigation, a position measurement device (GPS) using GPS satellites, or a position measurement device using dead reckoning navigation. Is also good. Further, these position measuring devices may be combined.

In the case of the position measuring device using dead reckoning, a tire rotation sensor (for example, a dial pulse encoder) as a vehicle traveling distance detecting unit is attached to the tire of each vehicle 10. Is detected. In addition, a gyro (for example, an optical fiber gyro) serving as a vehicle azimuth detecting unit is disposed on the vehicle body, and the angular velocity ω of the vehicle body posture angle is
Is detected. Then, the vehicle position (X, Y) (the position on the two-dimensional coordinate system XY) is detected based on the outputs of the tire rotation sensor and the gyro.

In the case of INS, the X, Y, Z
Accelerometers are provided in the directions of the three axes, respectively, and the accelerations output from these accelerometers are respectively integrated twice, so that the vehicle position (X, Y) (the position on the two-dimensional coordinate system XY) is obtained. Is detected.

In the case of a GPS (global positioning system), a radio wave transmitted from a GPS satellite is received by a GPS antenna mounted on a vehicle. And GP
The pseudo distance between the GPS satellite and the received vehicle is determined based on the time difference between the transmission and reception by the S satellite, and the true distance is calculated by correcting the pseudo distance. The two-dimensional position of the vehicle above is detected. The above correction is performed by transmitting the GPS differential data from the monitoring station 20 at regular intervals (for example, every 1 second).
This is performed by periodically transmitting the information to each of the vehicles 10, 11,....

The work site 3 on which the vehicles 10 travel.
0, a number of beacons whose positions are known are installed, and the vehicle 10
.. May pass through the beacon, the current position of the vehicles 10 may be determined based on the known position of the beacon.

The wireless communication devices 5 and 6 and the position measuring device 5
1 is provided in common to the manned vehicle 10, the unmanned vehicles 11, 12,...

As shown in FIG. 3, the manned vehicle 10 is provided with another vehicle operation operation section 60 for giving operation instructions to the other unmanned vehicles 11, 12,. Other vehicle operation operation unit 60
As shown in FIG. 4, for example, the other unmanned vehicles 11, 1
An emergency stop button 61 for stopping the travel of 2.

The manned vehicle 10 includes another unmanned vehicle 1
A state display device 70 for displaying the states of 1, 12,... Is provided. The status display device 70 is, for example, signal lights 71, 72, and 73 shown in FIG. 4, a graphical console 74 shown in FIGS. 5 and 6, and a warning buzzer (not shown).

As shown in FIG. 4, the signal lights 71, 72, 73
Is arranged in the cab of the manned vehicle 10 (for example, on a dashboard) together with the emergency stop button 61. The signal light 71 is a signal light that lights up in blue. When the signal light 71 is turned on, it indicates that "there is no other unmanned vehicle in the traveling direction of the manned vehicle 10".
The signal light 72 is a signal light that lights up in yellow. When the signal light 72 is turned on, it indicates that "be careful because there is another unmanned vehicle near the manned vehicle 10". The signal light 73 is a signal light that lights in red. When the signal light 73 is lit, it indicates that "an unmanned vehicle is approaching the manned vehicle 10 and should be stopped". That is, turning on the signal light 73 instructs the operator to prohibit the manned vehicle 10 from traveling. The warning buzzer has the same function as the signal light 73. That is, the warning buzzer sounds to instruct the operator to prohibit traveling of the manned vehicle 10.

When all of the signal lights 71, 72, 73 are turned off, there is a malfunction in the lighting function of the signal lights 71 to 73. Therefore, turning off all the signal lights 71 to 73 instructs the operator to prohibit the manned vehicle 10 from traveling.

In the graphical console 74, FIG.
(A) As shown in FIG. 6 (a), the current position of own manned vehicle 10 and the current position of another unmanned vehicle (for example, vehicle 11) are displayed on the display screen. That is, the own manned vehicle 10 and another unmanned vehicle (for example, the vehicle 11) are displayed at the corresponding positions of the traveling paths 42 and 43 in the work site 30, so that the own manned vehicle 10 and the other unmanned vehicles ( For example, the positional relationship with the vehicle 11) can be recognized on the display screen.

The position data of the other unmanned vehicles 11 is transmitted from the other unmanned vehicles 11 and received by the manned vehicle 10 by the SS radio via the inter-vehicle communication device 6. As a result, the positions of the other unmanned vehicles 11 are displayed on the display screen of the graphical console 74. Since the position data of the other unmanned vehicles 11 is acquired by the monitoring station 20, the position data is transmitted from the monitoring station 20, and the manned vehicle is transmitted by the VHF through the monitoring station-vehicle communication devices 23 and 5. Received at 10. As a result, the positions of the other unmanned vehicles 11 are displayed on the display screen of the graphical console 74.

The display screen of the graphical console 74 is reduced in size as shown in FIG. 5A in accordance with the reduction and enlargement operations, and is enlarged in size as shown in FIG. 6A.

The processing performed by the monitoring station 20, the unmanned vehicle 11, and the manned vehicle 10 will be described below with reference to the flowcharts shown in FIGS.

First, processing performed when the engine of the manned vehicle 10 is started will be described with reference to FIG.

As shown in FIG. 10, the engine key switch 52 of the manned vehicle 10 is turned on by the operator, and the manned vehicle controller 50 (hereinafter referred to as the controller 50) is operated.
When power is supplied from the main power supply 53 (power is turned on), the controller 50 is activated, and the processing in the controller 50 shifts to the abnormality detection mode in step 301.
In the abnormality detection mode, the following self-checks (a) to (e) are performed.

(A) V from the communication device 23 of the monitoring station 20
The GPS differential data transmitted to the manned vehicle 10 via HF or UHF wireless communication is:
It is confirmed that the data has been received by the wireless communication device 5.

(B) The controller 50 generates a power-on signal indicating that the power has been turned on, and the power-on signal is transmitted from the wireless communication device 5 to the monitoring station 20. In the monitoring station 20, a reception response signal is generated in response to the reception of the power-on signal. And monitoring station 2
0, the reception response signal is transmitted to the manned vehicle 1
0 and the wireless communication device 5 of the manned vehicle 10 confirms that the reception response signal has been received.

(C) Each time the engine key switch 52 is turned off and the activation of the controller 50 is terminated, a non-volatile memory (not shown) in the controller 50 has a manned position measured by the position measuring device 51 at that time. Vehicle 1
The position of 0 is stored. Therefore, when the engine key switch 52 is turned on this time, the position measuring device 51 is
Is compared with the position of the manned vehicle 10 stored in the non-volatile memory when the engine key switch 52 was turned off last time,
It is confirmed that the two vehicle positions match.

(D) Signals are exchanged between the controller 50, the position measuring device 51, and the wireless communication devices 5 and 6 via signal lines, and it is confirmed that mutual transmission of electric signals is possible. Is done.

(E) The controller 50 performs a self-diagnosis of the function of the controller 50 itself. That is, it is confirmed that the voltage applied from the main power supply 53 is within a normal range, and that the signal line connected to the controller 50 is not disconnected.

(Step 301) If confirmation cannot be made in any one or more of the above (a) to (e), the safety device of the manned vehicle 10 (radio communication device 5, position measuring device 51, etc.) It is determined that an abnormality has occurred in the function (NO in step 302), and a message that "an abnormality has occurred" is displayed on the display screen of the graphic console 74.
Then, the signal light 73 is turned on in red, and the operator is instructed to prohibit the manned vehicle 10 from traveling. In addition, a warning buzzer sounds and an operator is instructed to prohibit traveling of the manned vehicle 10.

When it is confirmed that there is no abnormality in the function of the wireless communication device 5, a signal indicating that “an abnormality has occurred” is transmitted from the wireless communication device 5 to the monitoring station 20. When the monitoring station 20 receives the abnormality occurrence signal, appropriate traveling instruction data is transmitted to the unmanned vehicles 11, 12,... Around the manned vehicle 10 so as to avoid interference with the manned vehicle 10. (Step 307).

On the other hand, all of the above (a) to (e) were confirmed, and it was determined that there was no abnormality in the functions of the safety devices (the radio communication device 5, the position measuring device 51, etc.) of the manned vehicle 10. In this case (YES in step 302), all of the signal lights 71, 72, and 73 are turned on, and the warning buzzer is sounded (step 303).

Here, an emergency stop button 61 is provided to the operator.
The following operation is required in order to confirm that no abnormality has occurred in the function.

That is, the operator operates the signal lights 71 to 73
In order to release the full lighting state and the sounding state of the warning buzzer, the user must press the emergency stop button 61 to turn it on and then press the button 61 again to turn it off.

Therefore, if the operator presses the emergency stop button 61 to turn it on after pressing it, and then presses the button 61 again to turn it off (YES in step 304), the operation is detected. Is released, and the warning buzzer is stopped (step 305). Then, depending on the positional relationship between the manned vehicle 10 and the unmanned vehicles 11, 12,...
3 is turned on, and the manned vehicle 10 is driven according to the lighting state of the signal lights 71 to 73 (step 30).
6).

Also, all of the signal lights 71 to 73 are turned on,
If the above operation is not detected within 10 seconds after the start of the warning buzzer, that is, the emergency stop button 61 is turned on after being pressed, and then the operation is performed again by pressing the emergency stop button 61 and then turned off. Is not detected (NO in step 304), the operator has not performed the required operation, or the emergency stop button 61 has failed and the function has failed. Therefore, it is determined that an abnormality has occurred in the safety device of the manned vehicle 10, and the process proceeds to step 307. In other words, the message "An error has occurred" is displayed on the display screen of the graphic console 74. Then, the signal light 73 is lit in red, and the operator is notified of the manned vehicle 1
Zero travel prohibition is instructed. If it is confirmed that there is no abnormality in the function of the wireless communication device 5, a signal indicating that “an abnormality has occurred” is transmitted from the wireless communication device 5 to the monitoring station 20. When the monitoring station 20 receives this abnormality occurrence signal, the unmanned vehicles 1 around the manned vehicle 10
.., Appropriate instruction data is transmitted to avoid interference with the manned vehicle 10 (step 30).
7).

When the engine key switch 52 is turned on to perform a self-check (steps 301 and 30).
2) The lighting state is set to one of a state in which all of the signal lights 71 to 73 are turned on and a state in which the signal lights 73 are turned on (steps 303 and 307). Therefore, when all the signal lights 71, 72 and 73 are off, the signal lights 7
This is the case where the lighting functions 1 to 73 are abnormal. Therefore, turning off all the signal lights 71 to 73 gives the operator
The prohibition of traveling of the manned vehicle 10 is instructed.

If the warning buzzer does not sound even though all of the signal lights 71 to 73 are turned on, it means that the function of the warning buzzer is abnormal. Therefore, the warning buzzer does not sound, so that the operator is instructed to prohibit traveling of the manned vehicle 10.

If no display is displayed on the display screen of the graphic console 74, it means that the function of the graphic console 74 is abnormal. Accordingly, since no display is made on the display screen of the graphic console 74, the operator is instructed to prohibit the traveling of the manned vehicle 10.

Next, processing performed by the monitoring station 20 when the manned vehicle 10 is traveling (engine operating state) will be described with reference to FIG. Note that the unmanned vehicle 11 will be described as a representative of the plurality of unmanned vehicles.

When the traveling of the manned vehicle 10 is permitted (step 306), thereafter, the vehicle position is sequentially measured by the position measuring device 51, and the data indicating the measured vehicle position is transmitted to the wireless communication device of the manned vehicle 10. 5 to the communication device 23 of the monitoring station 20 at regular intervals (for example, every one second).
Is sent periodically. Similarly, other unmanned vehicles 11
Also for the position measuring device 5 provided in the unmanned vehicle
1, the vehicle position is sequentially measured, and data indicating the measured vehicle position is transmitted from the wireless communication device 5 of the unmanned vehicle 11 to the monitoring station 2.
0 is periodically transmitted to the communication device 23 at regular intervals (for example, every second). The periodically transmitted vehicle position data is received by the communication device 23 of the monitoring station 20 (step 102).

The monitoring station 20 sequentially calculates the vehicle existence range 44 when the manned vehicle 10 moves at the maximum speed from the previous vehicle position based on the vehicle position data of the manned vehicle 10 received last time. Therefore, the vehicle existence range 44 expands as the elapsed time from receiving the position data last time increases. Then, when the current position data is received, the vehicle presence range 44 is reset to a point indicating the current position, and thereafter, the range 44 expands with time (step 103).

Similarly, the monitoring station 20 sequentially calculates the vehicle existence range 45 when the unmanned vehicle 11 moves at the maximum speed from the previous vehicle position based on the vehicle position data of the unmanned vehicle 11 received last time. ing. Therefore, the vehicle presence range 45 expands as the elapsed time from receiving the position data last time increases. Then, when the current position data is received, the vehicle presence range 45 is reset to a point indicating the current position, and thereafter the range 45 expands with time (step 104).

Here, the display screen shown in FIG. 5A shows a state in which the manned vehicle 10 traveling on the traveling path 42 and the unmanned vehicle 11 traveling on the traveling path 43 are relatively separated. The traveling path 42 and the traveling path 43 intersect at an intersection 42a. FIG. 5B shows the vehicle existence ranges 44 and 45 corresponding to FIG.

The display screen shown in FIG.
And the unmanned vehicle 11 traveling on the traveling path 43 is relatively close to each other. In this state, the vehicles 10 and 11 may interfere with each other at the intersection 42a. FIG. 6B shows the vehicle existence ranges 44 and 45 corresponding to FIG. 6A.

Therefore, in the next step 105, it is determined whether or not the vehicle existence range 44 of the manned vehicle 10 and the vehicle existence range 45 of the unmanned vehicle 11 are approaching a certain distance or less.

As shown in FIG. 5B, the vehicle existence range 44 of the manned vehicle 10 and the vehicle existence range 45 of the unmanned vehicle 11
Are separated by a distance larger than the predetermined distance (NO in step 105), the procedure returns to step 102, and the same processing is repeatedly executed.

However, as shown in FIG. 6B, when the vehicle existence range 44 of the manned vehicle 10 and the vehicle existence range 45 of the unmanned vehicle 11 are approaching the predetermined distance or less (step 105). The determination is YES), and the monitoring station 20 transmits an ID for identifying the other vehicle to each vehicle so that the vehicles 10 and 11 directly transmit and receive data (position data) for avoiding interference.

That is, the monitoring station 20 transmits a manned vehicle approaching signal indicating that "the manned vehicle 10 is approaching" to the unmanned vehicle 11 and transmits the ID of the manned vehicle 10 of the approaching partner. (Step 10
6).

Similarly, an unmanned vehicle approaching signal indicating that “unmanned vehicle 11 is approaching” is transmitted from monitoring station 20 to manned vehicle 10, and the ID of unmanned vehicle 11 of the approaching partner is also transmitted. Is transmitted (step 10).
7).

FIG. 9 shows a process performed by the unmanned vehicle 11 when the manned vehicle approach signal is received.

That is, the manned vehicle approach signal is transmitted to the unmanned vehicle 11
, The manned vehicle 1 indicated by the received ID
It is determined whether communication is possible with 0 and SS radio.
For example, a predetermined signal (current position data of the unmanned vehicle 11) is transmitted from the inter-vehicle communication device 6 of the unmanned vehicle 11 to the manned vehicle 1
0 is transmitted to the inter-vehicle communication device 6. Then, a signal (manned vehicle 1) in response to the predetermined signal from the manned vehicle 10
0 is transmitted to the unmanned vehicle 11, and when the unmanned vehicle 11 receives this signal, the manned vehicle 10
It is confirmed that wireless communication is possible (step 2
01).

If it is determined that the vehicles 10 and 11 can communicate with each other by SS radio (determination Y in step 201)
ES), the position data of one vehicle is transmitted between the unmanned vehicle 11 and the manned vehicle 10 via the SS radio to the other vehicle. Therefore, both vehicles 10 and 11 run while confirming the current position of the other vehicle. Therefore, interference between the vehicles 10 and 11 at the intersection 42a is avoided (Step 202).

On the other hand, when it is determined that the vehicles 10 and 11 cannot communicate with each other by the SS radio (NO in step 201), the positions of the other vehicles are confirmed by the SS radio. Therefore, the traveling of the unmanned vehicle 11 is stopped. For example, the communication device 6 of the manned vehicle 10
If the vehicle fails, the traveling of the unmanned vehicle 11 is stopped (step 203).

FIG. 11 shows a process performed by the manned vehicle 10 when the unmanned vehicle approach signal is received.

That is, when the unmanned vehicle approach signal is transmitted to the manned vehicle 10
, The unmanned vehicle 1 indicated by the received ID
Then, it is determined whether or not communication is possible with SS1 by SS radio.
For example, a predetermined signal (current position data of the manned vehicle 10) is transmitted from the inter-vehicle communication device 6 of the manned vehicle 10 to the unmanned vehicle 1
It is transmitted to one inter-vehicle communication device 6. Then, a signal responding to the predetermined signal from the unmanned vehicle 11 (the unmanned vehicle 1)
1 is transmitted to the manned vehicle 10, and when the manned vehicle 10 receives this signal, the unmanned vehicle 11
It is confirmed that wireless communication is possible (step 3
08).

If it is determined that the vehicles 10 and 11 can communicate with each other by SS radio (determination Y in step 308).
ES), the position data of one vehicle is transmitted to the other vehicle via the SS radio between the manned vehicle 10 and the unmanned vehicle 11. Therefore, both vehicles 10 and 11 run while confirming the current position of the other vehicle. Therefore, interference between the vehicles 10 and 11 at the intersection 42a is avoided (step 309).

On the other hand, if it is determined that the vehicles 10 and 11 cannot communicate with each other by SS radio (NO in step 308), the positions of the other vehicles are confirmed by SS radio. Since it is not possible, the signal light 73 is lit red for safety. Further, a display indicating that “an abnormality has occurred” is displayed on the display screen of the graphic console 74. This instructs the operator to prohibit traveling of the manned vehicle 10. For example, when the communication device 6 of the manned vehicle 10 breaks down, the traveling of the manned vehicle 10 is prohibited (step 310).

As described above, while the manned vehicle 10 is traveling, S
If an abnormality occurs in the function of the S wireless communication device 6,
The traveling of the manned vehicle 10 is prohibited.

Further, while the manned vehicle 10 is traveling, the monitoring station 2
If the GPS differential data that is periodically transmitted from 0 is not received even after a certain period of time has elapsed since the previous data reception, the signal light 73 is lit red for safety. Further, a display indicating that “an abnormality has occurred” is displayed on the display screen of the graphic console 74.
This instructs the operator to prohibit traveling of the manned vehicle 10.

In this case, the function of the communication device 5 of the VHF is abnormal, and the position of another vehicle is not accurately obtained. Therefore, the occurrence of an abnormality in the manned vehicle 10 is transmitted for safety, and evacuating to a safe area where the unmanned vehicle 11 is not running is encouraged. Further, the traveling of the unmanned vehicle 11 is also stopped.

While the manned vehicle 10 is running, the vehicle position is sequentially measured by the position measuring device 51 as described above, and data indicating the measured vehicle position is transmitted from the wireless communication device 5 of the manned vehicle 10 to the monitoring station 20. It is periodically transmitted to the communication device 23 at regular intervals (for example, every one second).
If the vehicle position data periodically transmitted from the manned vehicle 10 is not received even after a certain period of time has elapsed since the previous data reception, the monitoring station 20 side sets a safety device for the manned vehicle 10 (the wireless communication device 5). ) Is determined to be abnormal. For this reason, in the monitoring station 20, instruction data for stopping the unmanned vehicle 11 around the manned vehicle 10 is transmitted to the unmanned vehicle 11 in order to ensure safety.

Next, the process performed when the manned vehicle 10 stops running and stops operating the engine after traveling will be described with reference to FIG.

That is, when the engine key switch 52 is turned off, the electrical connection between the main power supply 53 and the controller 50 is cut off. In response, the standby power supply 54
And the controller 50 are electrically connected, and the activation state of the controller 50 is maintained. The controller 50 generates a power cutoff signal indicating that the main power supply 53 has been cut off in response to the engine key switch 52 being turned off. Further, a final vehicle position signal indicating the vehicle position finally measured by the position measuring device 51 when the main power supply 53 is cut off is input to the controller 50. Then, the power cutoff signal and the final vehicle position signal are transmitted to the monitoring station 20 via the wireless communication device 5 (Step 311). When the transmission processing of the power cutoff signal and the final vehicle position signal is completed, the standby power supply 54 and the controller 50
Is disconnected, and the activation of the controller 50 ends (step 312).

In the above-described embodiment, the auxiliary power supply 54 is provided separately from the main power supply 53, and the auxiliary power supply 54 is turned on at the same time as the main power supply 53 is turned off. However, implementation without the auxiliary power supply 54 is also possible.

That is, in response to the operation of turning off the engine key switch 52, a process of generating the power cutoff signal and the final position signal and transmitting them to the monitoring station 20 is performed. The main power supply 53 may be turned off.

FIG. 7 shows the processing performed by the monitoring station 20 when the activation of the controller 50 of the manned vehicle 10 ends.

That is, when the monitoring station 20 receives the power cutoff signal, the monitoring station 20 recognizes that the engine key switch 52 of the manned vehicle 10 is turned off and the main power supply 53 is turned off. Therefore, the monitoring station 20
Even if the periodic transmission of the position data to is stopped, it is accurately determined that the cause is not caused by the occurrence of an abnormality in the safety device (wireless communication device 5) of the manned vehicle 10. Therefore, the abnormality determination processing of the safety device (wireless communication device 5) based on the vehicle position data periodically transmitted from the manned vehicle 10 is stopped thereafter.

At the monitoring station 20, it is determined that the manned vehicle 10 does not move and remains at the final report position. For this reason, excessive safety processing such as stopping the unrelated unmanned vehicle 11 around the manned vehicle 10 due to erroneous determination is not performed. Thus, it is possible to avoid a reduction in the work efficiency of the vehicle.

When the final vehicle position signal is received by the monitoring station 20, the monitoring station 20 controls the unmanned vehicle 11 so that the unmanned vehicle 11 does not enter a certain range around the vehicle position indicated by the final vehicle position signal. Instruction data is transmitted to vehicle 11. The reason for performing such processing is that the manned vehicle 10 in which the activation of the controller 50 is stopped is the unmanned vehicle 1
This is because it becomes impossible to mutually transmit and receive the position data directly with the vehicle 1 and the manned vehicle 10 is merely an “obstacle” at the work site 30 for the unmanned vehicle 11. Therefore, when the manned vehicle 10 finishes traveling, it is necessary to move to a safe place outside the operation area of the unmanned vehicle 11 and then turn off the engine key switch 52 (step 101).

In the above description, one manned vehicle 10
(Or a plurality of manned vehicles) and a plurality of unmanned vehicles 11,
.. Are assumed to travel in a mixed manner in the work site 30. However, the present invention is also applicable to a vehicle traveling system in which all of a plurality of vehicles are manned vehicles. In this case, the unmanned vehicles 11, 12,... Are replaced with manned vehicles 11, 12,.

A plurality of manned vehicles 1 at high altitude where fog occurs
When traveling 0, 11,..., It is difficult to visually confirm other vehicles. For this reason, it is difficult to avoid interference between manned vehicles only by communication between operators.

When this embodiment is applied, each manned vehicle 1
0, 11... Position data is directly transmitted and received between the wireless communication devices 6. Then, the positional relationship between the own vehicle 10 and the other vehicle 11 is displayed on the display screen of the graphic console 74 of the own vehicle 10. Thereby, it is confirmed whether or not the other vehicle 11 approaches the own vehicle 10.
Thereby, even at a work site where it is difficult to visually confirm the other vehicle 11 due to fog, interference between the manned vehicles 10 and 11 is avoided and the safety of the manned vehicle is ensured.

According to the present embodiment, the manned vehicle 10,
11 ... wireless communication devices 5, 6, position measuring device 5
1. Emergency stop button 60, graphic console 7
4. When an abnormality such as a failure occurs in the safety devices such as the signal lights 71 to 73 and the warning buzzer, the traveling of the manned vehicles 10, 11... Thereby, the safety of the manned vehicles 10, 11,... Is ensured.

In a vehicle traveling system in which a plurality of manned vehicles 10, 11... Travel, the emergency stop button 61 is activated by the other vehicle 11 when an abnormality of the own vehicle 10 or abnormality of another vehicle 11 is detected. It functions to notify the abnormality and instruct other vehicles 11 to prohibit running.

In the embodiment described above, the signal light 7
Although the operator is instructed to prohibit travel by turning on 3 or the like, control may be performed so that the travel is automatically prohibited. For example, it is possible to forcibly prohibit traveling by operating the brake mechanism of the manned vehicle 10 in response to detection of an abnormality in the safety device of the manned vehicle 10. However, when the manned vehicle 10 is traveling, it is desirable to decelerate the vehicle to a certain speed or less to stop the vehicle and then operate the brake mechanism.

In the embodiment described above, the graphic console 74 and the signal lights 71 to 7 are mounted on the manned vehicle 10.
3. The other vehicle 11 and own vehicle 1 equipped with a warning buzzer
The operator is informed of the positional relationship with 0.

However, the safety device of the present invention is not limited to a device that informs the operator of the position information of another vehicle 11. For example, the present invention can be applied to a safety device that informs its own manned vehicle 10 of the speed, running error (position shift amount in dead reckoning), GPS accuracy, and the like of another vehicle 11.

[Brief description of the drawings]

FIG. 1 is a view showing an appearance of an entire dump truck monitoring system which is an embodiment of a safety device for a vehicle traveling system according to the present invention.

FIG. 2 is a block diagram illustrating a configuration of a communication system according to the embodiment;

FIG. 3 is a block diagram showing a configuration of a device mounted on a manned vehicle.

FIG. 4 is a perspective view showing devices arranged in a driver's cab of a manned vehicle.

5A is a diagram showing a display screen of a graphic console, and FIG. 5B is a diagram showing a vehicle existence range corresponding to FIG. 5A.

6 (a) is a diagram showing a display screen of a graphic console, and FIG. 6 (b) is a diagram showing a vehicle existence range corresponding to FIG. 6 (a).

FIG. 7 is a flowchart showing processing in a monitoring station.

FIG. 8 is a flowchart showing a process in a monitoring station.

FIG. 9 is a flowchart showing processing in an unmanned vehicle.

FIG. 10 is a flowchart showing processing in a manned vehicle.

FIG. 11 is a flowchart showing processing in a manned vehicle.

FIG. 12 is a flowchart showing processing in a manned vehicle.

[Explanation of symbols]

 5, 6 Manned vehicle wireless communication device 10 Manned vehicle 11-13 Unmanned vehicle 20 Monitoring station 50 Manned vehicle controller 51 Position measuring device 52 Engine key switch 53 Main power supply 54 Stand-by power supply 60 Other vehicle operation instruction unit 61 Emergency stop button 70 State Display device 71-73 Signal light 74 Graphic console

Claims (6)

[Claims] 1. An unmanned vehicle is operated by giving an operation instruction to the unmanned vehicle via operation instruction means provided on the manned vehicle, and a plurality of unmanned vehicles and at least one manned vehicle are mixed and run. In the safety device of the vehicle traveling system, when the drive source of the manned vehicle is turned on, abnormality determining means for determining that the function of the operation instruction means is abnormal, and A safety device for a vehicle traveling system, comprising: traveling prohibition instruction means for instructing prohibition of traveling of the manned vehicle when it is determined that the function is abnormal. 2. A safety device of a vehicle traveling system for causing a plurality of vehicles including at least one manned vehicle to travel in a mixed state, wherein: a state display means provided on the manned vehicle to display a state of another vehicle; When the drive source of the manned vehicle is turned on, abnormality determination means for determining that the function of the state display means is abnormal, and the function of the state display means is determined to be abnormal by the abnormality determination means. And a travel prohibition instructing means for instructing prohibition of travel of the manned vehicle when the vehicle is traveling. 3. The vehicle traveling system includes a monitoring station that transmits a signal instructing traveling of the plurality of vehicles, and the operation instruction unit or the status display unit communicates with another vehicle by a communication unit. The abnormality determining means, when a driving source of the manned vehicle is turned on, the communication between the manned vehicle and the monitoring station. 3. The safety device for a vehicle traveling system according to claim 1, wherein signals are transmitted / received by means, and the function of the operation instruction means or the status display means is determined to be abnormal based on a result of the transmission / reception. 4. A plurality of vehicles including at least one manned vehicle are made to travel together by transmitting a signal for instructing the plurality of vehicles to travel from a monitoring station, and the plurality of vehicles are provided in the manned vehicle. The communication means transmits and receives signals to and from the monitoring station, and performs an abnormality determination process of determining that an abnormality has occurred in the manned vehicle on the monitoring station side when the periodic transmission and reception are interrupted. In the safety device of the vehicle traveling system, when the drive source of the manned vehicle is turned off, transmission control means for transmitting a drive source off signal indicating that the drive source of the manned vehicle is turned off to the monitoring station, A safety device for a vehicle traveling system, comprising: abnormality determination processing stopping means for stopping the abnormality determination processing when the drive source off signal is transmitted from the manned vehicle to the monitoring station. 5. The manned vehicle includes operating means for turning off the drive source, and the transmission control means sends the drive source off signal in response to the drive source being turned off. 5. The safety device for a vehicle running system according to claim 4, wherein a process of transmitting the data to the monitoring station is performed, and the driving source is turned off after the transmission process. 6. The manned vehicle includes operating means for turning off the drive source, and a spare drive source in addition to the drive source, wherein the transmission control means controls the drive means to turn off the drive source. 5. The vehicle traveling system according to claim 4, further comprising a step of turning off the drive source and transmitting the drive source off signal to the monitoring station, and turning off the preliminary drive source after the transmission process. Safety equipment.