JP2000331296A - Rank travel controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rank travel controller which can separate ranks during rank travel. SOLUTION: The controller is provided with a transmission device 10 and a reception device 11, which at least give information on the position of a self-vehicle to the other electric motor vehicle. Following vehicles A2, A3, A4 and A5 travel by automatically following a leading vehicle A1 with information, When the request of separation from a rank is received from the following vehicle A3, and the leading vehicle A1 permits it, for example, the following vehicle A3 is switched from automatic driving travel to manual driving travel. Following vehicles A4 and A5 after the self-vehicle are taken along with the self-vehicle, are separated from the original rank and new rank travel is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a platooning control device which enables a leading vehicle driven by a driver and a plurality of following vehicles which automatically follow the leading vehicle to run in a platoon. In particular, the present invention relates to a row running control device capable of separating a row.

[0002]

2. Description of the Related Art In recent years, platooning, which automatically follows a leading vehicle when traveling on a highway or the like, has been studied. Such platooning makes it possible to release the driver of the following vehicle following the vehicle from driving and to run with a reduced inter-vehicle distance, thereby improving transport efficiency. By the way, such platooning requires a sufficient space for arranging the vehicles in the order of travel and registering the order of travel, and a service area or dedicated area where it is easy to secure an environment (installation of a control device, etc.) for platooning support. Formed with ports.

[0003]

Here, there is no problem if the destinations of all vehicles forming the platoon are the same until the end, and all vehicles head to the final destination while forming the platoon. For example, there may be a case where a specific vehicle or a plurality of vehicles forming a platoon during traveling desires to be separated from the platoon. As described above, when the vehicle is separated from the platoon while traveling in the platoon, it is necessary to stop at a service area or the like, and then form the platoon again and depart.

[0004] However, when the branch point is close to the service area, there is not much loss, but when the branch point is far from the service area or the like, the train is re-formed (for example, separated into two trains). It is necessary to travel a long distance from the vehicle to the fork in two platoons, and there is a problem that transportation efficiency is reduced. In addition, when there are a plurality of vehicles that desire to be separated at different branch points, it is necessary to reconfigure the platoon in a service area or the like each time, and there is a problem that it takes too much time to form a platoon.
Therefore, the present invention provides a platooning control device capable of separating a platoon during platooning.

[0005]

According to an aspect of the present invention, there is provided a communication system for communicating at least information on the position of a host vehicle to another vehicle (for example, the electric vehicle 1 in the embodiment). A device (for example, the transmitting device 10 and the receiving device 11 in the embodiment) is provided, and automatically follows the leading vehicle (for example, the leading vehicle A1 in the embodiment) based on the information to follow the vehicle (for example, the following vehicle in the embodiment). A2, A3, A4, A5) is a platooning control device that travels, and means for issuing a request to the following vehicle to separate the leading vehicle from platooning (for example, steps S82 and S83 in the embodiment). Means for permitting or disallowing the leading vehicle based on a request for separation from the following vehicle (for example, step S5 in the embodiment)
7, S58, steps S60, S61), and when the leading vehicle permits the request to separate the following vehicle, the following vehicle automatically switches to the leading vehicle via mode switching means (for example, step S96 in the embodiment). It is characterized in that the driver switches from the following automatic driving traveling to manual driving traveling by the driver.

[0006] With this configuration, when vehicles forming the platoon are separated during platooning, a means for requesting separation from the platoon is notified via a communication device, and the following vehicle is notified. When the leading vehicle permits the separation request from the vehicle, the following vehicle that has issued the separation request is switched from the automatic driving traveling to the manual driving traveling by the mode switching means, and can be separated from the platoon. Thus, when separation is performed, platooning other than the vehicle to be separated is maintained, and the influence on other vehicles can be reduced.

According to the invention described in claim 2, the leading vehicle permits a request for separation of the following vehicle, and when the following vehicle switches from autonomous driving to manual driving, the own vehicle (separated from the platoon). For example, the following vehicle A3 in the embodiment)
If there is a following vehicle (for example, the following vehicles A4 and A5 in the embodiment) that follows the vehicle, the communication device of the platoon is connected to a communication channel different from the communication device of the original platoon (for example, the AS band, Alternatively, a channel switching unit (for example, the frequency switching circuit 8 in the embodiment) for switching to the BS band is provided.

[0008] With this configuration, when there are a plurality of vehicles to be separated from the platoon, communication information can be identified between the separated vehicle and the vehicles in the original platoon.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an electric vehicle 1 capable of platooning.
(Hereinafter referred to as a vehicle). In this vehicle 1, a laser radar 2 capable of wide-angle scanning is mounted at the center of a front bumper, and a reflector which is a mirror-finished plate for reflecting radar radio waves emitted from the laser radar 2 of a following vehicle is mounted at the center of a rear bumper. 3 is attached. Since the laser radar 2 and the reflector 3 are provided, the position (radar measurement point) of the reflector 3 of the preceding vehicle (the vehicle in front of the own vehicle) is captured in real time by the laser radar 2 of the following vehicle. The position of the preceding vehicle based on the following vehicle (the distance between the vehicle and the preceding vehicle) and the direction can be detected in real time.

On the roof of the vehicle 1, a vehicle antenna 4 for wireless communication (for inter-vehicle communication) between the vehicles 1 and a communication means TU or a control device K arranged along the road as shown in FIG. A road-vehicle antenna 5 for wireless communication and a GPS / DGPS antenna 6 for receiving radio waves from GPS satellites and DGPS stations are attached. Reference numeral 7 denotes a battery. Here, the vehicle 1 is provided with a display device 8 that functions as a display for car navigation.
Reference numeral 10 denotes a transmitting device, and 11 denotes a receiving device (both will be described later), which together form a part of a row running control device so as to be surrounded by a chain line (the same applies to FIG. 2).

FIG. 2 shows a state in which a platoon is running. The platooning includes the inter-vehicle communication information such as the position coordinates, vehicle speed, and steering angle of the preceding vehicle obtained by the inter-vehicle communication using the wireless LAN, and the information obtained by using the laser radar 2 and the reflector 3. A plurality of vehicles 1 run in a platoon by merging and traveling along the trajectory of the leading vehicle or the preceding vehicle in the platoon. In the figure, a platoon A is a lead vehicle A1 that runs manually at the head.
In addition, following vehicles A2, A3, A4, A5 that are driven by automatic driving
It is running following. Here, the leading vehicle A1 and the following vehicles A2, A3, A4, A5 all use the vehicle 1 having the same specifications (same structure).

Next, a communication procedure of the inter-vehicle communication during the platooning will be described. In this inter-vehicle communication, the platoon setting is completed, and each vehicle recognizes the total number of vehicles and the order of the vehicle (to be described later).
Transmission and reception begin. (1) The leading vehicle A1 performs transmission (broadcast).
The next transmission right in the transmission data designates the following vehicle A2. The transmission data of the leading vehicle A1 is received by all the vehicles 1 from the following vehicles A2 to A5.

(2) Next, the following vehicle A2 performs transmission. The next transmission right in the transmission data specifies that the vehicle is the leading vehicle A1. Similarly to the above, the transmission data of the following vehicle A2 is received by the leading vehicle A1 and the other following vehicles A3 to A5. (3) The leading vehicle A1 transmits again. The next transmission right in the transmission data designates the following vehicle A3. (4) Following vehicle A3 performs transmission. The next transmission right in the transmission data specifies that the vehicle is the leading vehicle A1. Similarly to the above, the transmission data of the following vehicle A3 is received by the leading vehicle A1 and the other following vehicles A2, A4, and A5. (5) When communication is performed up to the following vehicle A5, the process returns to the leading vehicle A1, and the above procedure is repeated. In this embodiment, the number of platoons is five, but the number of platoons is not limited.

By the way, when the above-mentioned platooning is performed, there is a case where it is desired to separate a part of the platoon. In other words, there is no problem if the destinations of the platoon are the same, but if there are vehicles with different destinations, it is necessary to separate the platoon. FIGS. 3 and 4 show a mode in which this row is separated. FIG. 3 shows a case where the row is separated into two, and FIG. 4 shows a case where one vehicle is separated from the last of the row. FIG.
As shown in FIG. 4, the train group A is formed in a row at a port (not shown). At the beginning of the formation, the train A is running with a total of seven vehicles. The mode shown in FIG. 3 is the following vehicles A4, A5, A6, A7.
Since the destination is different from the leading vehicle A1, the following vehicles A2 and A3, the driver is on the following vehicle A4 for manual driving after separation. Accordingly, the train train group A at the beginning of the departure is separated between the follower vehicle A3 and the follower vehicle A4, and after the separation, the train train group B which follows the follower vehicles B2 and B3 with the leading vehicle B1 at the head.
And a train train group C with the leading vehicle C1 at the head and the following vehicles C2, C3, and C4. Further, in FIG. 2, the trailing vehicle A7 at the tail is a leading vehicle A1, A which is another vehicle.
Because the destination is different from 2, A3, A4, A5, A6,
The following vehicle A7 is separated from the platoon alone, and the leading vehicle A1 becomes a new platoon A with the following vehicles A2, A3, A4, A5, and A6. Note that the leading vehicle A1 may be separated from the initial formation.

Next, FIGS. 5, 6, and 7 show input / output screens of the display device 8. FIG. The display device 8 is normally used as a car navigation display as described above, but has a function for platooning support. Specifically, the input function for platooning support will be described. In addition to the input function for forming a platoon other than the port (usually transmitted from the control device K at the port), as described later, the platoon It has an input function for separating from

FIG. 5 shows a screen of the display device 8 of the leading vehicle A1, and FIG. 5A shows a row setting screen. As shown in the figure, the total number of vehicles and the own vehicle rank can be input by the total vehicle number button DB and the own vehicle rank button JB.
In FIG. 5A, a large square indicates the outline of the navigation screen, and small squares and circles drawn below and beside the navigation screen indicate NAVI setting switches. Each button is a button displayed on the screen (the same applies hereinafter).

FIG. 5B shows a screen during formation of a platoon. A display indicating that the vehicle is set as the leading vehicle and a display indicating that communication with the following vehicle is awaited are displayed. A row release button TB is displayed on the screen.
Is displayed. FIG. 5 (c) shows a screen during platooning. The display indicates that the number of platoons is being run and that the platoon is running, that the running is to be performed in the D range, and that the release of the platoon is to be in the P range after stopping and that the platoon release button is pressed. A row release button TB is displayed on the screen.

FIG. 5D shows a screen on which a row separation request has been received. When there is a request for separation from the following vehicle, the request permission button is pressed, and the vehicle that requests separation is shifted to the leading vehicle, or waits for the last vehicle to be separated from the platoon. A display indicating that the separation request is coming from the following vehicle, a display indicating the vehicle issuing the request, and a display requesting whether or not to permit are displayed. A permission button YB and a non-permission button NB are displayed on the screen. When the permission is selected in FIG. 5D, the total number is changed, and the display screen shown in FIG. 5C is displayed.

FIGS. 6 and 7 show input / output screens of the following vehicle. FIG. 6A shows a row setting screen.
As shown in the figure, the total number of vehicles and the own vehicle rank can be input by the total vehicle number button DB and the own vehicle rank button JB. FIG. 6B shows a screen during formation of a row and running. A display indicating that the vehicle is set as the following vehicle and a display indicating that communication with the leading vehicle is to be waited are displayed. An emergency stop button KB and a separation request button BB are displayed on the screen. Note that the separation request button BB is a button for newly setting a vehicle after the vehicle in another row. FIG. 6C shows a screen after the separation request is made. A display indicating that the device is waiting for permission is displayed. An emergency stop button KB is displayed on the screen.

FIG. 7A shows a screen of a following vehicle that has issued a separation request when the leading vehicle presses the permission button YB in FIG. 5D. An indication that the vehicle has become the lead car in the new platoon, an indication of the number of platoons, and an indication that the platoon is running are displayed. You. A row release button TB is displayed on the screen. FIG. 7B shows the screen of the last trailing vehicle when the vehicle that issued the separation request in FIG. 6C is the last following vehicle. Is shown. An indication that the vehicle has been separated from the platoon and an indication that the vehicle is to be driven in the D range are displayed. When the following vehicle following the leading vehicle issues a separation request, the screen of FIG. 7B is displayed on the leading vehicle so far.

FIG. 8 shows the transition of the control mode for platooning. It can be broadly divided into a manual operation normal mode and a platoon formation mode. When a row mode request button (not shown) is pressed from the normal mode (manual operation), the mode shifts from the row setting to the row formation mode. In the platoon formation mode, the mode switches to the leading vehicle mode (manual driving) and the following vehicle mode (automatic driving). In addition, the platoon is released by the platoon release button TB, and the mode can be shifted to the normal mode. Then, the leading vehicle mode and the following vehicle mode can be shifted to the separation mode (convoy resetting), and can be shifted from the separation mode to the normal mode when the rearmost following vehicle is permitted to be separated. Note that the mode can be shifted from the leading vehicle mode to the normal mode by the platoon release button TB.

Here, when the vehicle shifts from the normal mode to the row formation mode, the following vehicle changes from manual operation to automatic operation. This shift is realized by switching the mechanism as shown in FIG. FIG. 9 shows an automatic / manual switching mechanism of the vehicle 1. This switching mechanism automatically and manually controls three mechanisms of a torque generating mechanism T, a brake pressure generating mechanism B and a steering mechanism S so that each vehicle 1 can be manually driven as a leading vehicle and can be automatically driven as a following vehicle. And so on. The part surrounded by the chain line in FIG. 9 constitutes a part of the platooning control device.

The torque generating mechanism T is connected to the accelerator pedal AP when switched to the manual side, and is connected to the automatic driving torque calculating mechanism TK when switched to the automatic side. The brake pressure generation mechanism B is connected to the brake pedal BP when switched to the manual side, and connected to the automatic operation brake pressure calculation mechanism BK when switched to the automatic side. The steering mechanism S is connected to the steering ST when switched to the manual side, and connected to the automatic driving steering angle calculation mechanism SK when switched to the automatic side.

Therefore, the automatic / manual switching mechanism is used when the vehicle changes from the normal mode (manual operation) to the platoon setting mode as shown in FIG. 8, and when the vehicle runs in the platoon, the vehicle changes from the leading vehicle to the following vehicle. In this case, the vehicle is used when the vehicle changes from the following vehicle to the leading vehicle. The manual / automatic switching as described above may be switched to manual driving when the own vehicle is the leading vehicle, and may be switched to automatic driving when the own vehicle becomes the following vehicle.

FIG. 10 shows a main flowchart of platoon control. In step S10, it is determined whether or not the vehicle is in the formation mode. If it is determined in step S10 that the mode is not the convoy mode, the process proceeds to step S11, a normal navigation display is performed on the display device 8, and the process proceeds to step S12. Then, in a step S12, it is determined whether or not the formation mode request switch is ON. Step S
If it is determined in step 12 that the platoon mode request switch is "OFF", the control is terminated. Step S12
If it is determined that the platoon mode request switch is "ON" in step S13, the process proceeds to step S13, shifts to the platoon mode, and the control ends.

If it is determined in step S10 that the vehicle is in the row mode, the flow advances to step S14 to determine whether or not row formation has been completed. The determination result is “YE
S ", that is, when it is determined that the platoon formation has been completed, the process proceeds to step S15, and it is determined whether or not the mode is the separation mode.
If it is determined in step S15 that the mode is the separation mode, a separation process described later is performed in step S16, and the control ends. If it is determined in step S15 that the mode is not the separation mode, the process proceeds to step S17. In step S17, it is determined whether or not the own vehicle rank is a leading vehicle. If it is determined in step S17 that the vehicle is a leading vehicle, the process proceeds to step S19, and a leading vehicle process described below is performed. If it is determined in step S17 that the own vehicle rank is not the leading vehicle, the process proceeds to step S18, where a following vehicle process described later is performed.

If it is determined in step S14 that the formation of a platoon has not been completed, the process proceeds to step S20, where it is determined whether or not the mode is the formation of a platoon. Step S20
If it is determined that the mode is the formation mode, the process proceeds to step S21, and the formation process described below is performed.
If it is determined in step S20 that the mode is not the row formation mode, the process proceeds to step S22, where a row setting screen is displayed on the display device 8 (see FIGS. 5A and 6A), and the total number of vehicles is input in step S23. (Operation with the total number button DB (the same applies hereinafter)), then step S24
(Operation by the own vehicle rank button JB (the same applies hereinafter)). Then, in step S25, the mode shifts to the formation mode, and in step S26, a frequency AS band described later is selected, and the control ends.
This flowchart is started, for example, every 10 msec.

Next, the formation of a row in step S21 of FIG. 10 will be described with reference to the flowchart of FIG.
First, in step S30, it is determined whether or not the own vehicle rank is a leading vehicle. If it is determined in step S30 that the own vehicle rank is not the leading vehicle, the process proceeds to step S31 and switches to automatic driving. In step S32, a screen display is displayed on the display device 8 while the following vehicle is running. Next, in step S33, it is determined whether or not the emergency stop request switch (corresponding to the emergency stop button KB (the same applies hereinafter)) is ON.

In step S33, the result of the determination is "N
If it is determined that "O", that is, the emergency stop display switch is "OFF", the process proceeds to step S35. Step S
If it is determined in step 33 that the determination result is "YES", that is, the emergency stop request switch is "ON", an emergency stop request is added to the data to be transmitted to the leading vehicle in step S34, and the process proceeds to step S35. In step S35, the presence or absence of received data is detected. Step S35
, When there is no received data, that is, when the determination result is “N
If "O", the control is terminated. If the result of the determination is "YES" in step S35, it is determined in step S36 whether or not the received data has been transmitted from the leading vehicle.

If it is determined in step S36 that the received data is not transmitted from the leading vehicle, the control ends. If it is determined in step S36 that the received data is transmitted from the leading vehicle, the data transmitted from the leading vehicle is stored in the memory in step S37, and the process proceeds to step S38. Next step S38
In the next time, it is determined whether or not the own vehicle is the transmission number. If the result of the determination is "NO", the control is terminated. If the determination result is "YES", that is, if it is determined that the next transmission number is the own vehicle, the transmission data is collected in step S39, the data is transmitted in step S40, and the mode shifts to the following vehicle mode in step S41. To end the control.

If the result of the determination in step S30 is "YES", that is, if the own vehicle is the leading vehicle, the process proceeds to step S42, where the formation of a platoon is displayed on the display device 8. Perform screen display and step S4
Proceed to 3. Next, in step S43, it is determined whether or not the row release request switch (corresponding to the row release button TB (the same applies hereinafter)) is ON. If the result of the determination in step S43 is "YES", that is, if the platoon release request switch is determined to be "ON", the process proceeds to step S44.
Then, the mode is shifted from the platoon mode to the normal mode, and in step S45, a request to shift to the normal mode is added to the data to be transmitted to the following vehicle. Then, step S46
Proceed to.

If the result of the determination in step S43 is "N
If "O", that is, the platoon release request switch is determined to be "OFF", the flow proceeds to step S46. In step S46, it is determined whether the next time is the transmission number of the own vehicle. If the decision result in the step S46 is "YES", the transmission data is collected in a step S51, the data is transmitted in a step S52, and the control is ended.
If the result of the determination in step S46 is "NO",
Proceeding to step S47, it is determined whether there is data received from the following vehicle.

If it is determined in step S47 that there is no received data from the following vehicle, the control ends. If it is determined in step S47 that there is received data from the following vehicle, the following vehicle data is stored in the memory in step S48, and in step S49, it is determined whether or not all following vehicle data has been collected. If it is determined in step S49 that all the following vehicle data is not complete, the control ends. If it is determined in step S49 that all the following vehicle data has been collected, the process proceeds to step S50, where the formation of the platoon is terminated, the mode is shifted to the leading vehicle mode, and the control is terminated.

Next, the leading vehicle process in step S19 in FIG. 10 will be described with reference to the flowcharts shown in FIGS. 12 and 13 are one flowchart, but are divided into two for convenience of illustration. Step S5
At 0, a screen display during running of the leading vehicle is displayed on the display device 8, and the process proceeds to step S51. In step S51, it is determined whether or not the formation release request switch is ON. If the result of the determination in step S51 is "NO", that is, if the platoon release request switch is "OFF", the flow proceeds to step S56.

If the result of the determination in step S51 is "YE
S ", that is, when the platoon release request switch is determined to be" ON ", in the next step S52, it is determined whether or not the shift position is the parking lock position. If the result of the determination in step S52 is "NO", that is, if it is determined that the shift position is not at the parking lock position (parking range), step S5
At 3, the P (parking) range input request is displayed on the display device 8, and the process proceeds to step S62 in FIG. If the result of the determination in step S52 is "YES", that is, if it is determined that the shift position is the parking lock position, a message indicating that the convoy is being released is displayed on the display device 8 in the next step S54, and transmitted to the following vehicle in step S55. A normal mode shift request is added to the data to be executed, and the process proceeds to step S62 in FIG.

In step S56, it is determined whether or not a response to a separation request for a platoon is awaited. If it is determined in step S56 that the request is not waiting for the separation request, the process shown in FIG.
Go to step S62. If it is determined in step S56 that the request is waiting for the separation request, step S5 is performed.
At 7, it is determined whether the platoon separation permission switch is ON. If the decision result in the step S57 is "YES", in a step S58, a request for transition to the separation mode is added to the data to be transmitted to the following vehicle, the process proceeds to the step S59, and the own vehicle also transitions to the separation mode.

If the result of the determination in step S57 is "N
If it is determined to be "O", it is determined in step S60 whether or not the platoon separation disable switch is ON. If the result of the determination in step S60 is "NO", the flow proceeds to step S62 in FIG. If the decision result in the step S60 is "YES", a step S60
, The data separation mode shift rejection transmitted to the following vehicle is added, and the process proceeds to step S62 in FIG.

In step S62 in FIG. 13, it is determined whether or not there is received data. If the result of the determination is "NO", the control is terminated. The determination result of step S62 is “YES”
In step S63, the data of the following vehicle is stored in the memory in step S63, and the flow advances to step S64 to determine whether there is an emergency stop request from the following vehicle. If the decision result in the step S64 is "YES", an emergency stop instruction is added to the data to be transmitted to the following vehicle in a step S65, and the process proceeds to a step S68. If the decision result in the step S64 is "NO", a step S66 decides whether or not there is a request for separation from the following vehicle. When the determined result in the step S66 is "NO", the process proceeds to the step S68.

If the decision result in the step S66 is "YES", a screen for receiving a formation separation request is displayed in a step S67, and the process advances to a step S68. In step S68, it is determined whether or not the formation is being released. If the decision result in the step S68 is "NO", the process proceeds to a step S70. The determination result of step S68 is “YES”
In step S69, it is determined whether or not the following vehicle platoon release has been completed. If the determination result of step S69 is "N
In the case of "O", the process proceeds to step S70, where it is determined whether the next time is the transmission number of the own vehicle. When the determined result in the step S70 is "NO", the control is ended. If the decision result in the step S70 is "YES", the transmission data is collected in a step S71, the data is transmitted in a step S72, and the control is ended. If the determination result of step S69 is "YE
In the case of "S", the mode is shifted from the row mode to the normal mode in step S73, and the row settings (total number, rank) are cleared in step S74, and the control is terminated.

Next, the following vehicle processing in step S18 in FIG. 10 will be described with reference to the flowcharts shown in FIGS. 14 and 15 are one flowchart, but are divided into two for convenience of illustration. Step S8
At 0, the following vehicle screen is displayed, and at step S81, it is determined whether or not the emergency stop request switch is ON. If the decision result in the step S81 is "NO", a step S1 is executed.
Proceeding to 82, it is determined whether or not the separation request switch is ON. When the determined result in the step S82 is "NO", the process proceeds to the step S85. If the determination result of step S82 is "YE
If "S", a separation request is added to the data to be transmitted to the leading vehicle in step S83, and the process proceeds to step S85.
If the decision result in the step S81 is "YES", an emergency stop request is added to the data to be transmitted to the leading vehicle in a step S84, and the process proceeds to a step S85.

In step S85, it is determined whether or not there is received data. If the determination result of step S85 is "N
If "O", the control is terminated. If the decision result in the step S85 is "YES", a step S86 decides whether or not the received data is from the leading vehicle. If the decision result in the step S86 is "NO", in a step S87, data of another following vehicle is stored in the memory, and the control is ended. If the decision result in the step S86 is "YES", the leading vehicle data is stored in a memory in a step S88, and the process proceeds to a step S89. Step S89
In, it is determined whether or not there is an emergency stop request from the leading vehicle. If the decision result in the step S89 is "YES", an emergency stop operation is activated in a step S90, and the process proceeds to the step S99 in FIG. If the decision result in the step S89 is "NO", the process proceeds to a step S91 in FIG.

In step S91 of FIG. 15, it is determined whether or not there is a request to shift to the normal mode. If the decision result in the step S91 is "NO", the process proceeds to a step S92 to determine whether or not the own vehicle has issued a separation request. If the decision result in the step S91 is "YES", the mode is shifted from the row mode to the normal mode in a step S97, and a step S9 is performed.
In step 8, the platoon setting (total number, rank) is cleared, and the flow advances to step S99.

If the decision result in the step S92 is "NO", the process proceeds to a step S99. If the result of the determination in step S92 is "YES", the flow proceeds to step S93, and it is determined whether or not the separation request has been permitted in step S93. If the decision result in the step S93 is "YES", a step S is executed.
At 96, the mode is shifted to the separation mode, and the process proceeds to step S99. If the decision result in the step S93 is "NO", it is determined in a step S94 whether or not the separation request is rejected. The determination result in step S94 is “NO”
In the case of, the process proceeds to step S99. If the result of the determination in step S94 is "YES", a screen is displayed during the running of the following vehicle in step S95, and the flow proceeds to step S99.

In step S99, it is determined whether or not the next time is the vehicle transmission number. When the determined result in the step S99 is "NO", the control is ended. If the decision result in the step S99 is "YES", a step S100 is executed.
The transmission data is collected in step S101, the data is transmitted in step S101, and the control is terminated.

Next, the separation processing in step S16 in FIG. 10 will be described with reference to the flowchart shown in FIG.
In step S110, it is determined whether or not the own vehicle is a leading vehicle. If the determination is "YES", the process proceeds to step S11.
Proceeding to 1, it is determined whether or not the separation request is for the next ranked vehicle. If the determination result of step S111 is “YES”,
Proceeding to step S112, a row separation display is made on the display screen. In step S113, the mode shifts from the row mode to the normal mode. In step S114, the row settings (total number, rank) are cleared, and the control ends. Thereby, the original leading vehicle A1 in FIG. 2 is separated.

If the result of the determination in step S111 is "N
If “O”, the process proceeds to step S115. Step S
At 115, it is determined whether or not the own vehicle is the last following vehicle. If the determination is "YES", the process proceeds to step S11.
Proceeding to 6, it is determined whether or not the own vehicle has requested the separation. If the determination result of step S116 is "YES", step S
Proceed to 112. As a result, the trailing vehicle A5 at the end of FIG.
Separate. If the result of the determination in step S116 is "NO", the flow proceeds to step S117. Thereafter, the procedure for separating into two platoons proceeds.

In step S117, the total number of new platoons and ranking are calculated, and in step S118, the row configuration (total number and rank) is reset. Then, in step S119, the communication order is changed, and in step S1
Go to 20. In step S120, it is determined whether or not the own vehicle is a rear group of vehicles after separation. If the decision result in the step S120 is "NO", a step S12 is executed.
Proceed to 4. If the determination result in step S120 is “YE
S ”, the process proceeds to step S121 and the frequency AS
It is determined whether or not a band has been used. If the decision result in the step S121 is "YES", a step S12 is executed.
In 3, the frequency BS band is selected as the frequency used for the inter-vehicle communication, and if the determination result in step S121 is "NO", the frequency AS band is selected in step S122.

When the frequency band of the inter-vehicle communication of the preceding vehicle group and the rear vehicle group is selected in step S122, the process proceeds to step S124, where it is determined whether or not the own vehicle is the leading vehicle. If the determination result of step S124 is "N
If "O", the flow shifts to the following vehicle mode in step S126, and the control ends. If the decision result in the step S124 is "YES", the process proceeds to a step S125 to shift to the manual operation, and in a step S127, shifts to the leading vehicle mode and ends the control.

Next, an apparatus for changing the frequency used in the inter-vehicle communication will be described with reference to FIG.
As described above, when one vehicle group is used, the frequency used for inter-vehicle communication may be a single frequency. However, when the platoon is separated, inter-vehicle communication is performed to prevent interference between one vehicle group and another vehicle group. The frequency has to be changed. Specifically,
1. A wireless LAN frequency band applicable to mobile objects.
484 MHz band (bandwidth 2.471 to 2.497 MH
z) is divided into an AS band in the range of 2.471 to 2.484 MHz and a BS band in the range of 2.484 to 2.497 MHz. As a result, another frequency band can be assigned to the two separated vehicle groups, and interference between the two vehicle groups can be prevented.

FIG. 17 is a diagram illustrating the configuration of a communication device for multi-channel communication (frequency switching). FIG. 17A shows an inter-vehicle communication transmitting side, and FIG. 17B shows an inter-vehicle communication receiving side. In FIG. 17A, an instruction from the traffic control device K is input from the road-vehicle antenna 5 to the frequency switching circuit 8, and a high-frequency circuit 9 of a predetermined frequency AS band and a high-frequency circuit 12 of a predetermined frequency BS band are provided. Is configured to be selectable. Therefore, AS band or BS
Transmission data can be transmitted from the vehicle antenna 4 by the transmission device 10 using the radio frequency of the band. FIG.
7 (a) and 7 (b), a portion surrounded by a chain line (FIG. 17)
(A) Frequency switching circuit 8, transmitting apparatus 10, FIG.
The frequency switching circuit 8 and the receiving device 11) of (b) constitute a part of the platooning control device.

Next, as shown in FIG. 17 (b), the transmitted data is taken into the receiving device 11 of the other vehicle 1 in the vehicle group from the vehicle antenna 4, and the data is transmitted to the control device similarly to the transmitting side. Since the high frequency circuit 9 of the predetermined frequency band AS and the high frequency circuit 12 of the predetermined frequency band BS can be selected by the frequency switching circuit 8 according to the instruction from K, the received data is fetched through the receiving device 11. Therefore, when the platoons are separated from each other, no interference occurs between the two platoons by using the frequency of the inter-vehicle communication in the two platoons in one of the AS band and the other in the BS band.

Next, a communication procedure when the platoon is separated in this way will be described with reference to FIG. In the following description, for the sake of simplicity, a description will be given of a case where the five trains shown in FIG. 2 are separated into two front trains and three rear trains. Here, the front row becomes the leading vehicle B1 and the following vehicle B2, and the rear row becomes the leading vehicle C1 and the following vehicles C2 and C3. Specifically, FIG.
Is a case where the following vehicle A3 makes a separation request and the leading vehicle A1 permits the request. In the following description, reference numerals in parentheses are serial numbers from the description of FIG.

(6) The leading vehicle A1 performs transmission. The next transmission right in the transmission data designates the following vehicle A2.
Further, a separation mode shift request is added to the transmission data. The transmission data of the leading vehicle A1 is received by all the vehicles 1 from the following vehicles A2 to A5. At the same time, the role of the leading car A1 is changed to the leading car B1, the following car A2 is changed to the following car B2, the following car A3 is changed to the leading car C1, the following car A4 is changed to the leading car C2, and the role of the following car A5 is changed to the leading car C3. You. At this time, in the train of the leading vehicle C1, the following vehicles C2, and C3, the communication channel of the inter-vehicle communication is changed to the BS band.

(7) Next, the following vehicle B2 having the transmission right performs transmission. The next transmission right in the transmission data specifies that the vehicle is the leading vehicle B1. In parallel with this, the leading vehicle C1 transmits, and the transmission data specifies that the next transmission number is the following vehicle C2. At the time of this communication, the problem of interference does not occur for the reasons described above. (8) The leading vehicle B1 transmits again. The next transmission right in the transmission data designates the following vehicle B2. on the other hand,
The following vehicle C2 having the transmission right performs the transmission, and specifies that the next transmission right in the transmission data is the leading vehicle C1.

(9) The following vehicle B3 having the transmission right performs transmission. The next transmission right in the transmission data specifies that the vehicle is the leading vehicle B1. On the other hand, the leading vehicle C1 performs transmission, and specifies that the next transmission right in the transmission data is the following vehicle C3. (10) Similarly, the inter-vehicle communication is repeated in the two vehicle groups.

Therefore, according to the above-described embodiment, when the vehicles 1 constituting the platoon are separated during the platooning, if the transmission device 10 and the receiving device 11 request the separation of the platoon, the request is transmitted to the leading vehicle A1. Receives the permission signal, and as a result, the vehicle 1 that has requested the separation is switched from the following running to the normal running, and the separation from the platoon becomes possible.
As a result, a vehicle with different destinations can form a platoon, thereby increasing the degree of freedom in forming a platoon. In addition, since separation from the platoon enables separation of the trailing vehicle A5 and separation of the leading vehicle A1, the degree of freedom of platoon separation is high, and restrictions on formation of the platoon are reduced.

When there are a plurality of vehicles 1 to be separated from the platoon, the frequencies used for the transmitting device 10 and the receiving device 11 are different between the separated vehicle 1 and the vehicles 1 in the original platoon. Communication between vehicles does not cause interference. Note that the present invention is not limited to the above-described embodiment. For example, interference is prevented from occurring between a group of vehicles separated by switching the frequency of a communication device. In addition, various modes for identification, such as preventing mutual interference, can be adopted.

[0058]

As described above, according to the first aspect of the present invention, there is an effect that the platoon can be separated from the platoon without stopping even during traveling. Therefore, a vehicle with different destinations can form a platoon, so that the degree of freedom in forming a platoon is increased. According to the second aspect of the invention, when there are a plurality of vehicles separated from the platoon, the communication information can be identified between the separated vehicle and the vehicles in the original platoon. There is an effect that can be prevented.

[Brief description of the drawings]

FIG. 1 is a perspective view of an electric vehicle according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of platooning according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a mode of separation from a row in the embodiment of the present invention.

FIG. 4 is an explanatory diagram showing a mode of separation from a row in the embodiment of the present invention.

FIG. 5 is an explanatory view showing an input / output screen of the display device of the leading vehicle according to the embodiment of the present invention, wherein (a) shows a row setting screen,
(B) is a screen during formation of a platoon, (c) is a screen during running in a platoon, and (d) is a screen that receives a platoon separation request.

FIG. 6 is an explanatory diagram showing an input / output screen of the display device of the following vehicle according to the embodiment of the present invention, where (a) is a row setting screen,
(B) is a screen during formation and running of a row, and (c) is a screen when a new row is formed after this vehicle.

FIG. 7 is an explanatory diagram showing an input / output screen of the display device after a separation request according to the embodiment of the present invention, wherein (a) is an input / output screen of a display device of a leading vehicle of a new platoon, and (b) is a separation screen; It is an input / output screen of the display apparatus of the said vehicle when the vehicle which issued the request is the last vehicle.

FIG. 8 is an explanatory diagram showing transition of a control mode according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a switching mechanism according to the embodiment of the present invention.

FIG. 10 is a main flowchart of platoon control according to the embodiment of the present invention.

FIG. 11 is a flowchart of a row formation process according to the embodiment of the present invention.

FIG. 12 is a flowchart of a leading vehicle process according to the embodiment of the present invention.

FIG. 13 is a flowchart of a leading vehicle process according to the embodiment of the present invention.

FIG. 14 is a flowchart of a following vehicle process according to the embodiment of the present invention.

FIG. 15 is a flowchart of a following vehicle process according to the embodiment of the present invention.

FIG. 16 is a flowchart of a separation process according to the embodiment of the present invention.

FIGS. 17A and 17B are block diagrams of inter-vehicle communication using multi-channel communication according to an embodiment of the present invention, where FIG. 17A shows a transmitting side and FIG. 17B shows a receiving side.

FIG. 18 is an explanatory diagram showing a communication state after a row is separated.

[Explanation of symbols]

 Reference Signs List 1 electric powered vehicle 8 frequency switching circuit (channel switching means) 10 transmitting device (communication device) 11 receiving device (communication device) A1 leading vehicle (leading vehicle) A2, A3, A4, A5 following vehicle (following vehicle) S82, S83 separation Means for issuing a request to do so S57, S58 means for permitting separation request S60, S61 means for disallowing separation request S96 mode switching means

Claims (2)

[Claims] 1. A platooning control device comprising a communication device for communicating at least information on the position of the host vehicle to another vehicle, wherein the following vehicle automatically runs following the leading vehicle based on the information. Is provided with means for issuing a request to the leading vehicle to separate from the platooning, and means are provided for the leading vehicle to permit or disallow it based on the request for separation from the following vehicle. Platooning control device characterized in that when the separation request is permitted, the following vehicle switches from automatic driving traveling automatically following the leading vehicle via mode switching means to manual driving traveling by the driver. . 2. The following vehicle that follows the own vehicle separated from the platoon when the leading vehicle permits a request to separate the following vehicle and the following vehicle switches from automatic driving to manual driving. 2. The platooning control device according to claim 1, further comprising: a channel switching unit that switches the communication device of the platoon to a communication channel different from the communication device of the original platoon when there is a communication device.