JP2001291191A - Automatic driving road system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an automatic driving road system capable of guiding a vehicle to a lane exclusive for the vehicles with deteriorated performance in accordance with the performance of the vehicles traveling on a road 3 with a steep slope. SOLUTION: The performance of the vehicle 1 is obtained by communication between a road and the vehicle and the vehicle is guided from a traveling lane 9 to a climbing lane 10 in accordance with performance by magnetizing a magnetic nail 4c in a lane change area 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving road system for changing a vehicle lane in an uphill lane.

[0002]

2. Description of the Related Art FIG. 7 is a block diagram of a conventional automatic driving road system. In the figure, 1 is a vehicle, 2 is a plurality of magnetic detectors mounted on the front or lower surface of the vehicle as magnetic detecting means, 3 is a road on which the vehicle 1 runs, and 4 is a magnetic generator embedded in the road 3 as a magnetic generator. Magnetic nails,
Reference numeral 5 denotes a roadside antenna for road-to-vehicle communication provided at an end of the road 1, reference numeral 6 denotes a vehicle-side antenna for road-to-vehicle communication mounted on the vehicle 1, and reference numeral 7 denotes steering control of the vehicle 1 as steering control means. Is a vehicle communication controller for road-vehicle communication.

Next, the operation will be described. The conventional autonomous driving road system is configured as described above, and a magnetic nail 4 is embedded in a road 3 along a target line where the vehicle 1 travels, and the position of the magnetic nail 4 is determined by the mounted magnetic detector 2. Is detected, and the direction of the vehicle 1 is automatically controlled by the steering device 7 so that the position is located at the center of the vehicle. Also, the current position is received by the vehicle communicator 8 from the roadside antenna 5 through the vehicle side antenna 6 by road-to-vehicle communication,
Conversely, the presence information of the vehicle 1 is sent to the roadside antenna 5.

[0004]

In the conventional automatic driving road system as described above, since there is no differentiation in the performance of the vehicle, there is a case where there is a vehicle that cannot travel equally on a road gradient. In such a vehicle, it is necessary to reduce the speed of a vehicle having a sufficient ability to climb a hill or to increase the speed by force, and the vehicle is driven at an inefficient speed.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem. A lane in which a vehicle travels is provided exclusively according to the traveling performance of the vehicle due to the gradient of a road, and the lane is guided to an appropriate lane for each vehicle. It is an object of the present invention to obtain an autonomous driving road system capable of traveling at various speeds.

[0006]

SUMMARY OF THE INVENTION An automatic driving road system according to a first aspect of the present invention is provided with a dedicated lane on a road having a steep slope, and a vehicle having a poor hill-climbing performance in front of a starting point of the road having a steep slope. A magnetic generator guides the vehicle to enter a dedicated climbing lane. That is, the first
The automatic driving road system according to the invention comprises a plurality of magnetic generators arranged along the road, and a magnetic detector for detecting the magnetic generator, along which the vehicle travels in a lane. In an automatic driving road system including a vehicle that performs steering control so that the vehicle can travel, a slope-upgrading performance determination unit that determines the slope-up performance of the vehicle based on information obtained from the vehicle through road-to-vehicle communication, It is provided in the lane change area between the start point of the uphill lane provided adjacently and the uphill lane, and based on the determination result of the uphill performance determination means, significantly guides the vehicle from the traveling lane to the uphill lane. And a lane change magnet generator for generating magnetism.

[0007] A second aspect of the present invention is to determine a traveling performance of a vehicle traveling on a steep road, and, when the traveling performance is inferior to the traveling performance of another vehicle, a vehicle having an incline that is inferior to a dedicated ascending lane. Is to induce. That is, an automatic driving road system according to a second aspect of the present invention includes a plurality of magnetic generators disposed along a road and a magnetic detector for detecting the magnetic generator, and a vehicle is arranged along the magnetic generator. Actual driving performance determining means for determining the driving performance of a vehicle based on a change in the position of a vehicle traveling on a steeply traveling lane in a self-driving road system including a vehicle that performs steering control so that the vehicle can travel in a lane. Lane change instructing means for instructing a vehicle having poor climbing performance based on the determination result of the actual traveling performance determining means to change lanes from the traveling lane to the ascending lane; and a lane change from the lane change instructing means. Vehicle control means for controlling the steering of the vehicle in accordance with the instruction.

Furthermore, the third invention adjusts the speed of a vehicle traveling in a traveling lane from the ascending lane dedicated to vehicles having inferior ascending performance at the end point of a steep road, and interferes with other vehicles. The lane is returned without doing it. That is, an automatic driving road system according to a third aspect of the present invention includes a plurality of magnetic generators disposed along a road and a magnetic detector for detecting the magnetic generator, and a vehicle is arranged along the magnetic generator. In a self-driving road system including a vehicle that performs steering control so that the vehicle can travel in the lane, the time at which the vehicle traveling on the ascending lane merges with another vehicle traveling on another traveling lane is determined by the position of the vehicle. Merging time prediction means for predicting based on the change; time comparing means for comparing the merging times predicted by the merging time prediction means in a plurality of vehicles; and the climbing lane and traveling based on the comparison result of the time comparing means. Speed change instructing means for adjusting the traveling speed of each vehicle traveling in the lane; and vehicle control means for controlling the steering of the vehicle so as to join the traveling lane at the end point of the uphill lane. It is intended.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a block diagram showing a first embodiment of the present invention, and numerals 1 to 8 are exactly the same as those of the above-mentioned conventional automatic driving road system. In the figure, 9 is a driving lane in which the vehicle 1 travels without changing lanes,
Reference numeral 10 denotes a dedicated climbing lane provided on the uphill of the road 3, and reference numeral 11 denotes a lane change area provided at the start point of the climbing lane. 4a is a magnetic nail embedded in the traveling lane 9; 4b is a magnetic nail embedded in the ascending lane 10;
4c is a traveling lane 9 and a climbing lane 10 in the lane change area.
It is a magnetic nail provided between them. FIG. 2 is a diagram showing a hill-climbing performance determining means in this embodiment. Reference numeral 12 denotes a performance discriminator for discriminating a performance item of the vehicle 1 from the contents of road-to-vehicle communication and outputting the discriminated performance information. Is a climbing performance comparator which determines whether the determined performance information output from the performance discriminator is superior to a predetermined climbing performance, and outputs a significant signal based on the determination result; Is a lane changer that determines the lane of the vehicle 1 in accordance with the output signal from the uphill performance comparator 13, and 15 is a magnetic controller that controls the magnetism of the magnetic nail 4c based on a magnetization instruction signal from the lane changer 14. .

In the automatic driving road system constructed as described above, the vehicle 1a having low hill-climbing performance is dedicated to the vehicle 3 having low hill-climbing performance on the steep road 3 so as not to hinder the running of the other vehicles 1b. There is an uphill lane 10, and when the vehicle 1a travels in the lane change area 11, the magnetic nail 4
If c is magnetized, the vehicle 1a changes lanes to the ascending lane 10 and travels. Whether the magnetic nail 4c is magnetized or not is determined by road-vehicle communication with the vehicle 1a entering the lane change area just before the entrance of the uphill lane 10. That is, the vehicle communication controller 8 controls the vehicle-side antenna 6
Then, the performance information indicating the performance of the vehicle 1a is transmitted to the roadside antenna 5 via the control unit, and the information received by the roadside antenna 5 is output to the performance discriminator 12. The performance discriminator 12 extracts the performance information of the vehicle 1a from the received information, discriminates information on the engine output and the vehicle weight among the performance items in the performance information, and sends the discriminated performance information to the uphill performance comparator 13. . The uphill performance comparator 13 compares the predetermined engine output and the performance information determined to be the vehicle weight with each other, and outputs a signal to the lane changer 14 when the engine output is small or the vehicle weight is large. The lane changer 14 receives the output signal from the uphill performance comparator 13 and sends a magnetization instruction signal to the magnetic controller 15.
Under the control of the magnetic controller 15, the magnetic nail 4c is magnetized for a predetermined time until the vehicle 1a reaches the uphill lane 10. At the same time, the magnetic controller 15 controls the magnetism of the magnetic nail 4a in the lane change area to be significantly weakened or demagnetized as compared with the magnetism of the magnetic nail 4c. With such control, the magnetic detector 2 of the vehicle 1a detects the magnetism of the magnetic nail 4c, and the vehicle 1a starts traveling in the lane changing area along the magnetic nail 4c and changes lane to the ascending lane 10. .

Second Embodiment FIG. 3 is a block diagram showing a second embodiment of the present invention.
15 are exactly the same as those in the first embodiment, and 16 is a lane change route of the vehicle 1a. FIG. 4 is a diagram showing actual traveling performance determination means and vehicle control means in this embodiment,
Reference numeral 17 denotes a position information discriminator that extracts the position information of the vehicle 1 from the contents of the road-vehicle communication, and 18 obtains the traveling speed of the vehicle 1 from the time change of the position information from the position information discriminator 17, and the speed is predetermined. A speed judging device which outputs a signal when the traveling speed is low, a position information judging device 17 and a speed judging device 18 realize actual running performance judging means, and 19 is a lane change according to an output signal from the speed judging device 18. Lane indicator for instructing route setting for the vehicle, 20 is a lane indicator 19
A route generator 21 that generates a route for changing lanes in accordance with the instruction of the vehicle, controls the process of receiving the output of the route generator 20 and causing the vehicle 1 to switch the signal to the steering device 7 to the instruction from the road-vehicle communication. A steering command controller 22 switches a signal from the magnetic detector 2 and a signal for road-to-vehicle communication from the vehicle-side antenna 6 in the vehicle 1 by road-to-vehicle communication and inputs the steering signal to a steering device 7. Controller 21
Together with the steering signal switch 22 to realize the vehicle control means.

In the automatic driving road system configured as described above, the vehicles 1a and 1b run side by side on the steep road 3 even if the vehicles 1a and 1b have the same running performance. If the traveling speed is not as high as the performance due to the large load of the vehicle 1a, the rear vehicle 1b travels at a lower traveling speed than expected. The traveling speed of the vehicle 1a is determined by receiving the position information of the vehicle 1a via the roadside antenna 5 by road-to-vehicle communication, separating the position information from the communication content by the position information discriminator 17, and determining the speed
The travel speed is obtained from the time-dependent change of the position information separated by 8 and is output to the lane indicator 19 when the travel speed is lower than the preset travel speed. The lane indicator 19 confirms the position of the vehicle 1a based on the output of the speed determiner 18, and instructs the route generator 20 to generate a route so that the traveling lane 9 is changed to the uphill lane 10. However, when the vehicle 1a is already located on the uphill lane 10, the lane indicator 19 does not instruct the route generator 20 to generate a route. The route generator 20 converts the traveling lane 9 of the vehicle 1a to the climbing lane 10
A lane change path 16 for changing to the lane change is generated, and the lane change path 16 is output to the steering command controller 21. The steering command controller 21 transmits a command to the vehicle 1a by road-to-vehicle communication via the roadside antenna 5, and the vehicle 1a receives the road-to-vehicle communication by the vehicle communication controller 8 via the vehicle-side antenna 6, and the steering command controller. Steering signal switch 22 in response to a command from 21
And outputs the switching signal. The steering signal switch 22 switches the input to the steering device 7 from the magnetic detector 2 to the vehicle communication controller 8 according to a switching signal from the vehicle communication controller 8, and controls the steering device 7 according to a command from the steering command controller 21. . When the vehicle 1a reaches the position of the ascending lane 10, the output of the lane indicator 19 disappears, the steering command controller 21 stops sending the command to the steering device 7, and the input of the steering device 7 is detected by the steering signal switch 22 as a magnetic detector. 2, the vehicle 1a travels so as not to come off on the magnetic nail 4b. Thus, the vehicle 1a moves along the lane change path 16a along the lane change path 16a.
From the position to the ascending lane 10 and the lane change route 16b
It can be expected that the lane will be changed so that the vehicle travels in the uphill lane 10 at.

Embodiment 3 FIG. 5 is a block diagram showing a third embodiment of the present invention. Reference numerals 1 to 22 are exactly the same as those of the second embodiment, and reference numeral 23 denotes a combination of the traveling lane 9 and the ascending lane 10 where the magnetic nail 4a is joined to the magnetic nail 4b. Is a speed adjusting area provided before the merging area 23 for adjusting the traveling speed of the vehicle 1 on a part of the road 3. FIG. 6 is a diagram showing the climbing time determining means and the speed changing means in this embodiment.
A speed detector for detecting the speed of the vehicle 1 from the time change of the position information from the vehicle; 26, a merging time estimator for predicting the end point of the ascending lane from the speed information from the speed detector 25; , Speed detector 25 and merging time predictor 2
6, a climbing time discriminating means is realized, 27 is a time comparator which compares the time of the end point of the climbing lane 10 between the vehicle 1a and the vehicle 1b and is output when there is no predetermined time difference, 28 is a time comparator This is a speed change indicator that gives the traveling speed command to the vehicle 1 through the roadside antenna 5 in response to the output of the output 27, and realizes speed change means together with the time comparator 27 and the speed change indicator.

In the autonomous driving road system constructed as described above, the vehicles 1a and 1b are traveling on the steep road 3, but the magnetic nail 4b of the uphill lane 10 is connected to the vehicle 1b of the uphill lane 10 by the confluence area 23. The lane is changed to the lane 9 at the end point of the ascending lane 10 and then returned. The time at which the vehicles 1a and 1b reach the end point of the ascending lane 10 is determined by the position information discriminator 17 via the roadside antenna 5 by road-to-vehicle communication in front of the speed adjustment area 24 and the position information of the vehicle 1 is detected by the speed detector. 25, speed detector 2
5, the traveling speed of the vehicle 1 is obtained from the time change of the position information of the vehicle 1.
Lane 1 based on the traveling speed of the vehicle from the vehicle and the distance between the speed adjustment area 24 and the merge area 23 recorded in advance.
Predict the time of reaching the end point of 0. Time comparator 27
Outputs an instruction to change the speed of the vehicle 1b to the speed change indicator 28 when the time of arrival of the vehicles 1a and 1b at the end point of the ascending lane 10 by the merging time predictor 26 is not within a preset time difference. The speed change indicator 28
A speed change instruction command is transmitted by road-to-vehicle communication via the roadside antenna 5 so as to cause the vehicle 1b to change the traveling speed in accordance with the output of the merge time predictor 26. The vehicle 1b receives the content of the road-to-vehicle communication via the vehicle-side antenna 6, receives the change in the traveling speed by the vehicle communication controller 8, sends the change to the steering device 7, and sends the traveling speed of the vehicle 1b from the speed change indicator 28. Change according to the speed change instruction command. The output of the speed change indicator 28 indicates that the time at which the end point of the uphill lane 10 is reached
If 1b is slightly earlier than a, vehicle 1b is earlier
The speed of the vehicle 1b is increased so that the vehicle 1b arrives at the end point of the ascending lane 10 when the time is slightly slower than the vehicle 1a by 1b. Lower. Thus, it can be expected that the vehicle 1a and the vehicle 1b do not collide at the end point of the uphill lane 10.

[0015]

Since the present invention is configured as described above, the following effects can be obtained.

According to the first aspect of the present invention, a vehicle whose hill-climbing performance deteriorates before entering a steep road can travel efficiently by traveling on a dedicated hill.

According to the second aspect of the present invention, if there is a vehicle that does not perform as expected on a steep slope while traveling on a steep road, the vehicle can be guided to the uphill lane and travel efficiently.

According to the third aspect of the present invention, on a steep road, the arrival time at the end point of the ascending lane of a vehicle traveling on the ascending lane and the other lane can be safely merged by changing the traveling speed. Can be done.

[Brief description of the drawings]

FIG. 1 is a diagram showing Embodiment 1 of an automatic driving road system according to the present invention.

FIG. 2 is an explanatory diagram of a hill-climbing performance determining means according to the first embodiment of the automatic driving road system according to the present invention;

FIG. 3 is a diagram showing a second embodiment of the automatic driving road system according to the present invention.

FIG. 4 is an explanatory diagram of an actual driving performance determination unit and a vehicle control unit according to a second embodiment of the automatic driving road system according to the present invention;

FIG. 5 is a diagram showing a third embodiment of the automatic driving road system according to the present invention.

FIG. 6 is an explanatory diagram of a hill-climbing time determining unit and a speed changing unit according to a third embodiment of the automatic driving road system according to the present invention.

FIG. 7 is a diagram showing a conventional automatic driving road system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 2 Magnetic detector 3 Road 4 Magnetic nail 5 Roadside antenna 6 Vehicleside antenna 7 Steering device 8 Vehicle communication controller 9 Running lane 10 Uphill lane 11 Lane change area 12 Performance discriminator 13 Uphill performance comparator 14 Lane changer Reference Signs List 15 magnetic controller 16 lane change route 17 position information discriminator 18 speed discriminator 19 lane indicator 20 route generator 21 steering command controller 22 steering signal switch 23 merging area 24 speed adjustment area 25 speed detector 26 merging time prediction Instrument 27 Time comparator 28 Speed change indicator

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 628 B60R 21/00 628E B62D 6/00 B62D 6/00 // B62D 133: 00 133: 00

Claims (3)

[Claims] 1. A vehicle comprising: a plurality of magnetic generators disposed along a road; and a magnetic detector for detecting the magnetic generators, so that a vehicle can travel in a lane along the magnetic generators. In an automatic driving road system including a vehicle to be controlled by steering, a climbing performance determining means for determining a climbing performance of the vehicle based on information obtained from the vehicle through road-to-vehicle communication, and a vehicle provided adjacent to a traveling lane having a steep gradient. Is provided in the lane change area between the starting point of the climbing lane and the climbing lane, and generates magnetism to significantly guide the vehicle from the traveling lane to the climbing lane based on the determination result of the climbing performance determining means. An autonomous driving road system including a lane changing magnetic generator. 2. A vehicle comprising: a plurality of magnetic generators disposed along a road; and a magnetic detector for detecting the magnetic generator, so that a vehicle can travel in a lane along the magnetic generator. An automatic driving road system including a vehicle to be controlled for steering; an actual driving performance determining means for determining a driving performance of the vehicle based on a change in the position of the vehicle traveling on a steep lane; Lane change instructing means for instructing a vehicle having inferior climbing performance to change lanes from the traveling lane to the ascending lane based on the determination result, and steering the vehicle in response to a lane change instruction from the lane changing instruction means. An autonomous driving road system comprising a vehicle control means for controlling. 3. A vehicle comprising: a plurality of magnetic generators disposed along a road; and a magnetic detector for detecting the magnetic generators, so that a vehicle can travel in a lane along the magnetic generators. In a self-driving road system including a vehicle to be controlled for steering, a merging time for predicting a merging time at which a vehicle traveling on an ascending lane merges with another vehicle traveling on another traveling lane based on a change in the position of the vehicle. Predicting means, time comparing means for comparing the merging times predicted by the merging time predicting means in the plurality of vehicles, and traveling of each vehicle traveling in the uphill lane and the traveling lane based on a comparison result of the time comparing means. An automatic driving road system comprising: speed change instruction means for adjusting the speed; and vehicle control means for controlling the steering of the vehicle so as to join the traveling lane at the end point of the uphill lane.