JP2001344686A - Formation traveling controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure smooth traffic at the end spot of the service section of formation traveling. SOLUTION: This formation traveling controller makes a present vehicle travel in the state of formation with vehicles in front and/or vehicles at the rear while performing communications with the vehicles and communication equipment on the side of road equipment in a prescribed service section where the formation traveling is possible. When the distance to the end spot of the service section becomes shorter than a prescribed distance X, for instance, as the distance L to the end spot becomes smatter (diagram 2(b)), a target distance D from the vehicle traveling directly in front of the present vehicle is changed to a larger value.

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, and more particularly to a platooning control device suitable for application to a vehicle such as an automobile driven by a driver.

[0002]

2. Description of the Related Art In the field of automobiles, a platooning traveling system in which a plurality of cars form a platoon and travels automatically has been studied. No. 314541 has been proposed.

[0003]

According to the conventional platooning system, it is possible to safely and efficiently drive a large number of vehicles on limited road facilities.

[0004] In general, in a platooning system, compared to a case where the vehicle is driven manually by a driver,
The platoon is formed in a state where the distance between the vehicle and the vehicle in front is very short. For this reason, if the vehicle can be platooned only in a predetermined service section, and a manual operation is required for traveling beyond the end point of the service section, the driving operation of the driver at the end point is not easy, and the driving operation is not easy. The mental burden on the operation is large, and heavy use of the brake operation or the like is expected to cause traffic jams and dangerous conditions.

[0005] Therefore, the present invention provides a smooth traffic (traffic flow) at the end point of the service section of platooning.
The purpose of the present invention is to provide a platooning control device that secures the vehicle.

[0006]

To achieve the above object, a platooning control device according to the present invention has the following configuration.

[0007] That is, in a predetermined service section in which a platoon can be run, the vehicle is driven while the platoon is formed with the vehicles while communicating with the vehicle in front and / or the rear and communication equipment on the road facility side. A platoon running control device including a platoon running control unit that causes the platoon running control unit to perform, for example, a process to reach the end point when a distance to an end point of the predetermined service section is shorter than a predetermined distance. It is characterized by including an inter-vehicle distance changing means for changing the distance from a preceding vehicle running immediately before the own vehicle to a larger value as the distance becomes shorter.

In a preferred embodiment, when the distance to the end point is shorter than the predetermined distance, the platoon running control means may, for example, at least respond to the decrease in the distance to the end point. It is preferable to include a vehicle speed changing means for changing the running speed of the host vehicle to a small value.

[0009] Further, when the predetermined service section is a plurality of lanes at least within a section of the predetermined distance, the distance to the end point is shorter than the predetermined distance. In addition, the platoon running control means performs control such that a lane change operation to another lane is performed when the host vehicle is an even-numbered vehicle from the leading vehicle in the front of the platoon in the platoon being formed. Or tell the driver.

[0010] In a preferred embodiment, the platoon running control means determines whether or not a predetermined time has passed after the platoon running state of the preceding vehicle traveling immediately before the host vehicle has been released after passing the end point. Then, it is preferable to cancel the platoon running state of the vehicle.

[0011] In a preferred embodiment, the inter-vehicle distance changing means is configured to manually control a platoon running state of the host vehicle when a distance to the end point is shorter than a second predetermined distance that is larger than the predetermined distance. It is better to prohibit release.

[0012] Further, for example, the platoon running control means may instruct the driver of the minimum speed of the running road for a second predetermined time after the platoon running state of the vehicle is released.

[0013]

According to the present invention described above, it is possible to provide a platooning control device which ensures smooth traffic at the end point of a platooning service section.

That is, according to the first aspect of the present invention, when the distance to the end point of the service section becomes shorter than the predetermined distance, the distance to the preceding vehicle traveling immediately before the host vehicle is determined by, for example, the end point. According to the distance to: Claim 2) Since it becomes longer, the driver's manual driving operation after passing the end point becomes easy, and the occurrence of traffic congestion due to inadvertent deceleration or the like is prevented beforehand. Smooth traffic can be secured.

According to the third aspect of the present invention, at least the traveling speed of the own vehicle is reduced (for example, according to the distance to the end point: claim 4). This makes it easier for the driver to perform manual driving afterwards, prevents traffic jams due to inadvertent deceleration, etc., and ensures smooth traffic.

According to the fifth aspect of the present invention, a plurality of vehicles forming a row move to another lane for each vehicle.
In the section where the distance to the end point of the service section is a predetermined distance, the operation of increasing the inter-vehicle distance can be quickly performed, and smooth traffic can be secured.

Further, according to the invention of claim 6, it is possible to prevent a plurality of vehicles forming the platoon from shifting to the manual operation substantially simultaneously, so that the driver can perform the driving operation with a margin. , Can ensure smooth traffic.

Further, according to the invention of claim 7, since it is possible to prevent the driver from leaving the platoon due to the selfish judgment, smooth traffic of a plurality of vehicles forming the platoon can be secured.

Further, according to the invention of claim 8, the driver follows the specified minimum speed, so that smooth traffic of the vehicle behind the host vehicle can be secured.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a platooning control device according to the present invention will be described in detail with reference to the drawings as an embodiment in which the present invention is applied to a vehicle such as an automobile that can be driven by a driver himself.

First, the hardware configuration of the platooning control device according to the present embodiment will be described.

FIG. 1 is a block diagram showing the overall system configuration of the platooning control device according to this embodiment.

In FIG. 1, reference numeral 2 denotes a road-to-vehicle communication device for transmitting and receiving various kinds of information to and from roadside communication equipment (so-called infrastructure). And obtains information on obstacles existing in front of the vehicle.

Reference numeral 3 denotes a distance sensor such as a laser radar or a millimeter-wave radar for detecting an inter-vehicle distance to another vehicle traveling ahead of the own vehicle.

Reference numeral 4 denotes an inter-vehicle communication device for transmitting and receiving various information to and from a vehicle existing in front of and / or behind the own vehicle. In this embodiment, at least the vehicle speed and acceleration / deceleration are obtained.

5 is to detect the information from the lane marker indicating the travel route to be traveled, and to detect the lateral position of the own vehicle with respect to the travel route and the service start point for platooning (the route from a predetermined reference point (the road from a predetermined reference point). This is a lane marker sensor for detecting a traveling distance, for example, detecting a lateral position based on magnetism received from a magnetic nail embedded in a road surface in advance.

Reference numeral 6 indicates a current position based on map information stored in advance on a storage medium such as a DVD-ROM, a GPS (global positioning system) signal received from the outside, and the like, and a destination position. It is a navigation device that performs route guidance and the like.

Reference numeral 7 denotes a vehicle speed sensor for detecting the speed of the host vehicle.

Numeral 10 denotes an inter-vehicle distance control electronic control unit (ECU), which controls the inter-vehicle distance with another vehicle existing in front of the own vehicle, such as a throttle, a brake actuator, or a driving system actuator such as an automatic transmission. 1
1 to control the acceleration / deceleration of the own vehicle. In general, the inter-vehicle distance to other vehicles in front and behind when the platooning is automatically performed is considerably shorter than when the driver is manually driving the vehicle by his / her own operation. It is quite difficult to make the own vehicle follow the manual operation, but if the inter-vehicle distance control ECU 10 performs acceleration / deceleration control, a plurality of vehicles can form a platoon with a short inter-vehicle distance in the front-rear direction. Here, the platoon speed to be protected by the own vehicle may be obtained from the infrastructure side via the road-to-vehicle communication device 2 or may be obtained from the other vehicle running at the head of the platoon to which the own vehicle belongs via the inter-vehicle communication device 4. May be obtained from

Reference numeral 12 denotes a steering control electronic control unit (EC
U), and controls the operation of a steering system actuator 13 such as a steering actuator or a brake actuator in order to change the traveling direction of the host vehicle.

Reference numeral 15 denotes an information providing device such as a display or a speaker for notifying the driver of various kinds of information such as a vehicle speed to be observed in manual driving by display or voice.

The above-described methods for detecting various sensors and the configuration of the communication device itself are generally common at present, and therefore, detailed description in this embodiment will be omitted.

In order to realize platooning control, the steering control ECU 10 and the inter-vehicle distance control ECU 10 are controlled based on information obtained by the inter-vehicle communication device 2, the distance sensor 3, the lane marker sensor 5 and the like. A platooning control device to be controlled. The platoon running control device 1 is equipped with a microcomputer (not shown), and a CPU according to programs and parameters stored in a memory in advance.
Operates to realize these control processes.

It should be noted that the platoon running control device 1 is the same as that shown in FIG.
Due to the hardware configuration of the vehicle, the vehicle automatically or semi-automatically joins the lane where platooning with other vehicles is possible,
In order to automatically perform platooning with other vehicles in the lane, the steering control ECU 12 and the inter-vehicle distance control E
A function to control the CU 10 is provided.
It is assumed that a general method is used for the control function itself by the CU, detailed description in the present embodiment is omitted, and characteristic portions in the present embodiment will be described below.

As a premise in this embodiment, automatic platooning by the platooning control device 1 is possible only in a predetermined service section, and in a section before and after the section, manual driving operation of the driver is required. Shall be required. Also, each vehicle that runs in platoon has the above-described device configuration.

FIG. 2 is a diagram for explaining the operation of the inter-vehicle distance control of the platooning control device in this embodiment.

In this embodiment, the platooning control device 1
Is a communication using a vehicle-to-vehicle communication device 4 with a vehicle ahead and / or a vehicle behind and a communication using a vehicle-to-vehicle communication device 2 with a communication device on the road facility side in a predetermined service section where platooning is possible. While forming a platoon with the vehicles and running the own vehicle while maintaining the target inter-vehicle distance D, the distance L to the end point of the service section is reduced as shown in FIG. When the distance becomes shorter than the predetermined distance X, the target inter-vehicle distance D with the preceding vehicle running immediately before the host vehicle is changed to a larger value.

As a specific mode of changing the target inter-vehicle distance D in this case, for example, as shown in FIG. 2B, when the distance L becomes shorter than the predetermined distance X, the target inter-vehicle distance D
Should be changed to a larger value as the distance L becomes shorter.

As a specific process of the platooning control device 1 for realizing this operation, a look-up table representing the characteristic shown in FIG. A new target inter-vehicle distance D may be set by referring to the distance L obtained via the communication device 2 or the like. The predetermined distance X may be detected by using the road-vehicle communication device 2, the lane marker sensor 5, or the navigation device 6.

If the above-described control is performed in the platooning control device 1, when the distance to the end point of the service section becomes shorter than a predetermined distance, the distance from the preceding vehicle traveling immediately before the own vehicle becomes longer. The driver's manual driving operation after passing the end point is facilitated, traffic jams due to inadvertent deceleration and the like are prevented from occurring, and smooth traffic can be secured.

[Example] Next, a specific example of the row running control device 1 according to the above-described embodiment will be described.

<Embodiment 1> FIG. 3 is a diagram for explaining the operation of the inter-vehicle distance control of the platoon running control device in the embodiment 1.

By performing the control in the above embodiment,
Occurrence of traffic congestion due to inadvertent deceleration or the like can be prevented beforehand, and smooth traffic can be secured. However, when the traffic of the vehicle in the service section is large and a plurality of platoons are running sequentially, each vehicle having the function of the platoon running control device 1 controls the change of the inter-vehicle distance before the end point of the service section. Is expected to affect the traveling speed of other subsequent platoons, in which case the transportation efficiency in the entire service section will be reduced. That is, it is assumed that the degree of increase in the target inter-vehicle distance D by the above-described inter-vehicle distance change control should be as small as possible from the viewpoint of transportation efficiency in the entire service section.

Therefore, in the present embodiment, FIG.
Based on the case of (b), according to the number of lanes at the end point of the service section, the degree of increase in the target inter-vehicle distance D decreases as the number of lanes at the end point increases.

[0045] The greater the number of lanes at the end point, the easier the inter-vehicle distance adjustment and lane change by manual driving of the driver after the platooning is completed, and the occurrence of congestion due to careless braking and the like can be prevented. Because. Here, the number of lanes at the end point may be obtained through the road-vehicle communication device 2, the map information of the navigation device 6, and the like.

<Embodiment 2> FIG. 4 is a diagram for explaining the operation of the inter-vehicle distance control by the platooning control device in the embodiment 2.

In this embodiment, based on the case of FIG. 2B described above, when the end point of the service section is near or inside the tunnel entrance, the degree of increase of the target inter-vehicle distance D is increased.

This is because, in such a situation, the driver generally takes into consideration the driving characteristic of taking a longer inter-vehicle distance during manual driving, because the perception ability of human vision decreases as the surroundings become darker. If the end point is near or inside the tunnel entrance and the inter-vehicle distance control as shown in FIG. 4 is performed, the inter-vehicle distance can be easily adjusted by manual driving operation of the driver after the end of the platooning, and careless braking is performed. It is possible to prevent the occurrence of traffic congestion due to operations and the like. Here, the presence or absence of the tunnel at the end point may be obtained via map information of the navigation device 6 or the like.

<Embodiment 3> FIG. 5 is a diagram for explaining the operation of the inter-vehicle distance control of the platooning control device in the embodiment 3.

In this embodiment, based on the case of FIG. 2B described above, when the road shape at the end point of the service section is uphill or downhill, the degree of increase in the target inter-vehicle distance D is large. I do.

This is because it is not easy to adjust the speed on an uphill or downhill by a manual driving operation as compared with a flat road, and the speed decreases on an uphill and increases on a downhill. This is to consider the driving characteristics of the driver, and the road shape at the end point
Alternatively, if the inter-vehicle distance control as shown in FIG. 5A is performed on a downhill, the inter-vehicle distance can be easily adjusted by the manual driving operation of the driver after the platooning is completed, and traffic congestion due to inadvertent braking operation or the like can be achieved. Generation can be prevented. Here, the road shape at the end point may be obtained via map information of the navigation device 6 or the like.

Further, by controlling the degree of increase of the target inter-vehicle distance D in accordance with the gradient of an uphill or downhill as shown in FIG. 5B, more efficient control can be performed.

<Fourth Embodiment> FIG. 6 is a diagram for explaining the operation of the inter-vehicle distance control by the platooning control device in the fourth embodiment.

In this embodiment, based on the case of FIG. 2B described above, when the road shape at the end point of the service section is a curve, the degree of increase in the target inter-vehicle distance D is increased.

This is to take into account the driving characteristics of a general driver that the vehicle speed is reduced before and after entering the curve for a short period of time when traveling on a curved road by manual driving operation. If the inter-vehicle distance control as shown in FIG. 6A is performed when the road shape at the end point is a curve, the inter-vehicle distance adjustment by the manual driving operation of the driver after the end of the platooning becomes easy, and the careless braking operation is performed. It is possible to prevent the occurrence of congestion or the like due to the above. Here, the road shape at the end point may be obtained via map information of the navigation device 6 or the like.

Further, by controlling the degree of increase of the target inter-vehicle distance D according to the degree of curvature (curvature) as shown in FIG. 6B, more efficient control can be performed.

<Fifth Embodiment> FIG. 7 is a diagram for explaining the operation of the inter-vehicle distance control of the platoon running control device in the fifth embodiment.

In this embodiment, based on the case of FIG. 2B described above, the degree of increase of the target inter-vehicle distance D is increased in accordance with the speed limit at the end point of the service section. More specifically, the adjustment amount ΔD of the target inter-vehicle distance D is
As shown in FIG. 7B, the adjustment is made according to the speed limit set from outside.

This is to take into consideration the driving characteristics of a general driver, in which the higher the traveling speed, the longer the inter-vehicle distance, and the inter-vehicle distance as shown in FIG. By performing the control, the inter-vehicle distance can be easily adjusted by the manual driving operation of the driver after the platooning is completed, and the occurrence of traffic congestion due to an inadvertent braking operation or the like can be prevented. Here, the speed limit at the end point may be obtained through the road-vehicle communication device 2.

<Sixth Embodiment> FIG. 8 is a diagram for explaining the operation of the vehicle speed change control of the platooning control device in the sixth embodiment.

In this embodiment, in addition to the inter-vehicle distance control shown in FIG. 2B, when the distance to the end point of the service section becomes shorter than the predetermined distance X, as shown in FIG. The speed, or at least the speed of the own vehicle, is reduced. Here, in order to reduce the platoon speed, the speed may be set externally via the road-to-vehicle communication device 2. When the speed of the own vehicle is reduced, the same configuration as in the case of FIG. By making such a change in vehicle speed, the driver can be given more latitude in manual driving operation after the end of platooning, and it becomes easier to adjust the inter-vehicle distance. Can be prevented.

<Seventh Embodiment> FIG. 9 is a diagram for explaining the operation of the vehicle speed change control of the platooning control device in the seventh embodiment.

In the present embodiment, based on the case of FIG. 8 described above, when the distance to the end point of the service section becomes shorter than the predetermined distance X, the vehicle speed V of the platoon (or own vehicle) is changed to the distance L. By reducing the value to a smaller value as the distance becomes shorter, the section traveling at low speed can be shortened as compared with the case of FIG. 8, and efficient transportation can be secured.

<Eighth Embodiment> FIG. 10 is a diagram for explaining the operation of the vehicle speed change control of the platooning control device in the eighth embodiment.

In this embodiment, based on the case of FIG. 9 described above, the road shape at the end point of the service section is uphill,
Alternatively, the vehicle speed V of the platoon (or the own vehicle) is changed according to whether the vehicle is on a downhill. More specifically, the adjustment amount ΔV of the vehicle speed V is adjusted according to the gradient as shown in FIG.

This is because, when the road shape at the end point of the service section is a sloping road, the driving characteristic of a general driver that the speed decreases on an uphill and increases on a downhill, is taken into consideration. The road shape at the end point is uphill,
10 (a) and FIG. 10 when the vehicle is on a downhill.
If the vehicle speed change control as shown in (b) is further performed, the inter-vehicle distance adjustment by the manual driving operation of the driver after the end of the platoon running becomes easy, and the occurrence of traffic congestion due to careless brake operation or the like can be prevented. Here, the road shape at the end point may be obtained via map information of the navigation device 6 or the like.

<Embodiment 9> FIG. 11 is a view for explaining the operation of the vehicle speed change control of the platoon running control device in the ninth embodiment.

In this embodiment, based on the case of FIG. 9 described above, in order to consider human visual characteristics as in FIG. 4, when the end point of the service section is near or inside the tunnel entrance, Platoon (or own vehicle) speed V
Increase the degree of reduction.

If such vehicle speed change control is further performed, the inter-vehicle distance can be easily adjusted by the manual driving operation of the driver after the platooning is completed, and the occurrence of traffic congestion due to an inadvertent braking operation or the like can be prevented. Here, the presence or absence of the tunnel at the end point may be obtained via map information of the navigation device 6 or the like.

<Embodiment 10> FIG. 12 is a diagram for explaining the operation of the vehicle speed change control of the platooning control device in the embodiment 10.

In this embodiment, based on the case of FIG. 9 described above, from the same viewpoint as that of FIG. 3, according to the number of lanes at the end point of the service section, as the number of lanes at the end point increases, , The degree of reduction of the vehicle speed V of the platoon (or the own vehicle) is reduced.

If such vehicle speed change control is further performed, the more the number of lanes at the end point, the higher the vehicle speed V. Therefore, efficient transportation can be ensured, and the driver's manual driving operation after platooning is completed. Inter-vehicle distance adjustment and lane change become easy, and the occurrence of traffic congestion due to careless brake operation and the like can be prevented. Here, the number of lanes at the end point may be obtained through the road-vehicle communication device 2, the map information of the navigation device 6, and the like.

<Embodiment 11> FIG. 13 is a view for explaining the operation of lane change control by the platooning control device in the embodiment 11.

In this embodiment, at least a section of Xm up to the end point of the service section has a plurality of lanes,
In this embodiment, it is assumed that all of the plurality of lanes can be platooned. In this embodiment, when the distance to the end point becomes shorter than the predetermined distance X,
When the host vehicle is an even-numbered vehicle from the front vehicle in the formation during the formation, control is performed so that a lane change operation to another lane is performed, or
The driver is instructed by voice and / or display using the information providing device 15 to perform a lane change operation.

When such lane change control is performed, a plurality of vehicles forming the platoon move to another lane one by one. Therefore, when the distance to the end point of the service section is a predetermined distance, the inter-vehicle distance is reduced. The lengthening operation can be performed quickly, and smooth traffic after passing the end point can be secured.

As a modification of the present embodiment, when the distance to the end point becomes shorter than the predetermined distance X, the platoon running control device 1 controls the vehicle whose total weight is small in the platoon being formed. When the vehicle is a passenger vehicle or a vehicle having a small load, control may be performed such that a lane change operation to another lane is performed, or a lane change operation may be performed. This is because these vehicles generally have good athletic performance and can quickly pass the preceding vehicle while changing lanes. Here, the gross weight, the type of the vehicle, and the like may be set in advance in the platooning control device 1, and the weighing mechanism may be buried at a predetermined position in the service section for the loading amount.

<Embodiment 12> FIG. 14 is a diagram for explaining the operation of the inter-vehicle distance control of the platoon running control device in the embodiment 12.

In this embodiment, the platooning control device 1
Releases the platoon running state of the own vehicle when a predetermined time has elapsed after the platoon running state of the preceding vehicle running immediately before the own vehicle is released after passing through the end point of the service section. As a result, it is possible to sequentially release the platoon from the first vehicle in the platoon, and it is possible to prevent a plurality of vehicles forming the platoon from shifting to the manual operation substantially simultaneously, so that the driver can perform the driving operation. This can be done with margin and smooth traffic can be secured. Further, in this case, even after passing through the end point, only the following distance control by the following distance control ECU 10 may be maintained until the formation of the own vehicle is released.

<Thirteenth Embodiment> FIGS. 15 and 16 are diagrams for explaining the operation of the inter-vehicle distance control of the platooning control device in the thirteenth embodiment.

In this embodiment, the platooning control device 1
Means that the distance to the end point of the service section is a predetermined distance X
(M) When the distance becomes shorter than the predetermined distance Y (m), the manual release of the platoon running state of the own vehicle is prohibited. As a result, it is possible to prevent the driver from leaving the platoon due to the selfish judgment, and thus it is possible to secure smooth traffic for a plurality of vehicles forming the platoon.

In the above case, the predetermined distance X and the predetermined distance Y are preferably set to larger values as the length of the platoon is longer, as shown in FIGS. 16 (a) and 16 (b).

The end point of the service section is uphill,
On a downhill, inside a tunnel, or near an entrance, the predetermined distance Y may be set to a larger value from the same viewpoint as in the above-described embodiments.

Further, from the same viewpoint as in the above-described embodiments, the smaller the number of lanes at the end point of the service section, the better the predetermined distance Y should be set to a larger value.

The vehicle speed change control in each of the above-described embodiments is as follows.
Although a greater effect can be obtained by performing this control in conjunction with the inter-vehicle distance change control first described with reference to FIG. 2, such vehicle speed change control may be performed alone.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an entire system of a platooning control device according to an embodiment.

FIG. 2 is a diagram illustrating the operation of the inter-vehicle distance control of the platooning control device according to the present embodiment.

FIG. 3 is a diagram illustrating an operation of an inter-vehicle distance control by the platooning control device according to the first embodiment.

FIG. 4 is a diagram illustrating an operation of an inter-vehicle distance control of a platooning control device according to a second embodiment.

FIG. 5 is a diagram illustrating the operation of the inter-vehicle distance control of the platooning control device according to the third embodiment.

FIG. 6 is a diagram illustrating an operation of an inter-vehicle distance control of a platooning control device according to a fourth embodiment.

FIG. 7 is a diagram illustrating the operation of the inter-vehicle distance control by the platooning control device according to the fifth embodiment.

FIG. 8 is a diagram illustrating an operation of vehicle speed change control of a platooning control device according to a sixth embodiment.

FIG. 9 is a diagram illustrating an operation of vehicle speed change control of a row running control device according to a seventh embodiment.

FIG. 10 is a diagram illustrating an operation of vehicle speed change control of a row running control device according to an eighth embodiment.

FIG. 11 is a diagram illustrating an operation of vehicle speed change control of a platooning control device according to a ninth embodiment.

FIG. 12 is a diagram illustrating an operation of vehicle speed change control of a platooning control device according to a tenth embodiment.

FIG. 13 is a diagram illustrating an operation of lane change control of a platooning control device according to an eleventh embodiment.

FIG. 14 is a diagram for explaining the operation of the inter-vehicle distance control by the platooning control device in the twelfth embodiment.

FIG. 15 is a diagram illustrating the operation of the inter-vehicle distance control of the platooning control device in the thirteenth embodiment.

FIG. 16 is a diagram for explaining the operation of the inter-vehicle distance control of the platooning control device in the thirteenth embodiment.

[Explanation of symbols]

 1: platoon running control device, 2: road-to-vehicle communication device, 3: distance sensor, 4: vehicle-to-vehicle communication device, 5: lane marker sensor, 6: navigation device, 7: vehicle speed sensor, 10: vehicle distance control electronic control unit , 11: traveling system actuator, 12: steering control electronic control unit, 13: steering system actuator, 15: information providing device,

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) B60T 7/12 B60T 7/12 C G08G 1/16 G08G 1/16 E (72) Inventor Koichi Kojima Fuchu, Aki-gun, Hiroshima 3-1 Machida, Mazda F term (reference) 3D046 BB17 GG02 GG06 GG10 HH00 HH20 HH22 HH25 5H180 BB13 CC03 CC12 CC14 CC17 FF05 FF22 FF25 LL01 LL04 LL09

Claims (8)

[Claims] In a predetermined service section in which a platoon can be run, the vehicle travels in a state where the platoon is formed with the vehicles while communicating with a vehicle in front and / or a rear vehicle and a communication device on a road facility side. A platoon running control device including a platoon running control unit that causes the platoon running control unit to run immediately before the host vehicle when a distance to an end point of the predetermined service section is shorter than a predetermined distance. A platooning control device including an inter-vehicle distance changing unit that changes a distance from a preceding vehicle to a large value. 2. The inter-vehicle distance changing means, when the distance to the end point is shorter than the predetermined distance, changes the distance to the preceding vehicle in accordance with the decrease in the distance to the end point. 2. The platooning control device according to claim 1, wherein the value is changed to a large value. 3. The platoon running control unit includes a vehicle speed changing unit that changes at least a running speed of the host vehicle to a small value when a distance to the end point is shorter than the predetermined distance. The platooning control device according to claim 1, wherein 4. The vehicle speed changing means, when the distance to the end point is shorter than the predetermined distance, decreases at least the traveling speed of the host vehicle in accordance with the decrease in the distance to the end point. The platooning control device according to claim 3, wherein the value is changed to a small value. 5. The predetermined service section, wherein the distance to the end point is a plurality of lanes at least in the section of the predetermined distance, and when the distance to the end point is shorter than the predetermined distance, The platoon running control means performs control so that a lane change operation to another lane is performed when the host vehicle is an even-numbered vehicle from the leading vehicle in the platoon in the platoon being formed, or The platooning control device according to claim 1, wherein an instruction is given to a driver. 6. The platoon running control means, after passing the end point, at a point in time when a lapse of a predetermined time has elapsed after the platoon running state of a preceding vehicle traveling immediately before the host vehicle is canceled, The platoon running control device according to claim 1, wherein the platoon running state is canceled. 7. The inter-vehicle distance changing means, when the distance to the end point is shorter than a second predetermined distance larger than the predetermined distance, prohibiting manual release of the platoon running state of the own vehicle. The platooning control device according to claim 1, characterized in that: 8. The platooning control means instructs a driver on a minimum speed of a traveling road for a second predetermined time after the platooning state of the own vehicle is released. 2. The platooning control device according to 1.