JP2002163781A - Position-grasping device for non-automatic driving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the position-grasping device of a non-automatic driving vehicle, which detects the position and the speed of an entered vehicle and an external object, when the external object being an obstacle in the travel of the non-automatic driving vehicle and an automatic driving vehicle unexpectedly enter a legally exclusive road in the composite road of the legally exclusive road and a general road. SOLUTION: The position-grasping device of the non-automatic driving vehicle is provided with obstacle invasion detecting sensor along the boundary of the legally exclusive road and the general road. When the external object enters the legally exclusive road, the obstacle invasion sensor detects it and specifies the invasion position/time of the external object and sends information to an operation control unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a complex where a legal exclusive road where only an automatic driving vehicle travels and a general road where an ordinary non-autonomous driving vehicle also runs are provided in parallel. When a vehicle other than the self-driving vehicle or a foreign object that interferes with the driving of the self-driving vehicle enters the road from a general road to a legal exclusive road, the intrusion, position, speed, etc. of the vehicle or the foreign object are detected. The present invention relates to a device for grasping the position of a non-autonomous driving vehicle having a function of performing the operation.

[0002]

2. Description of the Related Art In the prior art, an object sensor is provided at regular intervals along a road, and using this sensor, an object which is not expected to be present on the road or a vehicle which is not expected to enter is included. An invention has been developed in which the speed and the speed of the vehicle are controlled by wirelessly transmitting the position and speed of the object / vehicle and the like to the traveling vehicle (Japanese Patent Application Laid-Open No. H05-205686).
No. 210417). Also, in a device for detecting a vehicle whose warehouse is thin in front, it is possible to detect altitude information such as the shape of a vehicle traveling ahead by using a thin beam of laser light as detection light. Even when the detection surface of an object is flat or the focusing of a stereo camera is difficult, a detection device for a vehicle traveling in front, which is capable of detecting with high accuracy, has also been developed. (JP-A-5-341842). However, in the former, there is a problem that it is necessary to provide a sensor over the entire area of the road, and in the latter, a distant obstacle cannot be detected, There is a problem that can not be.

[0003]

On the other hand, a driving system of a vehicle has been completely automated, and an automatic driving vehicle which does not necessarily require a driver has been developed. Special road is introduced. One advantage of the legal road is that it can be driven safely and easily, so that vehicles other than self-driving vehicles and foreign objects that interfere with non-autonomous driving cannot enter this legal road. Not desirable. Therefore, a conventional general road on which a non-autonomous vehicle travels may be provided in parallel with such a dedicated road.

[0004] When an ordinary road is provided in parallel with such a legal exclusive road, and a physical partition is not provided between them, non-autonomous driving vehicles or anticipated vehicles may be placed on the legal exclusive road. Since there is a risk of obstacles such as falling objects not entering, it is desirable to always keep track of the positions and states of these obstacles. However, throughout the legal hall,
It is economically difficult to install a sensor that constantly grasps the position and state of an object that hinders the operation of the self-driving vehicle.

[0005]

Meanwhile, the development of self-driving vehicles is currently in progress, and the construction of such roads, in which legal exclusive roads and general roads are provided in parallel, is also being studied. This is the stage. Under these circumstances,
If a non-autonomous driving vehicle enters a legal exclusive road on a road where a legal exclusive road and a general road are set in parallel, the vehicle will be outpatient. A foreign object detection device having a function of detecting the invasion of an object, the position of the vehicle or the foreign object, the speed of the vehicle or the foreign object, and the like has not yet been developed. Actually, in the first example of the prior art (Japanese Patent Laid-Open No. Hei 5-210417) and the second example (Japanese Patent Laid-Open No. Hei 5-341842), it is assumed that the road where the legal exclusive degree and the general road are provided in parallel is assumed. It has not been.

Accordingly, an object of the present invention is to obstruct non-autonomous driving vehicles and self-driving vehicles on a legal exclusive road on a complex road in which a legal exclusive road and a general road are provided in parallel. When a foreign object intrudes unexpectedly, etc., the vehicle or foreign object enters, the position of the vehicle or foreign object,
It is an object of the present invention to provide a non-autonomous driving vehicle position grasping device that detects the speed of the vehicle or a foreign object.

[0007] In order to achieve the above object, according to the present invention, the invention described in claim 1 is directed to a legal exclusive road in a complex road in which a general exclusive road and a general road are provided in parallel. A plurality of obstacle intrusion detection sensors are provided at intervals from each other along a boundary with a general road, and an obstacle intrusion detection sensor is provided when a foreign object enters the legal exclusive road beyond the boundary. Detects the invasion of a foreign object and sends information indicating the invasion position and the point of invasion of the foreign object to the traffic control unit.

According to a second aspect of the present invention, the information transmitted to the traffic control unit and indicating the invasion position and the point of intrusion of the foreign object is legally exclusive via the wireless transmission / reception means provided in the traffic control unit. It is characterized by being wirelessly transmitted to an automatic driving vehicle control unit mounted on an automatic driving vehicle running on a road.

According to a third aspect of the present invention, a plurality of lane markers are provided at intervals according to the degree of legal exclusive use, and each of the self-driving vehicles has a lane marker detection sensor and a car speed. A sensor is provided, and each of the self-driving vehicles detects its own position and speed using a lane marker detection sensor and a car speed sensor, and displays information indicating its own position and speed. Is transmitted to the automatic driving vehicle control unit via a control device mounted on each of the automatic driving vehicles, and is simultaneously transmitted to the control control unit via wireless transmission / reception means provided for each of the automatic driving vehicles. It is a feature.

According to a fourth aspect of the present invention, each of the self-driving vehicles is provided with a GPS position measurement sensor and a vehicle speed sensor.
Using a PS position measurement sensor and a vehicle speed sensor,
Detects its own position and speed, and information representing its own position and speed is sent to an automatic driving vehicle control unit via a control device mounted on each of the automatic driving vehicles, and at the same time, Is transmitted to a traffic control unit via a wireless transmission / reception means provided in the control unit.

According to a fifth aspect of the present invention, in each of the self-driving vehicles, a forward monitoring sensor is provided, and when a foreign object enters the monitorable area of the forward monitoring sensor beyond the boundary, or When an obstacle is present in the area that can be monitored by the forward monitoring sensor, the forward monitoring sensor detects the foreign object or obstacle, detects the position and speed of the foreign object or obstacle, and detects the position and speed of the foreign object. Is transmitted to the automatic driving vehicle control unit via the control device mounted on each of the automatic driving vehicles, and is simultaneously transmitted to the control control unit via the wireless transmission / reception means provided for each of the automatic driving vehicles. It is characterized by being able to.

In the present invention, the information transmitted to the control unit indicating the invasion position and the invasion point of the foreign object includes:
Legal exclusive use is possible if wireless transmission is made to the automatic driving vehicle control unit mounted on each of the automatic driving vehicles running on the legal exclusive road via the wireless transmitting / receiving means provided at the base station. It is more effective for comprehensive safety management and efficient use management of compound roads where roads and general roads are provided in parallel.

[0013] A plurality of lane markers are provided at intervals from each other along the legal exclusive road. Each of the self-driving vehicles has a lane marker detecting sensor,
A wheel speed sensor is provided, and each of the self-driving vehicles detects its own position and speed using a lane marker detection sensor and a wheel speed sensor, and outputs information indicating its own position and speed. Is transmitted to the automatic driving vehicle control unit via a control device mounted on each of the automatic driving vehicles, and simultaneously transmitted to the control control unit via the wireless transmitting / receiving means provided for each of the automatic driving vehicles. Or each of the self-driving vehicles has a G
A PS position measuring sensor and a wheel speed sensor are provided, and each of the self-driving vehicles detects its own position and speed using the GPS position measuring sensor and the wheel speed sensor, and detects its own position. The information representing the speed and the speed is sent to the automatic driving vehicle control unit via a control device mounted on each of the automatic driving vehicles, and at the same time, to the control control unit via wireless transmission / reception means provided for each of the automatic driving vehicles. By transmitting the information, it is possible to further excel as a comprehensive safety management and efficient use management system for a composite road in which a legal exclusive road and a general road are provided in parallel.

Further, each of the self-driving vehicles is provided with a forward monitoring sensor. When a foreign object enters the monitorable area of the forward monitoring sensor beyond the boundary, or when an obstacle is detected by the forward monitoring sensor. When present in the monitorable area, the forward monitoring sensor detects a foreign object or the obstacle, detects the position and speed of the foreign object or obstacle, and indicates the position and speed of the foreign object, It is transmitted to the automatic driving vehicle control unit via the control device mounted on each of the automatic driving vehicles, and simultaneously transmitted to the control control unit provided at the base station via the wireless transmitting / receiving means provided for each of the automatic driving vehicles. By doing so, a comprehensive safety management and efficient use management system for a complex road in which a legal exclusive road and a general road are provided in parallel is completed.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram of the operation of the composite road according to the embodiment of the present invention. In FIG. 1, 1 is a complex road, 2 is a legal exclusive road, 3
Is a general road provided in parallel with the degree of legal exclusive use, 4 is an autonomous vehicle, 5 is a non-autonomous vehicle, 6 is a lane marker, 7
Denotes a foreign object intrusion detection sensor (hereinafter referred to as a roadside detection sensor) which is installed on the roadside, and 8 denotes an obstacle.

FIG. 2 is a block diagram of members for detection and control installed on the road side. Reference numeral 10 denotes a complete control unit, 11 denotes a vehicle monitoring unit, and 12 denotes a road-to-vehicle communication unit. FIG. 3 is a block diagram of detection and control members also installed in the self-driving vehicle. 13 is a control device, 14 is a lane marker sensor, 18 is a road-to-vehicle communication unit, and 19 is a self-driving vehicle control unit. Are respectively shown.

In this embodiment, FIG.
One of the non-autonomous driving vehicles 5 is connected to the roadside detection sensor 7.
Is shown in a state of invading the legal exclusive road 2 across the road. As described above, the non-autonomous driving vehicle 5 ′, which is a foreign object, crosses the boundary of the road and the roadside detection sensor 7 operates to detect this, and specifies the invasion position and the time of the intrusion of the foreign object 5 ′. The information indicating the location and the point of entry of the foreign object 5 ′ is transmitted to the traffic control unit 10 via the road-vehicle communication unit 12 of the self-driving vehicle 5 and the road-side road-vehicle communication unit 18.

If the lane marker 6 is provided on the legal exclusive road 2, the lane marker sensor 14 and the wheel speed sensor 16 of the self-driving vehicle 1 operate to specify their own position and speed. Is input to the control device 13 and is used to execute safe automatic driving via the automatic driving vehicle control unit 19. Further, if the self-driving vehicle 1 is provided with the forward monitoring sensor 17, the presence of the unexpected obstacle 8 or the like shown in FIG. 1 is detected, and information indicating the presence is input to the control device 13, and the automatic driving is performed. Via the vehicle control unit 19, it is used for execution of safe automatic driving.

Further, since the self-driving vehicle 1 is communicated with the road side by the road-to-vehicle communication units 12 and 18 in a wireless manner, the lane marker sensor 14, the wheel speed sensor sensor 16, the forward monitoring The information collected by the sensor 17 and the like is transmitted to the road-vehicle communication unit 12,
Information transmitted to each of the self-driving vehicles 1 via 18 and collected in each of the self-driving vehicles 1;
That is, the information indicating the position and speed of the vehicle and the presence of the unexpected obstacle 7 etc. are transmitted to the roadside control unit 10 by the nuns, and are comprehensively managed so that the entire road can be used safely and efficiently. To be able to

[0020]

As described above, the present invention relates to a composite vehicle in which a legal exclusive road on which only an automatic driving vehicle runs and a general road on which a normal non-autonomous driving vehicle runs are provided in parallel. Detects foreign objects that enter a legally exclusive road on a road.
Since a plurality of obstacle intrusion detection sensors are provided at a distance from each other, it is easy to use when a foreign object such as a non-autonomous driving vehicle enters the obstacle intrusion detection sensor and enters the legal exclusive degree. By detecting this, the invasion position and the invasion point of the foreign object are specified and sent to the control and control unit, which can be used for comprehensive and efficient management of the road. In addition, if a lane marker or a GPS position measurement sensor is provided, the self-driving vehicle can detect its own position and speed and send it to the traffic control unit, which can be used for comprehensive management of roads. Furthermore, if the self-driving vehicle is provided with a forward monitoring sensor, information on other obstacles can also be collected and sent to the traffic control unit for use in comprehensive management of roads. is there.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view of an operation of a composite road according to an embodiment of the present invention.

FIG. 2 is a block diagram of detection and control members installed on the roadside of the above.

FIG. 3 is a block diagram of detection and control members installed in the self-driving vehicle.

[Explanation of symbols]

1 Complex Road 2 Legal Exclusive Road 3
General roads 4 Autonomous vehicles 5 Non-autonomous vehicles 6
Lane marker 7 Roadside detection sensor 8 Obstacle 10
Traffic control unit 11 Vehicle monitoring unit 12 Road-to-vehicle communication unit 13
Control device 14 Lane marker sensor 16 Wheel speed sensor 17
Forward monitoring sensor 18 Road-to-vehicle communication unit 19 Autonomous driving vehicle control unit

 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Minoru Okada 1-1-1 Showa-cho, Kariya-shi, Aichi F-term in DENSO Corporation (reference) 5H180 BB04 CC24 FF05 LL01 LL04 LL09

Claims (5)

[Claims] Claims: 1. On a complex road in which a legal exclusive road and a general road are provided in parallel, a plurality of obstacle entry detection sensors are provided along a boundary between the legal exclusive road and the general road. Provided at an interval from each other, and when a foreign object enters the legal exclusive road beyond the boundary, the obstacle entry detection sensor
A position detecting device for a non-vehicle driven vehicle, characterized by detecting the entry of a foreign object and sending information indicating the entry position and the entry time point of the foreign object to a traffic control unit. 2. The information sent to the traffic control unit and indicating the entry position of the foreign object and the time of entry is traveling on a legal exclusive road via a wireless transmission / reception means provided in the traffic control unit. The device for grasping the position of a non-vehicle driven vehicle according to claim 1, wherein the position is transmitted by radio to a self-driving vehicle control unit mounted on the self-driving vehicle. 3. A lane marker detecting sensor and a wheel speed sensor are provided on each of the self-driving vehicles. Each of the vehicles detects its own position and speed using a lane marker detection sensor, and information representing its own position and speed is transmitted via a control device mounted on each of the self-driving vehicles. The position of a non-vehicle driven vehicle according to claim 1 or 2, which is sent to the self-driving vehicle control unit and simultaneously sent to the traffic control unit via wireless transmission / reception means provided in each of the self-driving vehicles. apparatus. 4. Each of the self-driving vehicles is provided with a GPS position precise measurement sensor and a wheel speed sensor, and each of the self-driving vehicles uses a GPS position measurement sensor and a vehicle speed sensor. The self-position and speed are detected, and information representing the self-value and speed is transferred to the self-driving vehicle control unit via the control device mounted on each self-driving vehicle, and at the same time, the self-driving vehicle is controlled. 2. The non-vehicle-operated vehicle position grasping device according to claim 1, wherein the vehicle is sent to a traffic control unit via wireless transmission / reception means provided in each of the vehicles. 5. A forward monitoring sensor is provided in each of the self-driving vehicles, and when a foreign object enters the monitorable area of the forward monitoring sensor beyond the boundary, or when an obstacle is detected by the forward monitoring sensor. If it exists in the monitoring area of
The forward monitoring sensor detects a foreign object or obstacle, detects the position and speed of the foreign object or obstacle, and outputs the information indicating the position and speed of the foreign object to a control mounted on each of the self-driving vehicles. The device for grasping the position of a non-vehicle driven vehicle according to any one of claims 1 to 4, wherein the position is sent to an automatic driving vehicle control unit via the device.