JP2002236993A - Travel control system - Google Patents

Travel control system

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Publication number
JP2002236993A
JP2002236993A JP2001033371A JP2001033371A JP2002236993A JP 2002236993 A JP2002236993 A JP 2002236993A JP 2001033371 A JP2001033371 A JP 2001033371A JP 2001033371 A JP2001033371 A JP 2001033371A JP 2002236993 A JP2002236993 A JP 2002236993A
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Japan
Prior art keywords
vehicle
information
travel
means
traveling
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Pending
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JP2001033371A
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Japanese (ja)
Inventor
Kugo Morita
空悟 守田
Original Assignee
Kddi Corp
Kddi Research & Development Laboratories Inc
Kyocera Corp
ケイディーディーアイ株式会社
京セラ株式会社
株式会社 ケイディーディーアイ研究所
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Application filed by Kddi Corp, Kddi Research & Development Laboratories Inc, Kyocera Corp, ケイディーディーアイ株式会社, 京セラ株式会社, 株式会社 ケイディーディーアイ研究所 filed Critical Kddi Corp
Priority to JP2001033371A priority Critical patent/JP2002236993A/en
Publication of JP2002236993A publication Critical patent/JP2002236993A/en
Application status is Pending legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver

Abstract

PROBLEM TO BE SOLVED: To safely stop a vehicle even when the drive delivery to a driver (manual travel) is infeasible at the end of an automatic travel.
SOLUTION: Refuge places, where the vehicle can be stopped on an operation route to the destination of the vehicle 100, are calculated based on the information of refuge places from one or more radio base stations 200-202 in the area of the route and sent to the vehicle. When the vehicle approaches a refuge place, the drivable state of the driver is judged, and the vehicle is stopped at the refuge place obtained from the radio base station if the driver is judged as undrivable.
COPYRIGHT: (C)2002,JPO

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は、車両の走行制御システムに係わり、特に自動走行と手動走行の切換を安全に実行することを可能にするための改良に関する。 The present invention relates to relates to a running control system for a vehicle, an improvement for making it possible to perform particularly the switching of the automatic travel and manual driving safely.

【0002】 [0002]

【従来の技術】従来の車両の自動走行制御方法としては、誘導マーカを用い、その誘導マーカに従い車両走行制御を行う方法、或いは地図などを用い、その地図上の自車両の位置を把握し、目的地までの車両走行を制御する方法などが提案されている。 The automatic travel control method of a conventional vehicle, using an induction marker, a method for performing vehicle travel control in accordance with the derived marker, or the like maps, to determine the position of the vehicle on the map, and a method for controlling a vehicle traveling to a destination has been proposed.

【0003】また、自動走行モードと手動走行モードとの走行モードの切換方法として、自動走行に基づく走行制御を基準とし、運転者による手動操作と誤差を計測し、誤差量に基づいて、手動走行モードへの移行を行う方法が提案されている。 [0003] As the switching method of the traveling mode between the automatic traveling mode and a manual traveling mode, the travel control based on the automatic traveling as a reference to measure the manual operation and errors by the driver, based on the amount of error, manual driving how to make the transition to the mode has been proposed.

【0004】 [0004]

【発明が解決しようとする課題】自動走行における問題点として、GPSにおける位置誤差は現在非常に小さくなったが、メートル単位での位置誤差があるのが現状である。 A problem in the automatic drive [SUMMARY OF THE INVENTION], the position error in GPS has been now very small, there is position error in meters at present. このため、道路上の白線、黄色線などの車線情報などを視覚センサーなどを用いて感知することにより、 Therefore, a white line on the road, by sensing by using a visual sensor such as lane information, such as yellow lines,
位置情報を高めることが考えられる。 It is considered to enhance the position information. しかしながら、道路によっては、車線がなかったり、タイヤにより消されていたり、また、地図に載っていながらも、未舗装である道路も存在する。 However, depending on the road, or no lane or unquenched by the tire, also, while not listed in the map, there road is unpaved.

【0005】一方、誘導マーカを用いた方法では、道路上に埋め込まれた誘導マーカを感知し、誘導マーカに従って走行するので、自動走行するためには、予め誘導マーカの設置を行わなければならない。 On the other hand, in the method using the inductive marker senses inductive marker embedded in the road, because the travel along induced marker, in order to automatically travel must perform installation of the pre-induced marker. このため、車両搭乗者の目的通りに、出発から目的地まですべて自動走行できるようになるためには、道路整備に年月を要することになる。 For this reason, the purpose of street vehicle occupant, for everything from departure to the destination will be able to auto-running, it takes years to road maintenance. 手動走行を主として、自動走行を補助として使用することを考えると、区間を決めて自動走行を行い、自動走行の指定区間以外を、手動走行に切り換えて運行することになる。 Mainly manual driving, considering that the use of automatic traveling as an auxiliary, for automatic traveling decide section, except automatically traveling on the designated section will be operated by switching to manual driving. しかしながら、長距離などの走行、例えば高速道路の走行を考えた場合、運転者は、自動走行に移行した時点で、運転以外のこと、例えば睡眠などをとると考えられる。 However, running such a long distance, for example, when considering the traveling highway, the driver at the time of the transition to automatic traveling are considered to take things other than the driver, for example, sleep, and the like. このため、必ずしも区間終了時に、自動走行から手動走行への運行操縦主体を切り換えることは可能であるとは言い難い。 For this reason, always at the interval end, it is hard to say that by switching the operation maneuver subject to the manual traveling from the automatic travel is possible. これに対して、自動走行と指定区間の終着点を駐車場などに設定することが考えられるが、行楽日の帰りなどを考えると、目的地に設定した駐車場に駐車できるという保証はない。 On the other hand, it is conceivable to set the end point of the automatic traveling with the specified interval, such as a parking lot, considering such as return of vacationers date, guarantee that can be parked in the parking lot, which was set as the destination is not.

【0006】そこで、本発明の目的は、車両と無線通信可能で、車両の運行経路がエリア内にある無線基地局と連携し、経路付近の停車可能な退避場所情報を得ることにより、より安全な自動走行と手動走行の走行モードの切換を可能にする走行制御システムを提供することにある。 An object of the present invention, a vehicle capable of wireless communication, by the service route of the vehicle in cooperation with the radio base stations in the area, obtaining the stop possible evacuation location information near the route, safer to provide a running control system which enables switching of the travel mode of the automatic travel and manual driving.

【0007】 [0007]

【課題を解決するための手段】上記目的を達成するため、本発明の走行制御システムは、自動走行と手動走行の切換可能状態を判定し判定情報を出力する判定手段、 Means for Solving the Problems] To achieve the above object, the traveling control system of the present invention, the determination means outputs the determination information to determine the switching state of the automatic travel and manual driving,
自動走行と手動走行の走行モード切換を制御する制御手段及び車速、現在位置、目的地までの走行予定経路等に関する運行予定情報を送信する情報送信手段を有する自動走行可能に構成された車両と、上記運行予定情報を受信し、該運行予定情報に基づいて上記車両の走行予定経路沿いの停止可能な退避場所を探索し、上記車両に退避場所情報を送信する少なくとも1つの基地局と、を備え、上記制御手段は上記判定情報及び退避場所情報に基づいて走行モードの切換を行うように構成されたことを要旨とする。 Control means and vehicle speed to control the travel mode switching of the automatic travel and manual driving, the current position, the vehicle is automatically drivable configured with information transmission means for transmitting the operation schedule information about the planned travel route and the like to the destination, receiving the service schedule information, based on 該運 row schedule information to explore stoppable refuges along the planned travel route of the vehicle, and a least one base station transmits a save location information to the vehicle the control means and summarized in that configured to perform the switching of the traveling mode based on the determination information and saving location information.

【0008】本発明において、前記車両は、運転者の状態を計測して前記判定手段に出力する状態計測部を設けてもよい。 [0008] In the present invention, the vehicle may be provided a state measuring unit for output to the determining means measures the state of the driver.

【0009】また、本発明において、前記車両は、自動走行の終了が近づいていることを警告する警告部を備えてもよい。 [0009] In the present invention, the vehicle may comprise a warning unit for warning that the end of the automatic travel is approaching.

【0010】或いは、本発明において、前記基地局は、 [0010] Alternatively, in the present invention, the base station,
前記運行予定情報が含む経路情報に基づいて上記経路をエリアとする無線基地局に対して退避場所の状況の探索を要求する探索要求を出力する退避場所探索要求手段、 Evacuation area search request means for outputting a search request for searching for the status of evacuation area to the radio base station to the area of ​​the path based on the route information including said service schedule information,
上記探索要求に応答して上記経路の停車可能台数、経路間を走行中の車両数、各退避場所までの推定到着時間等の退避場所関連情報を出力する退避場所情報出力手段、 The search stop possible number of the path in response to the request, the number of vehicles traveling between paths, shelters information output means for outputting the saving location-related information of the estimated arrival time, etc. to each shelters,
及び上記退避場所関連情報に基づいて停車可能な退避場所を算出する退避場所算出手段を有するように構成してもよい。 And it may be configured to have a retraction location calculating means for calculating the vehicle stop can be retracted location based on the save location-related information.

【0011】また、本発明において、前記警告部は、前記退避場所情報に応じて警告を出力するようにしてもよい。 Further, in the present invention, the warning unit may output a warning in response to the save location information.

【0012】また、本発明において、前記車両は、走行モード状態の表示又は報知を行う装置を有してもよい。 Further, in the present invention, the vehicle may have a device for performing display or notification of the traveling mode.

【0013】更に本発明の自動走行可能に構成された車両の走行制御用情報処理端末は、自動走行と手動走行の切換可能状態を示す判定情報と退避場所情報に基づいて自動走行と手動走行の走行モード切換を制御する制御手段及び車速、現在位置、目的地までの走行予定経路等に関する運行予定情報を送信する情報送信手段を備えたことを要旨とする。 Furthermore the running control information processing terminal of the automatic travelable-configured vehicle according to the present invention, the automatic traveling and manual driving based on the determination information and a retracted position information indicating a changeable state of the automatic travel and manual driving control means and the vehicle speed for controlling the travel mode switching, the current position, and subject matter that includes an information transmitting means for transmitting the operation schedule information about the planned travel route and the like to the destination.

【0014】 [0014]

【発明の実施の形態】図1は本発明の走行制御システムの一実施例を示す。 Figure 1 DETAILED DESCRIPTION OF THE INVENTION shows an embodiment of a travel control system of the present invention. 同図において、100は車両、20 In the figure, 100 is a vehicle, 20
0、201、202は無線基地局で、車両100と無線基地局200〜202は無線通信可能に構成され、また各基地局間はネットワーク300を介して通信可能に連絡している。 0,201,202 is a radio base station, the vehicle 100 and the radio base station 200 to 202 is configured to wirelessly communicate, also between each base station communicates can communicate via a network 300.

【0015】車両100において、1は自動走行終了警告手段、2は無線通信手段、3はアンテナ、4及び5は運転の状態を計測する計測手段、6は判定手段、7は走行制御手段、8は車両の走行操作部への負荷状態を計測する計測手段、9は走行モードの切り換えを制御する走行切換制御手段、14は情報送信手段である。 [0015] In the vehicle 100, the automatic travel termination warning means 1, 2 are wireless communication means, 3 is the antenna, 4 and 5 are measuring means for measuring a state of the operation, the determination unit 6, the traveling control means 7, 8 the measuring means for measuring the load state of the traveling operation of the vehicle, it is 9 traveling switching control means for controlling the switching of the travel mode, 14 is an information transmission unit.

【0016】また無線基地局200において、20はアンテナ、21は無線通信手段、22は退避場所検索手段、23は退避場所情報出力手段、24は退避場所算出手段である。 [0016] In the radio base station 200, 20 denotes an antenna, 21 is a wireless communication unit, the 22 shelters retrieval means, the saving location information output means 23, 24 are retracted location calculating means. 他の無線基地局201,202も200と同一の構成となっている。 Other radio base stations 201, 202 has also become 200 the same configuration as.

【0017】無線基地局200は、車両100の情報送信手段14からの車速、目的地と目的地までの経路からなる運行予定情報、及び燃料残量などの車両情報を受信すると、退避場所検索手段22は、上記経路をエリアとする無線基地局201、202に対して、経路付近の退避場所の状況要求を送信する。 The radio base station 200, vehicle speed from the information transmitting unit 14 of the vehicle 100 receives the vehicle information such as service schedule information, and the fuel remaining amount consisting route to a destination and the destination, shelters retrieval means 22, the radio base station 201, 202 for the route and area, transmits a status request of the saving location in the vicinity of the route. 無線基地局201、20 Radio base station 201,20
2は、前記状況要求を受信すると、夫々の有する退避場所情報出力手段によって、エリア内の退避場所の停車可能台数、退避場所までの推定到着時間、経路上の車両数などの情報を作成し、無線基地局200に送信する。 2, upon receiving the status request, the evacuation area information output means having a respective, create stop possible number of refuges in the area, the estimated arrival time to the retracted location, information such as the number of vehicles on the path, to the radio base station 200. 同様に無線基地局200の退避場所情報出力手段23によって、エリア内の退避場所の停車可能台数、退避場所までの推定到着時間、経路上の車両数などの退避場所関連情報を作成する。 Similarly the evacuation area information output means 23 of the radio base station 200, stop possible number of refuges in the area, the estimated arrival time to the retracted location, to create a save location-related information such as the number of vehicles on the path. 前記無線基地局200、201、20 The radio base station 200,201,20
2の前記状況要求に対する上記退避場所関連情報、及び燃料残量などの車両情報に基づいて、無線基地局200 The saving location-related information for the two of the status request, and based on the vehicle information such as remaining fuel amount, the radio base station 200
の退避場所算出手段24は、停車可能な退避場所を算出し、車両100に無線通信手段21により送信する。 Evacuation area calculating means 24 calculates the stop possible evacuation area, is transmitted by wireless communication means 21 to the vehicle 100.

【0018】車両100が自動走行中の場合、情報送信手段14は、無線通信手段2、アンテナ3を介して、無線基地局に走行経路、目的地などの走行情報と、燃料残量などの車両情報を送り、無線基地局から停車可能な退避場所情報を得る。 [0018] When the vehicle 100 is in the automatic traveling, the information transmitting unit 14, wireless communication unit 2, via the antenna 3, the travel route to the radio base station, a traveling information such as a destination, a vehicle such as the fuel quantity It sends information to obtain the save location information available stop from the radio base station. 走行制御手段7は、判定手段6を介して自動走行終了警告手段1により運転者へ自動走行の終了を警告するように制御する。 Running control means 7 controls to warn the end of the automatic travel to the driver by the automatic travel termination warning means 1 through the decision means 6. 状態計測手段4、5により運転者の目などの開き状態などを観察するとともに、ハンドル、アクセルなどの操作部への負荷を状態計測手段8にて計測し、運転者の反応速度などを連続的に計測する。 With observed and opened state, such as the driver's eyes by the state measurement means 4, 5, the handle, measure the load on the operating unit, such as an accelerator in a state measurement means 8, continuously and reaction speed of the driver to measure to. 状態計測手段4、5、8などの計測結果に基づいて判定手段6は、運転者による手動走行が可能であるか否かを判定する。 State determining means 6 based on the measurement results, such as measurement means 4, 5, 8 judges whether or not it is possible to manual driving by the driver. 走行制御手段7は、前記判定手段6の判定結果に基づき、運転者が操縦可能であると判断した場合、走行切換制御手段9に処理を引き渡し、操縦不可能であると判断した場合には、自動走行のまま、前記退避場所に停車させる。 Running control means 7, based on the determination result of the determination unit 6, if it is determined that the driver is steerable, passing the process to travel switching control means 9, when it is determined that it is impossible maneuver, It remains automatic traveling, to stop the evacuation area.

【0019】次に図2〜4を参照して退避場所情報と判定手段6による判定結果に基づく自動走行と手動走行との関連の態様を説明する。 [0019] Referring now to FIGS. 2-4 illustrating a related embodiment of the automatic traveling and manual driving based on a determination result of evacuation area information and the determination unit 6. 図2において、自動走行中の車両100は、走行経路上の目的地12の手前の退避場所11の前で自動走行終了警告を発する。 2, the vehicle 100 in the automatic traveling emits automatic travel termination warning before the front of the saving location 11 of the destination 12 on the travel path. 自動走行から手動走行に切り換えるに要する推定走行距離をL1とし、退避場所11までの走行距離をL2とすると、L2 When the estimated travel distance required to switch to manual driving from the automatic traveling and L1, the travel distance to evacuation area 11 to L2, L2
>L1の間に、判定手段6が「運転者が操縦可能である」という判定を出せない場合、車両100は自動走行のまま退避場所11に停車101する。 > Between L1, if the determination unit 6 does not put out the determination that "the driver is steerable", the vehicle 100 stops 101 remain evacuation area 11 of the automatic travel. 他方、「操縦可能である」と判定した場合、退避場所11への進入可能な最短位置までに手動走行への切換を行ない退避場所1 On the other hand, if it is determined to be "steerable", shelters performs switching to manual driving by entering the shortest possible position of the shelters 11 1
1を通過する102。 102 passing through the 1. もし、判定手段7により操縦の切換に時間がかかって予想以上に走行する可能性のあると判定された場合、切換制御を停止し、自動走行のままで退避場所11に停車101する。 If it is determined by the determining means 7 are likely to run than expected takes time to switch steering, stop switch control, stops 101 in the retracted location 11 remains automatic travel. これにより、自動走行中、運転者が睡眠をしており、自動走行終了警告によってもまだ完全に起きていない場合には、退避場所11に自動的に停車することにより、危険走行の発生を未然に防ぐことが可能となる。 Advance Thus, during the automatic driving, and the driver to sleep, in the case also by the automatic end of travel warning not happening still completely, by automatically stopping the retreat location 11, the occurrence of dangerous driving it is possible to prevent in.

【0020】また、図3において、手動走行の車両10 Further, in FIG. 3, the vehicle 10 of the manual driving
0は、自動走行の終了目的地12を設定し、自動走行に移行する場合に、手動走行から自動走行に移行するに必要と推定される走行距離L3と自動走行から手動走行に移行するに必要と推定される走行距離L1の和が、退避場所11までの走行距離L4に対して、L4>L3+L 0 sets the end destination 12 of the automatic cruise, when moving to the automatic traveling, need to migrate to the manual driving of the travel distance L3 and automatic traveling is estimated to need to migrate from the manual driving the automatic travel the sum of the travel distance L1 to be estimated, the running distance L4 to the evacuation area 11, L4> L3 + L
1の場合、自動走行への移行を行う。 In the case of 1, making the transition to the automatic travel. 目的地12に対して、車両が102の位置で自動走行への移行を要求した場合、目的地12までの間に退避場所が存在しないので、自動走行への移行を禁止する。 Against the destination 12, when the vehicle has requested the transition to automatic traveling at a position 102, since there is no retreat place until the destination 12, to prohibit the transition to the automatic travel. これにより、自動走行により運転者が睡眠しても安全に自動走行を終了することが可能とする。 As a result, the driver by the automatic travel is that it is possible to exit the safe automatic driving even if the sleep.

【0021】更に、図4において、自動走行の車両10 Furthermore, in FIG. 4, the vehicle 10 of the automatic travel
0は、目的地12までの走行経路上の退避場所として、 0, as the save location on the traveling route to the destination 12,
目的地12に近い退避場所11と次に近い退避場所13 The next closest shelters and evacuation location 11 close to the destination 12 13
の2つの退避場所が存在するとする。 And two lay location of there. 無線基地局201 Radio base station 201
は、退避場所11における停止可能な車両数を自車両に近い基地局200に送る。 Sends the number of vehicles that can be stopped in the retracted location 11 to the base station 200 is close to the own vehicle. 基地局200は、退避場所1 Base station 200, the save location 1
1と自車両100間の走行車両数を他の基地局から受け取る。 1 and receives a number running vehicle between the subject vehicle 100 from other base stations. 退避場所11の停車可能な車両数が0の場合、基地局200は自車両100に対して、退避場所13を退避場所情報として送る。 If stop possible number of vehicles of the evacuation area 11 is 0, the base station 200 sends against the vehicle 100, the saving location 13 as the saving location information. 退避場所11に停止可能な車両数がN(>0)の場合で、退避場所11と自車両100 If the vehicle speed can be stopped in the retracted location 11 is N (> 0), shelters 11 that the vehicle 100
間の走行車両数Mであって、N≦Mの場合、退避場所1 A traveling vehicle number M between the case of N ≦ M, shelters 1
1に停車不可能な場合があるため、基地局200は自車両100に対して、退避場所13を退避場所情報として送る。 Because it may not stop at 1, the base station 200 with respect to the vehicle 100, and sends the saving location 13 as the saving location information. さらに自車両100に近い退避場所が存在し、退避場所11、退避場所13が停止不可と判断された場合は、次の退避場所を退避情報として自車両100に送る。 Further evacuation area exists near the own vehicle 100, shelters 11, if the evacuation area 13 is determined to not stop and sends it to the vehicle 100 for the next evacuation area as backup information. 無線基地局は、目的地から自車両の方向に退避場所を検索し、停止可能な退避場所を少なくとも1つ以上確保するようにする。 The radio base station searches the saving location in the direction of the vehicle from the destination, so as to ensure at least one stop capable of shelters. なお、最悪事退避場所が存在しない場合は、直線などの見通しが利き、安全に停車できる道路などの情報を蓄積しておき、これに基づいて路側帯への停車を促すことも考えられる。 It should be noted that, if the worst events the save location does not exist, handed the prospect of such a straight line, keep accumulating information such as roads that can be safely stopped, it is also conceivable to encourage the stopping of the roadside on the basis of this.

【0022】図5において、後方車両に観える位置に走行モードの状態を示すランプ15を設置する。 [0022] In FIG. 5, placing the lamp 15 indicating the state of the traveling mode at a position that can watch the rear vehicle. ランプ1 Lamp 1
5を点灯した場合に自動走行の文字が現れるようにし、 As characters automatic travel appears when 5 were lighted,
後方車両に自動走行中であることを表示する。 Show is being automatically traveling backward the vehicle. 自動走行中の場合(a)黄色で点灯し、手動走行の場合(c)消燈する。 When in the automatic traveling (a) solid amber, if the manual driving (c) de-lamp. 自動走行から手動走行、ないし手動走行から自動走行に走行モードの切り換えの場合(b)赤点滅する。 Manual driving, or manual driving to when (b) flashing red switching of the traveling mode to the automatic traveling from the automatic traveling. これにより、危険と考えられる走行モードの切り換え時であることを後方車両に報知することが可能となり、後方車両が無理な追い抜きなどによる接触事故の発生を抑えることが可能となる。 Thereby, it becomes possible to inform the following vehicle of a time of switching of the traveling modes considered dangerous, it is possible to suppress the occurrence of accidental contact due to the rear vehicle impossible overtaking. この場合、ランプに代えて電光掲示板を用いてもよく、また、文字だけでなく絵を表示してもよい。 In this case, it may be used electric bulletin board in place of the lamp, also, may display the picture as well as character. 或いは通信手段2により走行モード状態を発信するようにしてもよい。 Or may be transmitting the driving mode state by the communication means 2.

【0023】なお、ここでは、退避場所の算出を無線基地局が行うとしたが、無線基地局から走行経路上に存在する退避場所と、停車可能台数、及び区間を走行中の車両数の情報を受信し、自車両で算出する方法をとってもかまわないものとする。 [0023] Here, although the calculation of the evacuation area and the radio base station performs, and shelters present on the travel route from the radio base station, stop possible number, and the vehicle number information of traveling the section receive, shall may take the method of calculating the own vehicle. また、自動走行のまま退避場所に停車する場合、車両のドアをロックするようにするのがよい。 Also, if you stop to leave the save location of the automatic travel, it is preferable so as to lock the door of the vehicle. 更に、前記制御手段7、9の本発明の実施に必要な部分及び情報送信手段14を、走行制御用情報処理端末として構成し、自動走行可能に構成された既存の車両に付加できるようにしてもよい。 Furthermore, the partial and the information transmitting means 14 required to implement the present invention the control means 7, 9, configured as a running control information processing terminal, so as to be added to existing vehicles that are automatically drivable configured it may be.

【0024】 [0024]

【発明の効果】以上説明した通り、本発明の走行制御システムを用いれば、経路上の無線基地局が連携して車両の退避場所を検索することにより、より確実に自動走行状態で停車可能な退避場所情報を提供できるため、自動走行における区間終了時において、運転者が手動走行可能な状態となっていなくても、車両を安全に停止できることになる。 As described in the foregoing, the use of the cruise control system of the present invention, by the wireless base station on the path to find the saving location of the vehicle in cooperation, which can stop the automatic running state more reliably because it can provide a saving location information, in the section at the end of the automatic traveling, even if the driver is not made manually drivable state, it becomes possible to safely stop the vehicle.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の一実施例の構成図である。 1 is a configuration diagram of an embodiment of the present invention.

【図2】本発明の一動作例を説明する図である。 2 is a diagram for explaining an operation example of the present invention.

【図3】本発明の他の動作例を説明する図である。 3 is a diagram illustrating another operation example of the present invention.

【図4】本発明の更に他の動作例を説明する図である。 Is a further diagram for explaining another operation example of the present invention; FIG.

【図5】報知手段の一例を示す図である。 5 is a diagram showing an example of a notification unit.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 自動走行終了警告手段 2 無線通信手段 3 アンテナ 4 状態計測手段 5 状態計測手段 6 判定手段 7 自動走行制御手段 8 状態計測手段 9 走行切換制御手段 10 道路 11 退避場所 12 自動走行終了地点 14 情報送信手段 15 ランプ 20 アンテナ 21 無線通信手段 22 退避場所検索手段 23 退避場所情報出力手段 24 退避場所算出手段 100 車両 101 車両 102 車両 200 無線基地局 201 無線基地局 202 無線基地局 300 ネットワーク 1 automatic travel termination warning means second wireless communication unit 3 antenna 4 state measurement means 5 state measurement means 6 determining unit 7 automatic drive control means 8 state measuring means 9 running switching control means 10 road 11 shelters 12 automatic travel end point 14 information transmission It means 15 lamp 20 antenna 21 wireless communication unit 22 shelters retrieval means 23 retracted position information output means 24 shelters calculation means 100 vehicle 101 vehicle 102 vehicle 200 radio base station 201 radio base station 202 radio base station 300 network

───────────────────────────────────────────────────── フロントページの続き (72)発明者 守田 空悟 東京都渋谷区神宮前6−27−8 株式会社 京セラディーディーアイ未来通信研究所内 Fターム(参考) 3D044 AA01 AA11 AA21 AA24 AB01 AC39 AC51 AC56 AE03 5H180 AA01 BB04 FF13 LL20 5K067 AA34 BB21 EE02 EE10 FF03 JJ53 ────────────────────────────────────────────────── ─── front page of the continuation (72) inventor Morita SoraSatoru Jingumae, Shibuya-ku, Tokyo 6-27-8 Co., Ltd. Kyocera DDI future communications Research in the F-term (reference) 3D044 AA01 AA11 AA21 AA24 AB01 AC39 AC51 AC56 AE03 5H180 AA01 BB04 FF13 LL20 5K067 AA34 BB21 EE02 EE10 FF03 JJ53

Claims (7)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 自動走行と手動走行の切換可能状態を判定し判定情報を出力する判定手段、自動走行と手動走行の走行モード切換を制御する制御手段及び車速、現在位置、目的地までの走行予定経路等に関する運行予定情報を送信する情報送信手段を有する自動走行可能に構成された車両と、 上記運行予定情報を受信し、該運行予定情報に基づいて上記車両の走行予定経路沿いの停止可能な退避場所を探索し、上記車両に退避場所情報を送信する少なくとも1 1. A automatic traveling and manual driving of the switchable state determining means for outputting the determined determination information, the control means and the vehicle speed for controlling the travel mode switching of the automatic travel and manual driving, the current position, traveling to a destination a vehicle that has been automatically drivable configured with information transmission means for transmitting the operation schedule information about the planned route and the like, receives the service schedule information, stoppable along the planned travel route of the vehicle based on 該運 row schedule information explore the Do shelters, at least one of transmitting the saving location information on the vehicle
    つの基地局と、を備え、 上記制御手段は上記判定情報及び退避場所情報に基づいて走行モードの切換を行うように構成されたことを特徴とする走行制御システム。 One of the base station, comprising a running control system the control means, characterized in that it is configured to perform switching of the traveling mode based on the determination information and saving location information.
  2. 【請求項2】 前記車両は、運転者の状態を計測して前記判定手段に出力する状態計測部を有することを特徴とする請求項1記載の走行制御システム。 Wherein said vehicle travel control system according to claim 1, wherein a state measurement unit which outputs to the determining means measures the state of the driver.
  3. 【請求項3】 前記車両は、自動走行の終了が近づいていることを警告する警告部を有することを特徴とする請求項2記載の走行制御システム。 Wherein the vehicle running control system according to claim 2, characterized in that it comprises a warning unit for warning that the end of the automatic travel is approaching.
  4. 【請求項4】 前記基地局は、前記運行予定情報が含む経路情報に基づいて上記経路をエリアとする無線基地局に対して退避場所の状況の探索を要求する探索要求を出力する退避場所探索要求手段、上記探索要求に応答して上記経路の停車可能台数、経路間を走行中の車両数、各退避場所までの推定到着時間等の退避場所関連情報を出力する退避場所情報出力手段、及び上記退避場所関連情報に基づいて停車可能な退避場所を算出する退避場所算出手段を有することを特徴とする請求項1記載の走行制御システム。 Wherein said base station, shelters search for outputting a search request for searching for the status of evacuation area to the radio base station to the area of ​​the path based on the route information the service schedule information includes requesting means, stop possible number of the path in response to said search request, the number of vehicles traveling between paths, shelters information output means for outputting the saving location-related information of the estimated arrival time, etc. to each shelters, and running control system according to claim 1, wherein a retracting location calculating means for calculating the vehicle stop can be retracted location based on the save location-related information.
  5. 【請求項5】 前記警告部は、前記退避場所情報に応じて警告を出力するようになっていることを特徴とする請求項3記載の走行制御システム。 Wherein said warning unit, traveling control system according to claim 3, characterized in that it outputs a warning in response to the save location information.
  6. 【請求項6】 前記車両は、走行モード状態の表示又は報知を行う装置を有することを特徴とする請求項1記載の走行制御システム。 Wherein said vehicle travel control system according to claim 1, characterized in that it has a device for displaying or notifying the running mode.
  7. 【請求項7】 自動走行と手動走行の切換可能状態を示す判定情報と退避場所情報に基づいて自動走行と手動走行の走行モード切換を制御する制御手段及び車速、現在位置、目的地までの走行予定経路等に関する運行予定情報を送信する情報送信手段を備えたことを特徴とする自動走行可能に構成された車両の走行制御用情報処理端末。 7. A control means and the vehicle speed on the basis of the determination information and a retracted position information indicating a changeable state of the automatic travel and manual driving for controlling the travel mode switching of the automatic travel and manual driving, the current position, traveling to a destination automatic travelable-configured for running control information processing terminal of the vehicle, characterized in that it includes an information transmitting means for transmitting the operation schedule information about the planned route and the like.
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