JP2007176355A - Automatic operation controller, and vehicle mounted therewith - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic operation controller automatically detecting positions and traveling states of ambient vehicles in own vehicle, and automatically controlling own vehicle on the basis of its result. <P>SOLUTION: By providing a vehicle-to-vehicle communication part 11 receiving information of ambient vehicles, a void calculation part 23 calculating a traveling speed of own vehicle on the basis of the information of the ambient vehicles received by the vehicle-to-vehicle communication part 11, and a vehicle travel control part 20 controlling traveling of own vehicle on the basis of the traveling speed calculated by the void calculation part 23, what traveling speed is the most safest and efficient for own vehicle is automatically calculated on the basis of the information of the ambient vehicles, and since traveling of own vehicle is controlled on the basis of its result, it is possible to autonomously and properly run own vehicle accordingly to the information of the ambient vehicles. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an automatic driving control device that automatically controls a vehicle such as an automobile without a hand such as a driver, and a vehicle equipped with the automatic driving control device.

  Conventionally, an automatic driving system called AHS (Automatic Highway System) or AVS (Advanced Safety Vehicles) is known. However, these are all roads on which the vehicle travels, or on the side roads of which large-scale facilities must be installed, and all these roads can be used on all roads on which the vehicle travels. It is almost impossible in terms of cost.

On the other hand, it is also known that the behavior of surrounding vehicles is detected using sensors, etc., and necessary control information is transmitted to surrounding vehicles using an inter-vehicle communication device etc. to control surrounding vehicles. (For example, refer to Patent Document 1).
Japanese Patent Laid-Open No. 10-105880

  However, as described in Patent Document 1, for example, when a plurality of vehicles are traveling in a row and a rear vehicle approaches the vehicle at a higher speed, the speed of the rear vehicle is increased. Instruct to lower the speed, the previous vehicle will reduce the speed, and if the inter-vehicle distance with the previous vehicle becomes smaller than a predetermined distance, instruct the previous vehicle to increase the speed, etc. The other vehicles are instructed to each other so that the surrounding vehicles can travel normally.

  Therefore, in this case, it is a condition that an instruction from a surrounding vehicle can be surely received, and when the inter-vehicle communication device is used, the reliability must be certain.

  In Patent Document 1, in consideration of this point, in addition to the inter-vehicle communication device, a roadside device for supplementing the reliability of the inter-vehicle communication device is separately provided. Therefore, in this case as well, it is doubtful whether it can be applied to any road on which the vehicle travels, and is not necessarily sufficient.

  The present invention has been made in view of such a conventional problem, and automatically detects the position and running state of a surrounding vehicle in the own vehicle without using a roadside device. It is an object of the present invention to provide an automatic driving control device that automatically controls the host vehicle based on the above, and a vehicle equipped with the automatic driving control device.

  The automatic driving control device of the present invention includes a receiving means for receiving information on surrounding vehicles, a calculating means for calculating the traveling speed of the host vehicle based on information on surrounding vehicles received by the receiving means, and a calculation means. And a travel control means for controlling the travel of the host vehicle based on the travel speed.

  With this configuration, it is automatically calculated at what traveling speed the host vehicle is best traveled based on information on surrounding vehicles received by the receiving means, and the host vehicle travels at that traveling speed. Therefore, the own vehicle can be appropriately and autonomously driven in accordance with information on surrounding vehicles.

  In addition, the automatic driving control device of the present invention is configured to receive information on the position and traveling speed of surrounding vehicles, and to the surrounding vehicles based on the position and traveling speed of surrounding vehicles received by the receiving means. A calculating means for calculating the position and traveling speed of the host vehicle to be traveled and a traveling control means for controlling the traveling of the host vehicle so that the position and traveling speed of the host vehicle calculated by the calculating means are obtained. .

  With this configuration, based on the position and travel speed of surrounding vehicles, the calculation unit can calculate which position the host vehicle is in and which travel speed is most appropriate for, and the calculated position and travel speed. Since the own vehicle is controlled so as to become, the position and the running speed of the own vehicle are always appropriate.

  Further, the automatic driving control device of the present invention includes vehicle-to-vehicle communication means in which the surrounding vehicle and the own vehicle exchange information with each other, and the vehicle-to-vehicle communication means of the own vehicle is the vehicle-to-vehicle communication of the surrounding vehicle. The information is received from the means, and the received information is further transferred to other surrounding vehicles.

  With this configuration, in the inter-vehicle communication device, it becomes possible to receive information on surrounding vehicles and further transfer the information to other surrounding vehicles. Even if the vehicles are far apart, the vehicles existing between them It is possible to easily obtain information on a distant vehicle through the vehicle, and it is possible to effectively and independently control the own vehicle based on the information.

  In addition, when transferring the received information to other surrounding vehicles, the automatic driving control device of the present invention further adds the propagation delay time information in the own vehicle and the number of relayed vehicles to the received information and transfers it. It has the composition to do.

  With this configuration, not only the vehicle position and travel speed, but also information such as information propagation delay time and the number of relayed vehicles are transmitted at the same time. It becomes possible to more appropriately control the travel position and travel speed of the vehicle.

  Further, the automatic operation control device of the present invention includes an alignment vector for the computing means to travel in the same direction according to the movement of surrounding vehicles, and a cohesion for preventing the vehicle group from being far from the center of the vehicle group. It has the structure which consists of the void calculation means which each calculates a vector and the separation vector for avoiding colliding with an adjacent vehicle.

  With this configuration, it is possible to efficiently control the host vehicle in the same direction at the same speed as the surrounding vehicles, and with an appropriate distance between the vehicles so as not to collide with the surrounding vehicles.

  In the automatic driving control apparatus of the present invention, the calculation means includes a means for adjusting the traveling speed of the host vehicle to the traveling speed of the vehicle group.

  With this configuration, the host vehicle can be driven at the same speed according to the surrounding vehicles that are traveling in groups.

  In the automatic driving control device according to the present invention, when the distance from the own vehicle to the center of the vehicle group is equal to or greater than the threshold value, the calculation means controls the own vehicle to travel closer to the center of the vehicle group, When the distance from the vehicle to the center of the vehicle group is equal to or less than the threshold value, a configuration is provided that includes means for ignoring the traveling control in the direction toward the center of the vehicle group.

With this configuration, when the distance to the center of the vehicle group is equal to or less than the threshold, the vehicle is not directed toward the center of the vehicle group, and only when the distance is equal to or greater than the threshold, the traveling control in the direction toward the center of the vehicle group is performed. As a result, the host vehicle is prevented from moving away from the center of the vehicle group.

  Further, in the automatic driving control device of the present invention, when the inter-vehicle distance between the own vehicle and the preceding or following vehicle is equal to or less than the threshold value, the calculation means controls the own vehicle so that the inter-vehicle distance becomes equal to or greater than the threshold value. It has the structure provided with the means.

  With this configuration, the inter-vehicle distance can always be kept above the threshold value, and it is possible to prevent a collision with the preceding vehicle.

  In the automatic driving control device of the present invention, the calculation means controls the own vehicle so that the interval between the adjacent vehicles is equal to or greater than the threshold when the interval between the adjacent vehicles is equal to or less than the threshold. It has the structure provided with the means to do.

  With this configuration, it is possible to keep the interval between adjacent vehicles always equal to or greater than the threshold value, and it is possible to prevent collision with adjacent vehicles.

  Further, the automatic driving control device of the present invention has a configuration in which the threshold value is set so as to change according to the traveling speed of the vehicle group or the host vehicle.

  With this configuration, when the traveling speed of the vehicle group or the host vehicle increases, the threshold value also increases.For example, the inter-vehicle distance and the inter-vehicle interval also increase as the traveling speed increases. It becomes possible.

  The automatic driving control device of the present invention includes a receiving means for receiving information on surrounding vehicles, a calculating means for calculating the traveling speed of the host vehicle based on information on surrounding vehicles received by the receiving means, and a calculation means. Traveling control means for controlling the traveling of the host vehicle based on the traveling speed, and at what traveling speed the host vehicle travels based on the information on the surrounding vehicles received by the receiving means. Is automatically calculated and the vehicle is controlled so that the vehicle travels at that speed, so that it is possible to drive the vehicle independently and appropriately according to the information of surrounding vehicles. Become.

  Hereinafter, an automatic operation control apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of an automatic operation control apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the automatic driving control apparatus according to the embodiment of the present invention includes an inter-vehicle communication unit 11 that exchanges information with each other, a GPS receiver that measures the current position of the host vehicle, and self-contained navigation. Positioning unit 12 composed of a positioning device, etc., a speed detecting unit 13 for detecting the traveling speed of the own vehicle, a direction detecting unit 14 for detecting the steering direction of the own vehicle, and an operation for inputting various information, commands, etc. Unit 15, display unit 16 for displaying various information, maps, etc., vehicle driving control unit 20 for operating the steering wheel 17, accelerator 18, brake 19, etc. of the host vehicle and controlling the traveling of the host vehicle, and these units And a control unit 21 for controlling.

The control unit 21 is configured by a microcomputer or the like, and when a destination is input by the operation unit 15 and a command for searching for a route to the destination is input, a route for searching for a route to the destination A search unit 22 and a void calculation unit 23 that automatically calculates the position and traveling speed of the host vehicle based on information from surrounding vehicles received by the inter-vehicle communication unit 11 are provided. .

  Next, the operation of the automatic operation control device in the present embodiment will be described.

  FIG. 2 is a flowchart showing the operation of the automatic driving control apparatus in the present embodiment.

  In the automatic driving control apparatus according to the present embodiment, as shown in FIG. 2, the inter-vehicle communication unit 11 always obtains information such as the position and traveling speed of other vehicles from other surrounding vehicles that are traveling in groups. Receiving (S201).

  Further, it is also determined whether or not it is necessary to travel independently from the group travel (S202).

  When it is not necessary to control the independent travel (No in S202), when the inter-vehicle communication unit 11 receives information such as the position of another vehicle and the traveling speed, the void calculation unit 23 receives the received position of the other vehicle. Based on information such as travel speed, how the position and travel speed of the host vehicle should be, that is, the optimal position and travel speed of the host vehicle to travel safely and efficiently with respect to other surrounding vehicles Etc. are calculated (S203).

  When the position and travel speed of the host vehicle are calculated, the vehicle travel control unit 20 operates the steering wheel 17, the accelerator 18, the brake 19 and the like of the host vehicle based on the results, and automatically controls the host vehicle (S204). ).

  When searching for a route to the destination and having to leave the group travel and travel in a different direction from other vehicles, or manually operate the handle 17, the accelerator 18, the brake 19, etc. When so-called unique control is required (Yes in S202), each of them has its own travel control (S205).

  In both cases of the automatic travel control and the independent travel control, in addition to the information on the own vehicle, information on other vehicles received from other surrounding vehicles is transmitted to the other vehicles through the inter-vehicle communication unit 11 ( S206).

When calculating the position and traveling speed of the host vehicle, the host vehicle is regarded as a void and is calculated by void calculation as follows. That is, the following three rules are known as void rules, and these are applied to each vehicle.
(1) Match to the movement of a nearby void: Match the direction to a nearby void.
(2) Toward the center of the flock: Keep away from the flock.
(3) Collision avoidance: Avoid collisions with nearby voids.

For example, as shown in FIG. 3, when vehicles A, B, C, and D are each traveling in the direction of a thick arrow, automatic traveling control in the present embodiment mounted on vehicles A, B, C, and D In the apparatus, the following vectors are calculated, and the vehicles A, B, C, and D are controlled to travel based on these vectors.
(1) V-ali: alignment vector that travels in the same direction according to the movement of a nearby vehicle (2) V-cof: cohesion vector toward the center of the vehicle group (3) V-sep: for collision avoidance Separation vector When these three vectors are calculated and run and controlled, each vehicle A, B, C, and D is in the same direction as a nearby vehicle, and does not leave the group and does not collide. It becomes possible to run independently.

  In FIG. 3, P is the center of the vehicle group consisting of vehicles A, B, C, and D, VBali is the alignment vector toward the traveling direction of the vehicle group of vehicle B, and VBcof is toward the center P of the vehicle group of vehicle B. The cohesion vector, VBsepA, the separation vector of the vehicle B with respect to the vehicle A, VBsepC, the separation vector of the vehicle B with respect to the vehicle C, and VBsepD, the separation vector of the vehicle B with respect to the vehicle D, respectively.

  Hereinafter, an operation in the case of automatically calculating a position where the host vehicle should be, a traveling speed, etc., and controlling the traveling of the host vehicle will be described.

  FIG. 4 and FIG. 5 are flowcharts showing the operation in the case where the own vehicle is controlled to travel independently by calculating the position where the host vehicle should be, the traveling speed, and the like.

  When the vehicle-to-vehicle communication unit 11 receives information such as the position and traveling speed of other vehicles from other surrounding vehicles, based on this, as shown in FIG. 4, the traveling speed of other surrounding vehicles, or The traveling speed of the vehicle group calculated by averaging this is detected (S401). Then, based on the detected traveling speed, the traveling speed of the host vehicle is matched with the traveling speed of other surrounding vehicles or the traveling speed of the vehicle group (S402).

  Next, position information of surrounding vehicles is detected, and the center P of the vehicle group is calculated based on the position information (S403). Once the center P of the vehicle group is calculated, the distance from the host vehicle to the center P of the vehicle group is calculated (S404).

  It is determined whether or not the calculated distance to the center P of the vehicle group is equal to or smaller than a predetermined distance (threshold) that is set in advance (S405). If the distance is equal to or less than a predetermined distance (threshold) that is set in advance (Yes in S405) In this case, the vehicle is not controlled in the direction toward the center of the vehicle group, and only when the predetermined distance (threshold) is exceeded (No in S405), the host vehicle is controlled so as to approach the center P of the vehicle group. (S406). That is, when the center P of the vehicle group is located in front of the traveling direction of the host vehicle (Yes in S407), the control is performed in a direction to increase the traveling speed of the host vehicle, and when the vehicle is positioned rearward (No in S407). Controls to reduce the traveling speed of the host vehicle.

  Further, as shown in FIG. 5, the traveling speed of the host vehicle is detected (S501), and a threshold of the inter-vehicle distance that matches the traveling speed is set (S502). Here, the threshold of the inter-vehicle distance suitable for the traveling speed is larger as the traveling speed is higher, for example, 50 m when the traveling speed h is 40 km / h and 100 m when the traveling speed h is 60 km / h. It is the threshold which becomes.

  Once a threshold value that matches the traveling speed is set, next, the distance between other vehicles that are traveling immediately before the host vehicle is measured, and it is determined whether the distance between the vehicles is equal to or less than the previously set threshold value. (S503). If it is equal to or less than the threshold value (Yes in S503), the traveling speed of the host vehicle is decreased and the inter-vehicle distance is controlled to be equal to or greater than the threshold value (S504).

  Further, from the position information of surrounding vehicles received by the inter-vehicle communication unit 11, the interval between adjacent vehicles is measured, and it is determined whether the interval is not less than a predetermined threshold (S505). If it is (Yes in S505), the traveling speed and direction of the host vehicle are respectively changed and controlled so as to be equal to or greater than the threshold (S506).

  If the inter-vehicle distance is not less than or equal to the threshold set in S503 (No in S503), the distance between adjacent vehicles is measured as it is (S505).

  If the vehicle interval is not less than or equal to the threshold set in S505 (No in S505), the control of the vehicle interval is completed as it is.

  By controlling as described above, the own vehicle is matched to the surrounding vehicle at the same traveling speed as the surrounding vehicle, and does not leave the vehicle group and does not collide with other vehicles while maintaining an appropriate position. It becomes possible to drive safely and independently.

  According to the present embodiment, the traveling speed of other surrounding vehicles or the traveling speed of the group of vehicles that are traveling in a group is calculated and controlled so that the host vehicle becomes the traveling speed. In addition, it becomes possible to drive the host vehicle at a traveling speed that matches the traveling speed of other surrounding vehicles or a group of vehicles that are traveling in groups. When the vehicle is away from the vehicle group, the vehicle is controlled so as to approach the center of the vehicle group, so that the host vehicle can travel without being separated from the vehicle group by the threshold value or more. Further, the distance between the vehicles and the distance between the vehicles are controlled so as to be equal to or more than the threshold when the distance is less than the predetermined threshold, respectively, and the vehicle travels with the predetermined distance between the vehicles and the distance between the vehicles. It becomes possible to do.

  Next, how the vehicles traveling in a group are specifically subjected to void control will be described in detail with reference to the drawings.

  FIGS. 6 to 11 illustrate how void control is specifically performed when there are vehicles that want to travel in a different direction from other vehicles among the vehicles traveling in groups. FIG.

First, FIG. 6 shows a state in which a plurality of vehicles A, B, C, and D are traveling in groups in directions indicated by arrows. In this state, each of the vehicles A, B, C, and D receives information such as the position and traveling speed of the other vehicle from the other vehicle, and calculates the following speed vector based on the information. . The group travels safely at the same speed as other vehicles according to the calculated speed vector and without a collision while maintaining a predetermined inter-vehicle distance and a predetermined vehicle interval.
Vehicle A: V1Aali, V1Acof, V1AsepB, V1AsepC, V1AsepD
Vehicle B: V1Bali, V1Bcof, V1BsepA, V1BsepC, V1BsepD
Vehicle C: V1Cali, V1Ccof, V1CsepA, V1CsepB, V1CsepD
Vehicle D: V1Dali, V1Dcof, V1DsepA, V1DsepB, V1DsepC
In the above vector, V represents a velocity vector, and the next numeral 1 represents the state number when this state shown in FIG. The following alphabets A, B, C, and D represent the speed vectors of the vehicles A, B, C, and D, and ali, cof, and sep represent an alignment vector, a coherence vector, and a separation vector, respectively. Represents that. And the alphabet after sep represents that it is a separation vector for the vehicle of the alphabet.

  For example, for vehicle A, state 1 alignment vector V1Aali, state 1 cohesion vector V1Acof, separation vector V1AsepB for state 1 vehicle B, separation vector V1AsepC for state 1 vehicle C, and state 1 vehicle. It shows that it has a separation vector V1AsepD for D.

  Now, in this state 1 (FIG. 6), it is assumed that the vehicle C is scheduled to enter a nearby branch road on the left side. In this case, the vehicle C performs its own control by a navigation operation that guides a route to the destination, or an operation of a direction indicator or the like. Therefore, this information is transmitted to other vehicles A, B, and D as information on the own vehicle. The other vehicles A, B, and D receive this information and perform appropriate void control based on the information.

That is, in order for the vehicle C to enter the nearby branch road on the left side, it is first necessary to enter the left lane, so that the vehicle D has its own vehicle behind the vehicle C and the vehicle C It is determined that it is appropriate to put it in front of the own vehicle, and control is performed so as to reduce the traveling speed of the own vehicle. In this way, the states of the vehicles A, B, C, and D are as shown in FIG. 7 (state 2), and in this state, the following vectors are provided, respectively.
Vehicle A: V2Aali, V2Acof, V2AsepB, V2AsepC, V2AsepD
Vehicle B: V2Bali, V2Bcof, V2BsepA, V2BsepC, V2BsepD
Vehicle C: V2Cali, V2Ccof, V2CsepA, V2CsepB, V2CsepD
Vehicle D: V2Dali, V2Dcof, V2DsepA, V2DsepB, V2DsepC
And if each vehicle A, B, C, D continues driving | running | working in this state 2 (FIG. 7) and the vehicle C enters into the left lane on the way, it will become as shown in FIG. 8 (state 3). In this case, the vehicle A decreases the traveling speed so as to approach the center of the vehicle group, and shifts to the intermediate position between the vehicle B and the vehicle C or the vehicle B and the vehicle D.

  Next, as shown in FIG. 9, when the vehicle C approaches the branch road, the vehicle C again performs the independent control by the navigation operation for guiding the route to the destination or the operation of the direction indicator. Therefore, in this state, the unique information is transmitted to the other vehicles A, B, and D, respectively. The other vehicles A, B, and D receive these pieces of information. For example, the vehicle D performs control so as to reduce its traveling speed in order to further increase the inter-vehicle distance from the vehicle C (state 4).

  Then, as shown in FIG. 10, when the vehicle C enters the branch road and leaves the vehicle group, the inter-vehicle distance between the vehicle B and the vehicle D increases by the amount of the vehicle C (state 5).

However, since each vehicle A, B, D constituting the vehicle group performs void control, as shown in FIG. 11, the vehicles A, B, D are close to the center of the vehicle group, and are the same at the same traveling speed. The group travels in the direction. That is, the vehicle A is located behind the vehicle B, and the inter-vehicle distance between the vehicle B and the vehicle D is also in a normal state (state 6). In this state, each vehicle A, B, D has the following velocity vector.
Vehicle A: V6Aali, V6Acof, V6AsepB, V6AsepC, V6AsepD
Vehicle B: V6Bali, V6Bcof, V6BsepA, V6BsepC, V6BsepD
Vehicle D: V6Dali, V6Dcof, V6DsepA, V6DsepB, V6DsepC
As described above, according to the present embodiment, even if a plurality of vehicles traveling in a group perform a unique operation and control different from other vehicles, information from these vehicles is received. Thus, each vehicle can be controlled appropriately so that there is no problem even if the vehicle that performs its own operation and control is independently operated and controlled. Even if the vehicle travels in a different direction and leaves the vehicle group, the remaining vehicle can form a new vehicle group and travel.

  In the above description, when the vehicle C performs its own control, it is transmitted in advance to the other vehicles A, B, D as information on the own vehicle, but the other vehicles A, B, Even if such information is not transmitted to D in advance, it is possible to detect the position of vehicle C in each of other vehicles A, B, and D, and to perform normal operation independently based on that position. It is.

  For example, it is assumed that the vehicle C interrupts between the vehicles B and D without any notice in the state shown in FIG. In this case, in the vehicles C and D, the inter-vehicle distance between the vehicles B and C is smaller than a predetermined threshold value. Therefore, the vehicles C and D each reduce the traveling speed so as to increase the inter-vehicle distance independently, and as a result, even if there is no prior notice, each vehicle C and D is in a normal traveling state as shown in FIG.

  Further, as shown in FIGS. 9 and 10 from the state shown in FIG. 8, even when the vehicle C independently enters the branch road and leaves the vehicle group, the vehicle D considers the distance between the vehicle B and the vehicle B. As shown in FIG. 11, traveling control is automatically performed so that the inter-vehicle distance becomes a predetermined threshold value.

  In addition, information such as the position of the surrounding vehicle and traveling speed may be received directly from the individual vehicle by the inter-vehicle communication unit 11, but information on other vehicles once received by the inter-vehicle communication unit 11 may be used. Further, it may be transmitted to another vehicle and received via another vehicle.

  In this case, as the vehicle information (void information Iboid), as shown in the following equation, not only the position of the vehicle and the traveling speed, but also the information such as the propagation delay time at the time of transfer and the number of intervening vehicles It is desirable to include.

That is, here, the information of the vehicle A (void information IboidA) is expressed as follows.
Iboid A = {Vtn, Xa, ΔTa, m}
Where Vtn is the velocity vector of the vehicle n at time t, Xa is the position information of the vehicle A, ΔTa is the propagation delay time of the own information (void information IboidA of the vehicle A), and m is the own information (void information IboidA of the vehicle A). Indicates the number of vehicles between the vehicle A and the vehicle that has received the void information IboidA of the vehicle A.

  Here, a plurality of vehicles A, B, C, and D are traveling in a group as shown in FIG. 6. In this state, void information IboidA of vehicle A is transferred to vehicle C via vehicle B, Further, when the vehicle is transferred to the vehicle D via the vehicle C, the propagation delay time Tn in the void information IboidA of the vehicle A is the propagation delay time in the vehicle B in the vehicle C, and the vehicle B in the vehicle D. Is the sum of the propagation delay time at vehicle C and the propagation delay time at vehicle C.

  Similarly, the void information IboidB, IboidC, and IboidD of the vehicles B, C, and D includes information such as the propagation delay time at the time of transfer and the number of intermediary vehicles, respectively. Each will be added.

And if void calculation is performed in each vehicle based on these information (void information Iboid), it will become as follows. In addition, the range n of the fellow (peripheral vehicle) performing the void calculation is set as the attenuation function f.
fi (Xi, Xn, ΔTn, m)
It shall be expressed as

  That is, the time t is determined by using the distance between the position Xi of the own vehicle and the position Xn of another vehicle n (n = a, b, c, d) and the number m of vehicles between these vehicle positions as an attenuation coefficient. It is assumed that the velocity vector Vtn at is attenuated.

Here, when the alignment vector (Vi-ali), which is a speed component at which the host vehicle tries to travel in the same direction and at the same speed as the surrounding vehicles, is calculated as follows.
Vi-ali = (1 / n) Σ (fi × Vtn) (n = a, b, c, d)
Further, when the cohesion vector (Vi-cof), which is a speed component for the host vehicle to gather in a group with the surrounding vehicles, is calculated as follows.
Vi-cof = (1 / .DELTA.Tq) {Xi- (1 / n) .SIGMA. (Fi.times.Xtn)} (n = a, b, c, d)
Further, when the separation vector (Vi-sep), which is a speed component for preventing the host vehicle from colliding with surrounding vehicles, is | Xi-Xtn | <MIN-Dist (Vi), Given.
Vi-sep = (1 / ΔTp) {MIN-Dist- | (Xi-Xtn) |} (n = a, b, c, d)
However, MIN-Dist (Vi) is a threshold value that increases as the traveling speed Vi of the vehicle i increases.

From these, the traveling speed Vit at time t of the vehicle i is obtained by adding the respective speed components by the void calculation, and can be obtained by the following equation.
Vit = Vi (t-1) + {(Vit-ali) + (Vit-cof) + (Vit-sep)}
Accordingly, by controlling the own vehicle as described above based on these calculation results, it is possible to safely and efficiently support the own vehicle so that it does not collide with the surrounding vehicle. It becomes possible to run.

  The automatic driving control device of the present invention includes a receiving means for receiving information on surrounding vehicles, a calculating means for automatically calculating the traveling speed of the host vehicle based on information on surrounding vehicles received by the receiving means, And a traveling control means for controlling the traveling of the host vehicle based on the traveling speed calculated by the means, and at what traveling speed the host vehicle is based on information on surrounding vehicles received by the receiving means. It automatically calculates whether it is best to run and is controlled so that the host vehicle runs at that speed, so that the host vehicle runs independently and appropriately according to the information of surrounding vehicles. Can be useful.

The block diagram which shows schematic structure of the automatic driving | operation control apparatus in embodiment of this invention. The flowchart which shows operation | movement of the automatic driving | operation control apparatus in embodiment of this invention. The figure which shows the state of the vector calculated in the automatic operation control apparatus in embodiment of this invention 1st flowchart which shows operation | movement in the case of carrying out autonomous driving control of the own vehicle in the automatic driving control apparatus in embodiment of this invention. 2nd flowchart which shows operation | movement in the case of carrying out autonomous driving control of the own vehicle in the automatic driving control apparatus in embodiment of this invention. The figure of the 1st state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention The figure of the 2nd state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention The figure of the 3rd state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention The figure of the 4th state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention The figure of the 5th state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention The figure of the 6th state which shows the motion of the vehicle carrying the automatic driving control apparatus in embodiment of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle-to-vehicle communication part 12 Positioning part 13 Speed detection part 14 Direction detection part 15 Operation part 16 Display part 17 Handle 18 Accelerator 19 Brake 20 Vehicle travel control part 21 Control part 22 Path | route search part 23 Void calculation part

Claims (11)

Based on the receiving means for receiving information on surrounding vehicles, calculating means for calculating the traveling speed of the host vehicle based on the information on the surrounding vehicles received by the receiving means, and based on the traveling speed calculated by the calculating means An automatic operation control device comprising travel control means for controlling travel of the host vehicle. A receiving means for receiving information on the position and traveling speed of the surrounding vehicle, and a position of the own vehicle to travel with respect to the surrounding vehicle based on the position and traveling speed of the surrounding vehicle received by the receiving means. And an automatic driving control device comprising: a calculating means for calculating the traveling speed; and a traveling control means for controlling the traveling of the host vehicle so as to obtain the position and traveling speed of the host vehicle calculated by the calculating means. The surrounding vehicle and the own vehicle comprise vehicle-to-vehicle communication means for exchanging information with each other between the vehicles, the vehicle-to-vehicle communication means of the own vehicle receives information from the vehicle-to-vehicle communication means of the surrounding vehicle, 3. The automatic driving control apparatus according to claim 1, wherein the received information is further transferred to the other surrounding vehicles. The inter-vehicle communication means of the own vehicle adds the propagation delay time information in the own vehicle and the number information of the relayed vehicles to the received information when transferring the received information to the other surrounding vehicles. The automatic operation control apparatus according to claim 3, wherein the automatic operation control apparatus transfers the data. The calculation means collides with an adjacent vehicle, an alignment vector for traveling in the same direction according to the movement of the surrounding vehicle, a cohesion vector for keeping away from the center of the vehicle group, and an adjacent vehicle. 3. The automatic operation control device according to claim 1, further comprising void calculation means for calculating a separation vector for avoiding the above. 6. The automatic driving control device according to claim 5, wherein the calculating means includes means for adjusting a traveling speed of the host vehicle to a traveling speed of the vehicle group. When the distance from the host vehicle to the center of the vehicle group is greater than or equal to a threshold value, the computing means controls the host vehicle to travel closer to the center of the vehicle group, and from the host vehicle to the vehicle group. 6. The automatic driving control device according to claim 5, further comprising means for ignoring traveling control in a direction toward the center of the vehicle group when the distance to the center of the vehicle is equal to or less than the threshold value. The computing means includes means for controlling the traveling of the host vehicle so that the inter-vehicle distance is equal to or greater than the threshold when the inter-vehicle distance between the host vehicle and the preceding or following vehicle is equal to or less than the threshold. 6. The automatic operation control apparatus according to claim 5, wherein Means for controlling the traveling of the host vehicle so that the distance between the vehicle adjacent to the host vehicle is equal to or greater than the threshold when the interval between the vehicles adjacent to the host vehicle is equal to or less than the threshold; 6. The automatic operation control device according to claim 5, further comprising: The automatic driving control device according to any one of claims 7 to 9, wherein the threshold value is set so as to change in accordance with a travel speed of the vehicle group or the host vehicle. A vehicle equipped with the automatic driving control device according to claim 1.

Images