JP2011233010A - Deviating vehicle determination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a deviating vehicle determination device to precisely determine a deviation of a vehicle from a plurality of vehicles moving in a raw.SOLUTION: In a situation where an own vehicle is driving with a plurality of other vehicles in a row, based on a physical quantity (for example a yaw angle) representing a lateral direction movement of the own vehicle and a physical quantity (for example a yaw angle) representing the lateral direction movement of a plurality of other vehicles, the device calculates a statistical value on the physical quantity (for example an average of yaw angle), judges whether or not a deviation of the physical quantity representing the lateral direction movement of each vehicle from the statistical value is larger than a threshold, and determines the vehicle having the deviation larger than the threshold as a vehicle deviating from the row.

Description

  The present invention relates to a departure vehicle determination device that determines a vehicle that leaves a formation when traveling in a formation.

  On an automobile-only road, it may be desirable to travel following a preceding vehicle from the viewpoint of driving operation reduction or air resistance reduction. When such follow-up traveling is chained, a plurality of vehicles may form a convoy as a result, and the convoy traveling may be performed. In order to continuously obtain the advantages of follow-up in platooning, it is necessary to restructure the platoon each time the vehicle leaves the platoon. Therefore, it is important to accurately determine the leaving vehicle when running in a row.

  As a method for determining a vehicle that leaves the platoon, for example, as disclosed in Patent Document 1, a lane in which the host vehicle travels based on a lateral displacement amount and a lateral speed of a preceding vehicle viewed from the host vehicle. It may be possible to use the determination of whether the preceding vehicle has a tendency to leave.

JP 2005-145153 A

  However, there may be a moment when the host vehicle and the preceding vehicle are tilted in opposite directions with respect to the direction of travel of the formation. In such a case, the lateral displacement amount and the lateral speed of the preceding vehicle as seen from the host vehicle increase, and there is a possibility that the departure is erroneously determined.

  Accordingly, an object of the present invention is to provide a departure vehicle determination device that can determine a departure vehicle from a platoon with high accuracy.

  The present invention relates to a departure vehicle determination device for determining a vehicle leaving a platoon during platooning, a host vehicle physical quantity acquisition means for acquiring a physical quantity related to the lateral movement of the host vehicle, and a plurality of other vehicles traveling in tandem with the host vehicle. Physical quantity related to lateral movement of each vehicle traveling in a row based on other vehicle physical quantity acquisition means for acquiring physical quantity related to lateral movement, physical quantity related to lateral movement of the own vehicle, and physical quantity related to lateral movement of a plurality of other vehicles A physical quantity statistical value calculating means for calculating a statistical value; and a leaving vehicle specifying means for specifying a vehicle leaving the platoon based on a deviation between the physical quantity and the physical quantity statistical value relating to the lateral movement of each vehicle. To do. The lateral motion includes lateral rotational motion and translational motion.

  In the present invention, a physical quantity statistical value related to the lateral movement of each vehicle traveling in a row is calculated based on the physical quantity relating to the lateral movement of the host vehicle and the physical quantity relating to the lateral movement of a plurality of other vehicles. The physical quantity statistic value is a stable value that is not greatly affected by the instantaneous variation in the lateral movement of each vehicle. By using such a highly stable physical quantity statistic, the relative relationship between each vehicle and the entire platoon can be obtained with high accuracy. Therefore, by determining the deviation between the physical quantity related to the lateral movement of each vehicle and the physical quantity statistical value, it is possible to determine the vehicle leaving the platoon with high accuracy.

  Preferably, the physical quantity statistical value calculation means calculates at least one of the physical quantity average value and the physical quantity median value regarding the lateral movement of each vehicle as the physical quantity statistical value.

  In such a configuration, a physical quantity statistical value related to the lateral movement of each vehicle can be obtained by a simple calculation formula. Therefore, the determination process of the leaving vehicle can be repeated with a short cycle.

  Preferably, the vehicle further includes a vehicle number acquisition means for acquiring the number of vehicles traveling in the platoon, and the physical quantity statistical value calculation means calculates the physical quantity statistical values having different types of statistical values according to the number of vehicles traveling in the platoon. calculate.

  In such a configuration, when the number of vehicles traveling in the platoon is small, the physical quantity statistical value related to the lateral movement of each vehicle is calculated by excluding the influence of the vehicle having the large fluctuation of the physical quantity related to the lateral movement, and the physical quantity statistical value It is possible to perform processing such as ensuring the stability. Therefore, it is possible to determine the leaving vehicle from the formation with higher accuracy.

  Preferably, the physical quantity statistical value calculation means calculates the physical quantity average value related to the lateral movement of each vehicle as the physical quantity statistical value when the number of vehicles traveling in a row is greater than a predetermined number, When the number is smaller than the predetermined number, the median physical quantity related to the lateral movement of each vehicle is calculated as a physical quantity statistical value.

  In such a configuration, when the number of vehicles traveling in the platoon is small, the process of calculating the physical quantity statistical value related to the lateral movement of each vehicle by excluding the influence of the vehicle having a large physical quantity fluctuation related to the lateral movement is simplified. It can be realized with a simple calculation formula. Therefore, the determination process of the leaving vehicle can be repeated in a short cycle while ensuring the stability of the physical quantity statistical value.

  Preferably, the own vehicle physical quantity acquisition means acquires at least one of the yaw angle and steering angle integral value of the own vehicle as a physical quantity related to the lateral movement of the own vehicle, and the other vehicle physical quantity acquisition means acquires the lateral direction of the other vehicle. At least one of the yaw angle and steering angle integral value of another vehicle is acquired as a physical quantity related to motion, and the physical quantity statistical value calculation means calculates the yaw angle statistical value and steering angle integral of each vehicle as the physical quantity statistical value related to the lateral motion of each vehicle. At least one of the value statistics is calculated.

  In such a configuration, it is possible to obtain information on the inclination of the vehicle with respect to the formation direction from the physical quantity of the lateral movement of the vehicle. Since the inclination of the vehicle is closely related to the departure of the vehicle from the platoon, it is possible to reliably determine the detaching vehicle from the platoon.

  Preferably, the vehicle further includes traveling environment information acquisition means for acquiring information relating to the driving environment of the platoon, and the physical quantity statistical value calculation means calculates physical quantity statistical values having different types of physical quantities according to the information relating to the traveling environment.

  In such a configuration, it is possible to select a physical quantity that can detect the lateral movement of each vehicle with high sensitivity in the driving environment at that time. Therefore, it is possible to determine the leaving vehicle from the formation with higher accuracy.

  Preferably, the traveling environment information acquisition unit acquires the train speed of each vehicle as information on the traveling environment, and the physical quantity statistical value calculation unit calculates the lateral motion of each vehicle when the train speed is lower than a predetermined speed. The yaw angle statistic value of each vehicle is calculated as the physical quantity statistic value, and the steering angle integral value statistic value of each vehicle is calculated as the physical quantity statistic value related to the lateral movement of each vehicle when the train speed is higher than the predetermined speed. .

  In such a configuration, since the fleet train speed is higher than the predetermined speed, the steering operation is cautious and the physical quantity related to the lateral movement of each vehicle can be detected with high sensitivity even in a situation where the yaw angle fluctuation becomes dull. it can.

  Preferably, the traveling environment information acquisition unit acquires the distance between the trains of each vehicle as information on the traveling environment, and the physical quantity statistical value calculation unit determines that each vehicle has a longer distance than the predetermined distance. The yaw angle statistic of each vehicle is calculated as a physical quantity statistic related to the lateral movement of the vehicle. When the distance between the trains is shorter than the predetermined distance, the steering angle integral of each vehicle is calculated as the physical quantity statistic related to the lateral movement of each vehicle. Value statistics are calculated.

  In such a configuration, since the distance between the fleet trains is shorter than the predetermined distance, the steering operation is cautious and the physical quantity related to the lateral movement of each vehicle is detected with high sensitivity even in a situation where the yaw angle fluctuation becomes dull. be able to.

  ADVANTAGE OF THE INVENTION According to this invention, the leaving vehicle determination apparatus which determines the leaving vehicle from a formation with high precision can be provided. As a result, even if the vehicle leaves the platoon, the distance between the vehicles can be immediately closed, so that the platooning can be effectively continued.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows 1st Embodiment of the leaving vehicle determination apparatus concerning this invention. It is a flowchart which shows the detail of the departure vehicle determination processing procedure performed by ECU4. It is a figure which illustrates a mode that the vehicle 7 detaches | leaves from a formation when the vehicles 5-9 are running in a formation. It is a figure which shows the yaw angle time transition of each vehicle shown in FIG. It is a flowchart which shows the detail of the leaving vehicle determination processing procedure which ECU4 performs in 2nd Embodiment of the leaving vehicle determination apparatus concerning this invention. It is a schematic block diagram which shows 3rd Embodiment of the leaving vehicle determination apparatus concerning this invention. 4 is a flowchart showing details of a departure vehicle determination processing procedure executed by an ECU 34.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a detached vehicle determination device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing a first embodiment of a leaving vehicle determination device according to the present invention. In the figure, the leaving vehicle determination device 1 includes a wireless communication device 2, a yaw rate sensor 3, and an ECU (Electronic Control Unit) 4 connected to the wireless communication device 2 and the yaw rate sensor 3.

  The wireless communication device 2 performs vehicle-to-vehicle communication wirelessly with a plurality of other vehicles that travel in a row with the host vehicle. The yaw rate sensor 3 is a sensor that measures the yaw rate of the host vehicle.

  The ECU 4 sends the data to be transmitted from the wireless communication device 2 to the other vehicle to the wireless communication device 2 and performs predetermined processing based on the data received by the wireless communication device 2 and the measurement result of the yaw rate sensor 3, Determining a leaving vehicle.

  FIG. 2 is a flowchart showing the details of the departure vehicle determination processing procedure executed by the ECU 4.

  First, when platooning starts, the yaw angle of the host vehicle, which will be described later, is initialized (procedure S101). Next, the yaw rate measured by the yaw rate sensor 3 is integrated to calculate the yaw angle of the host vehicle (step S102). Then, the calculated yaw angle of the host vehicle is transmitted to the other vehicle via the wireless communication device 2. Further, the yaw angle of the other vehicle is received via the wireless communication device 2 (step S103).

Ｙ_ｋ：ｋ番目の車両のヨー角
Ｎ：隊列台数
θｔｈ：閾値 After obtaining the yaw angles of all the vehicles in the formation, the yaw angle average value of each vehicle is calculated (step S104), and the absolute value of the difference between the yaw angle and the yaw angle average value of each vehicle (yaw angle deviation) ) Is calculated (step S105). Then, it is determined whether the following equation (1) is satisfied, that is, whether there is a vehicle having a yaw angle deviation larger than a predetermined threshold (step S106).

Y _k : yaw angle of k-th vehicle N: number of units θth: threshold

  In step S106, if there is a vehicle having a yaw angle deviation larger than the threshold value θth, it is determined that the vehicle is leaving the platoon. For example, when the yaw angle deviation of the i-th vehicle is larger than the threshold value θth, it is determined that the i-th vehicle is leaving the platoon (S107). Then, the leaving vehicle determination process ends.

  On the other hand, if there is no vehicle having a yaw angle deviation larger than the threshold value θth in step S106, the process returns to step S102.

  In the above, the steps S101 and S102 of the yaw rate sensor 3 and the ECU 4 constitute own vehicle physical quantity acquisition means for acquiring a physical quantity (yaw angle) related to the lateral movement of the own vehicle. Step S103 of the wireless communication device 2 and the ECU 4 constitutes another vehicle physical quantity acquisition means for acquiring a physical quantity (yaw angle) related to the lateral movement of a plurality of other vehicles traveling in tandem with the host vehicle. Step S104 of the ECU 4 calculates a physical quantity statistical value (yaw angle average value) related to the lateral movement of each vehicle traveling in a row based on the physical quantity related to the lateral movement of the host vehicle and the physical quantity related to the lateral movement of a plurality of other vehicles. The physical quantity statistical value calculation means for calculating is configured. Steps S <b> 105 to S <b> 107 of the ECU 4 constitute a leaving vehicle specifying unit that specifies a vehicle that leaves the platoon based on the deviation between the physical quantity related to the lateral movement of each vehicle and the physical quantity statistical value. As described above, the detached vehicle determination device 1 of the present embodiment is configured.

  The effect of the departure vehicle determination apparatus 1 of this embodiment is demonstrated using FIG. 3 and FIG. FIG. 3 is a diagram illustrating a state in which the vehicle 7 leaves the platoon when the vehicles 5 to 9 are traveling in the platoon. FIG. 4 is a diagram showing a yaw angle time transition of each vehicle shown in FIG. In FIG. 4, lines P5 to P9 indicate the time transition of the yaw angle of the vehicles 5 to 9, and the line Q indicates the time transition of the average yaw angle value of all the vehicles. As shown in FIG. 4, the yaw angles of the vehicles 5, 6, 8, and 9 that do not leave always fluctuate. There may also be a moment when each vehicle tilts in opposite directions with respect to the direction of movement of the platoon.

  In such a situation, simply comparing the movements between the vehicles identifies whether there is a vehicle accidentally facing in the opposite direction and a vehicle leaving the platoon. There are times when you can't.

  On the other hand, in this embodiment, the yaw angle average value of all vehicles is calculated, the yaw angle of each vehicle is compared with the yaw angle average value, and the deviation between the yaw angle and the yaw angle average value exceeds the threshold value. Since it is determined that the vehicle has left the platoon, it is possible to detect that the movement of the detaching vehicle is clearly different from the movement of the other vehicles that perform the platooning. This makes it possible to determine a vehicle leaving the platoon with high stability and high accuracy without being affected by instantaneous variations in the behavior of each vehicle, noise, and the like.

  Further, the yaw angle of the vehicle is a value corresponding to the inclination of the vehicle with respect to the formation direction, and is closely related to the departure of the vehicle from the formation. For this reason, by using the yaw angle, it is possible to reliably determine a vehicle that has left the platoon.

  Further, since the yaw angle average value can be calculated by a simple calculation formula, the processing of the ECU 4 can be executed at high speed. For this reason, the determination process of a leaving vehicle can be repeated with a short period, and a leaving vehicle can be determined without delay.

  FIG. 5 is a flowchart showing details of a procedure for determining a departure vehicle performed by the ECU 4 in the second embodiment of the departure vehicle determination device according to the present invention. In the flowchart of FIG. 5, the same procedures as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. The hardware configuration of the second embodiment is the same as that of the first embodiment, and a description thereof is omitted.

  In the second embodiment, after receiving the yaw angle of another vehicle (procedure S103), the number of vehicles in the platoon (number of platoon vehicles) is acquired from the number of data of the received yaw angle data, for example (procedure S201).

  If the number N of convoy vehicles is acquired, it will be judged whether it is larger than the predetermined threshold value NoV (procedure S202). And if the number N of convoy vehicles is larger than threshold NoV, it will progress to procedure S104 and will perform the same process as 1st Embodiment until procedure S107 after that. If the number N of vehicles in the row is equal to or less than the threshold NoV, the process proceeds to step S203.

Ｙ_i：i番目の車両のヨー角
ＹＭｅ：ヨー角中央値
θｔｈ：閾値 In step S203, the median yaw angle of each vehicle is calculated. Then, the absolute value (yaw angle deviation) of the difference between the yaw angle and the median yaw angle of each vehicle is calculated (step S204), and the following equation (2) is satisfied, that is, the yaw is larger than a predetermined threshold value. It is determined whether there is a vehicle with a large angular deviation (step S205).

Y _i : Y-th vehicle yaw angle YMe: median yaw angle θth: threshold

  Here, the median means a measured value located in the center when a plurality of measured values are arranged in descending order. When the number of vehicles is an even number and the measured value is an even number, the average value of the two center measured values is set as the median value. Hereinafter, the term “median” is used in the same meaning.

  In step S205, if there is a vehicle having a yaw angle deviation larger than the threshold value θth, it is determined that the vehicle is leaving the platoon. For example, when the yaw angle deviation of the i-th vehicle is larger than the threshold value θth, it is determined that the i-th vehicle is leaving the platoon (S107). Then, the leaving vehicle determination process ends.

  On the other hand, if there is no vehicle having a yaw angle deviation larger than the threshold value θth in step S205, the process returns to step S102.

  In the above, procedure S201 of ECU4 comprises the convoy vehicle number acquisition means which acquires the number of vehicles which run in convoy. Steps S202, S104, and S203 of the ECU 4 are based on physical quantities related to the lateral movement of the host vehicle and physical quantities related to the lateral movement of a plurality of other vehicles. A physical quantity statistic value calculating means for calculating (average value and median yaw angle) is configured. Steps S <b> 105 to S <b> 107, S <b> 204, and S <b> 205 of the ECU 4 constitute a leaving vehicle specifying unit that specifies a vehicle that leaves the platoon based on the deviation between the physical quantity related to the lateral movement of each vehicle and the physical quantity statistical value. As described above, the detached vehicle determination device 1 of the present embodiment is configured.

  Here, the average yaw angle value is a value calculated from the yaw angles of all the vehicles in the platoon and includes the yaw angles of vehicles leaving the platoon. Further, it is considered that the yaw angle of a vehicle leaving the platoon varies greatly compared to other vehicles. For this reason, when there is a vehicle leaving the platoon, the yaw angle average value also varies due to the influence. When the number of vehicles in the platoon is small, such fluctuation of the average yaw angle becomes large.

  On the other hand, in this embodiment, when the number N of convoy vehicles is equal to or less than the threshold NoV, the yaw angle median value is calculated instead of the yaw angle average value. As described above, the median yaw angle is a yaw angle located at the center when the yaw angles of the vehicles in the platoon are arranged in descending order. The yaw angle of vehicles leaving the platoon is close to the upper or lower limit of the yaw angle of each vehicle in the platoon, so the median yaw angle should not include the yaw angle of vehicles leaving the platoon It becomes. Thereby, even in a situation where the number N of convoy vehicles is small, it is possible to determine a vehicle leaving the convoy with high stability and high accuracy.

  Moreover, since the yaw angle median value can be calculated by a simple calculation formula like the above-mentioned yaw angle average value, the processing of the ECU 4 can be executed at high speed. For this reason, also when calculating the yaw angle median value instead of the yaw angle average value, the determination process of the leaving vehicle can be repeated in a short cycle, and the leaving vehicle can be determined without delay.

  FIG. 6 is a schematic configuration diagram showing a third embodiment of the leaving vehicle determination device according to the present invention. In the figure, the same elements as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, the leaving vehicle determination device 30 includes a wireless communication device 2, a yaw rate sensor 3, a steering angle sensor 31, a vehicle speed sensor 32, an inter-vehicle distance sensor 33, a wireless communication device 2, and sensors 3, 31 to 31. 33 is connected to the ECU 34.

  The steering angle sensor 31 is a sensor that measures the steering angle of the host vehicle. The vehicle speed sensor 32 is a sensor that measures the vehicle speed of the host vehicle. The inter-vehicle distance sensor 33 is a sensor that measures the inter-vehicle distance between the host vehicle and the preceding vehicle.

  The ECU 34 sends data to be transmitted to the other vehicle from the wireless communication device 2 to the wireless communication device 2, and performs predetermined processing based on the data received by the wireless communication device 2 and the measurement results of the sensors 3, 31 to 33. , Determine the leaving vehicle from the formation.

  FIG. 7 is a flowchart showing the details of the departure vehicle determination processing procedure executed by the ECU 34.

  First, when platooning is started, the yaw angle and steering angle integral value of the host vehicle, which will be described later, are initialized (step S301).

  Next, the yaw rate measured by the yaw rate sensor 3 is integrated to calculate the yaw angle of the host vehicle. Further, the steering angle measured by the steering angle sensor 31 is integrated to calculate an integrated value of the steering angle of the host vehicle (step S302). Then, the calculated yaw angle and steering angle integral value of the host vehicle are transmitted to the other vehicle via the wireless communication device 2. Further, the yaw angle and steering angle integral value of the other vehicle is received via the wireless communication device 2 (step S303).

  Next, the vehicle speed of the host vehicle measured by the vehicle speed sensor 32 is acquired as the fleet train speed, and the inter-vehicle distance between the host vehicle and the preceding vehicle measured by the inter-vehicle distance sensor 33 is acquired as the inter-train distance (step S304). . Then, it is determined whether the vehicle speed V of the host vehicle is greater than a predetermined threshold value Vk (step S305). Further, it is determined whether the inter-vehicle distance L with the preceding vehicle is smaller than a predetermined threshold value Lk (step S306).

  If the vehicle speed V of the host vehicle is greater than the threshold value Vk in step S305, or if the inter-vehicle distance L with the preceding vehicle is smaller than the threshold value Lk in step S306, the process proceeds to step S307.

ＳＴＧ_i：i番目の車両のステアリング角積分値
ｓｔｇＭｅ：ステアリング角積分値中央値
θｔｈ：閾値 In step S307, the median steering angle integral value of each vehicle is calculated. Then, the absolute value (steering angle integral value deviation) of the difference between the steering angle integral value and the steering angle integral value median value of each vehicle is calculated (procedure S308), and the following equation (3) is satisfied, that is, determined in advance. It is determined whether there is a vehicle having a steering angle integral value deviation larger than the obtained threshold value θth (step S309).

STG _i : Steering angle integral value of the i-th vehicle stgMe: Steering angle integral value median value θth: Threshold value

  In step S309, if there is a vehicle having a steering angle integral value deviation larger than the threshold θth, it is determined that the vehicle is leaving the platoon. For example, when the steering angle integral value deviation of the i-th vehicle is larger than the threshold value θth, it is determined that the i-th vehicle is leaving the platoon (S107). Then, the leaving vehicle determination process ends.

  On the other hand, if there is no vehicle having a yaw angle deviation larger than the threshold value θth in step S309, the process returns to step S302.

  In step S305, if the vehicle speed V of the host vehicle is less than or equal to the threshold value Vk, or if the inter-vehicle distance L with the preceding vehicle is greater than or equal to the threshold value Lk in step S306, the process proceeds to step S203, and then the second execution is performed until step S107. The same processing as that of steps S203 to S107 of the embodiment is performed.

  In step S305, when the vehicle speed V of the host vehicle is greater than the threshold value Vk and the inter-vehicle distance L with the preceding vehicle is greater than or equal to the threshold value Lk in step S306, the processing after step S307 and the processing after step S203 are performed. Processing is executed in parallel. In step S305, when the vehicle speed V of the host vehicle is equal to or less than the threshold value Vk and the inter-vehicle distance L with the preceding vehicle is smaller than the threshold value Lk in step S306, the processing after step S307 and the processing after step S203 are also performed. Processing is executed in parallel.

  In the above, the steps S301 and S302 of the yaw rate sensor 3, the steering angle sensor 31, and the ECU 34 constitute a host vehicle physical quantity acquisition unit that acquires a physical quantity (yaw angle and steering angle integral value) related to the lateral movement of the host vehicle. Step S303 of the wireless communication device 2 and the ECU 34 constitutes other vehicle physical quantity acquisition means for acquiring physical quantities (yaw angle and steering angle integral values) related to the lateral movement of a plurality of other vehicles traveling in tandem with the host vehicle. Step S304 of the vehicle speed sensor 32, the inter-vehicle distance sensor 33, and the ECU 34 constitutes a travel environment information acquisition unit that acquires information related to the travel environment of the platoon. Steps S305, S306, S307, and S203 of the ECU 34 are based on physical quantities related to the lateral movement of the host vehicle and physical quantities related to the lateral movement of a plurality of other vehicles. A physical quantity statistical value calculation means for calculating a steering angle median and a yaw angle median is configured. Steps S308, S309, S204, S205, and S107 of the ECU 34 constitute a leaving vehicle specifying unit that specifies a vehicle that leaves the platoon based on the deviation between the physical quantity related to the lateral movement of each vehicle and the physical quantity statistical value. Thus, the detached vehicle determination device 30 of the present embodiment is configured.

  Here, the magnitude of the yaw angle fluctuation depends on the vehicle speed or the inter-vehicle distance. That is, when the vehicle speed increases or the inter-vehicle distance decreases, the steering operation becomes cautious and the yaw angle fluctuation becomes dull.

  On the other hand, in this embodiment, when the vehicle speed V of the host vehicle is equal to or less than the threshold value Vk, or the inter-vehicle distance L with respect to the preceding vehicle is equal to or greater than the threshold value Lk, the median yaw angle of each vehicle is calculated. Based on the deviation between the yaw angle of each vehicle and the median value of the yaw angle, the vehicle leaving the platoon is determined. On the other hand, when the vehicle speed V of the host vehicle is larger than the threshold value Vk or the inter-vehicle distance L with the preceding vehicle is smaller than the threshold value Lk, the median steering angle integral value of each vehicle is calculated. Based on the deviation between the steering angle integral value and the steering angle integral value median value of each vehicle, a vehicle leaving the platoon is determined. Since the steering angle integral value is directly related to the steering operation, it varies with high sensitivity even in a driving environment where the steering operation is cautious. As a result, it is possible to determine a vehicle leaving the platoon with high sensitivity even in a traveling environment with a high vehicle speed or a traveling environment with a short inter-vehicle distance.

  Note that the steering angle integral value is a value that substitutes for the inclination of the vehicle with respect to the formation direction, and is closely related to the departure of the vehicle from the formation. For this reason, even when based on the steering angle integral value deviation, it is possible to reliably determine a vehicle that has left the platoon.

  As mentioned above, although several embodiment of the leaving vehicle determination apparatus concerning this invention has been demonstrated, this invention is not limited to the said embodiment, The various modifications as shown below are considered.

  For example, in each of the above embodiments, the yaw angle or steering angle integral value is exemplified as the physical quantity used for the departure determination, but any other physical quantity may be used as long as it relates to the lateral movement of the vehicle. For example, the lateral position of the vehicle may be used. The lateral position can be acquired from a GPS, an acceleration sensor, or the like.

  In each of the above embodiments, the average yaw angle value, the median yaw angle, and the median steering angle integrated value are exemplified as the physical quantity statistics used for the departure determination. However, the physical quantity related to the lateral movement of the host vehicle and a plurality of other vehicles Any other physical quantity statistical value may be used as long as the physical quantity is based on the physical quantity related to the lateral movement. For example, in calculating the average value such as the yaw angle, weighting may be performed according to the distance from the host vehicle. Thereby, the sensitivity of determination of separation can be adjusted. Alternatively, a plurality of physical quantity measurement values may be arranged in descending order, and the average value may be calculated except for the maximum and minimum values. Thereby, it is possible to sufficiently exclude the influence of the leaving vehicle while obtaining further stability of the average value.

  In the third embodiment, as information on the traveling environment, the train speed (vehicle speed of the own vehicle) and the distance between train cars (the distance between the own vehicle and the preceding vehicle) are exemplified, but the steering operation is affected. Any other information may be used. For example, the vehicle speed and inter-vehicle distance information of not only the own vehicle but also a plurality of other vehicles traveling in a row with the own vehicle are obtained, and the average vehicle speed value and the inter-vehicle distance average value of each vehicle traveling in the platoon are determined as the train speed and between train trains. It may be calculated as a distance. Furthermore, ambient brightness and the width of the travel path may be used. Such information can be acquired from a captured image of the in-vehicle camera.

  DESCRIPTION OF SYMBOLS 1,30 ... Departure vehicle determination apparatus, 2 ... Wireless communication apparatus (other vehicle physical quantity acquisition means), 3 ... Yaw rate sensor (own vehicle physical quantity acquisition means), 4, 34 ... ECU (own vehicle physical quantity acquisition means, other vehicle physical quantity acquisition) Means, physical quantity statistical value calculation means, departure vehicle specifying means, platoon number acquisition means, travel environment information acquisition means), 31 ... steering angle sensor (own vehicle physical quantity acquisition means), 32 ... vehicle speed sensor (travel environment information acquisition means) 33: Inter-vehicle distance sensor (traveling environment information acquisition means).

Claims (8)

In a departure vehicle determination device that determines a vehicle that leaves a formation when traveling in a formation,
Own vehicle physical quantity acquisition means for acquiring a physical quantity related to the lateral movement of the own vehicle;
Other vehicle physical quantity acquisition means for acquiring a physical quantity related to lateral movement of a plurality of other vehicles traveling in tandem with the host vehicle;
A physical quantity statistic value calculating means for calculating a physical quantity statistic value related to a lateral movement of each vehicle traveling in the formation based on a physical quantity relating to a lateral movement of the own vehicle and a physical quantity relating to a lateral movement of the plurality of other vehicles;
A departure vehicle determination device comprising: a departure vehicle identification unit that identifies a vehicle leaving the platoon based on a deviation between a physical quantity relating to a lateral movement of each vehicle and the physical quantity statistical value.   2. The separated vehicle determination device according to claim 1, wherein the physical quantity statistical value calculation means calculates at least one of a physical quantity average value and a physical quantity median value related to a lateral motion of each vehicle as the physical quantity statistical value. The vehicle further comprises a vehicle number acquisition means for acquiring the number of vehicles traveling in the row,
The said physical quantity statistical value calculation means calculates the said physical quantity statistical value from which the kind of statistical value differs according to the number of the vehicles which carry out the platoon, The leaving vehicle determination apparatus of Claim 1 characterized by the above-mentioned.   When the number of vehicles traveling in the platoon is greater than a predetermined number, the physical quantity statistic value calculating means calculates a physical quantity average value related to lateral movement of each vehicle as the physical quantity statistic value, and 4. The departure vehicle determination apparatus according to claim 3, wherein when the number of vehicles is smaller than the predetermined number, a median physical quantity related to lateral movement of each vehicle is calculated as the physical quantity statistical value. The host vehicle physical quantity acquisition means acquires at least one of a yaw angle and a steering angle integral value of the host vehicle as a physical quantity related to a lateral movement of the host vehicle,
The other vehicle physical quantity acquisition means acquires at least one of a yaw angle and a steering angle integral value of the other vehicle as a physical quantity related to a lateral movement of the other vehicle,
The physical quantity statistical value calculation means calculates at least one of a yaw angle statistical value and a steering angle integrated value statistical value of each vehicle as a physical quantity statistical value related to lateral movement of each vehicle. 5. The departure vehicle determination device according to claim 4. A travel environment information acquisition means for acquiring information related to the travel environment of the platoon;
The said physical quantity statistical value calculation means calculates the said physical quantity statistical value from which the kind of physical quantity differs according to the information regarding the said driving environment, The leaving vehicle determination apparatus as described in any one of Claims 1-4 characterized by the above-mentioned. . The travel environment information acquisition means acquires the train speed of each vehicle as information related to the travel environment,
The physical quantity statistical value calculation means calculates a yaw angle statistical value of each vehicle as a physical quantity statistical value related to lateral movement of each vehicle when the unit train speed is lower than a predetermined speed, and the unit train speed is the predetermined speed. The separated vehicle determination device according to claim 6, wherein when the speed is higher than the speed, a steering angle integral value statistic value of each vehicle is calculated as a physical quantity statistic value regarding a lateral motion of each vehicle. The travel environment information acquisition means acquires the distance between the trains of each vehicle as information on the travel environment,
When the inter-train distance is longer than a predetermined distance, the physical quantity statistical value calculation means calculates a yaw angle statistical value of each vehicle as a physical quantity statistical value related to lateral movement of each vehicle, and 7. A departure vehicle determination apparatus according to claim 6, wherein when the distance is shorter than the predetermined distance, a steering angle integral value statistic value of each vehicle is calculated as a physical quantity statistic value regarding a lateral movement of each vehicle. .

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