JP2016046877A - Vehicle and vehicle control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely detect such a case that, a sensor device is broken or there is an obstacle between vehicles, in merger of vehicles, in an unmanned driving vehicle on which a driver does not ride.SOLUTION: A vehicle 102 can be merged with other vehicle. The vehicle 102 comprises: a processor; a feature point extraction device 122 for measuring information on a feature point 112; and a feature point recording device 124 for recording information indicating the feature point in advance. The processor determines whether or not, information on the feature point measured by the feature point extraction device 122 and information indicating the feature point recorded by the feature point recording device 124 match, when the vehicle approaches other vehicle 101 by forward movement or backward movement, and when matching, approach is permitted, and when not matching, approach is stopped.SELECTED DRAWING: Figure 1

Description

  The present invention mainly relates to a vehicle and a vehicle control system for performing a vehicle merge process.

  As a background art in the technical field to which the present invention belongs, there is Patent Document 1 (Japanese Patent Laid-Open No. 2011-254666). In this Patent Document 1, “millimeter wave wireless transmission device 4b mounted on merged vehicle B and having a ranging function” and output from millimeter wave wireless transmission device 4b mounted on combined vehicle A and having a ranging function. A millimeter-wave wireless transmission device 4a that outputs inter-vehicle distance information 10D based on the signal, a train information management device 6a that is mounted on at least the combined vehicle A and transmits a powering command 18D or a brake command 17D to each vehicle, and inter-vehicle distance information 7D And the remaining distance is calculated based on the speed signal 15D of the merged vehicle A, the target speed of the merged vehicle A is calculated based on the remaining distance, and the power running command 5D or the brake command 6D is controlled so as to follow the target speed. And a merge support device that outputs to the information management device 6a ”.

JP 2011-254666 A

  Patent Document 1 describes a technique related to the merge support of trains. However, the failure of the merge support device included in the merged vehicle is detected by the self-monitoring circuit and the merge support operation is interrupted ( [0067] and [0068]). However, the configuration of the self-monitoring circuit is not described, and what kind of failure is detected by what method is not disclosed.

  Further, the merge support technology described in Patent Document 1 is based on the premise that a crew member assists in the vehicle merge operation. Patent Document 1 describes that when a crew member finds an abnormality in the merge support operation, etc. Describes that it is possible to take immediate stop measures ([0062]). Then, for example, when the sensor makes a mistake in distance measurement, it is considered that the driver can detect the abnormality and apply the brake. Further, when there is an obstacle on the track between the vehicles, it is considered that the driver can find the obstacle and apply the brake.

  However, in an unmanned driving vehicle in which a crew member does not board, when the vehicle is merged, if the sensor device breaks down or an obstacle exists between the vehicles, a means for reliably detecting them is required.

  In order to solve the above problems, a vehicle according to the present invention is a vehicle that can be merged with another vehicle, and includes a processing device, a feature point extraction device that measures feature point information, and information representing the feature point. A feature point recording device that records in advance, and when approaching another vehicle forward or backward, the processing device records the feature point information measured by the feature point extraction device and the feature point recording device It is characterized in that it is determined whether or not the information representing the points matches, and if they match, the approach is allowed, and if they do not match, the approach is stopped.

  According to the present invention, when the vehicle approaches until the vehicles are merged, the vehicle approach until the vehicles are merged can be safely detected by reliably detecting the sensor failure and the obstacle pinching between the trains. It can be carried out smoothly in a short time.

FIG. 1 is a configuration diagram of a vehicle related to merging. FIG. 2 is a flowchart illustrating the normal process according to the embodiment. FIG. 3 is a flowchart illustrating the merging process according to the embodiment. FIG. 4 is a flowchart illustrating the abnormality process according to the embodiment. FIG. 5 is a diagram illustrating an example of data recorded in the feature point information recording apparatus according to the embodiment. FIG. 6 is a diagram illustrating a specific installation example of feature points according to the embodiment. FIG. 7 is a diagram illustrating an example in which one reflector is installed as a feature point on the connection surface of the preceding vehicle. FIG. 8 is a diagram illustrating an example in which two reflectors are installed as feature points at both ends of the connecting surface of the preceding vehicle.

  Hereinafter, examples of the present invention will be described with reference to the drawings.

  As a present embodiment, a vehicle control system will be described in which knitted vehicles traveling in different formations are merged by a coupler and vehicles are merged (hereinafter referred to as “merging process”) in order to travel as one knitting. In this embodiment, the preceding vehicle (merged vehicle) 101 and the following vehicle (merged vehicle) 102 shown in FIG. 1 are connected by the merging process. This knitting is not limited to the merging process of one knitting, but can be applied to the merging process by two or more knitting vehicles. Further, in the following, there are cases where the vehicle on the side performing the merging process is referred to as a merged vehicle (following vehicle in FIG. 1), and the vehicle to be merged is referred to as a merged vehicle (preceding vehicle in FIG. 1). .

  FIG. 1 is a configuration diagram of a vehicle related to merging. The succeeding vehicle 102 approaching the stopped preceding vehicle 101 performs a merge process for merging with the preceding vehicle 101. The preceding vehicle 101 has a connector 111 (first connector) and a feature point 112 on the back surface thereof. The following vehicle 102 includes a connector 121 (second connector) and a feature point extraction device 122 on the front surface thereof, and a speed control device 123, a feature point information recording device 124, a vehicle speed sensor 125, an abnormality, and the like inside the vehicle. It has a detection device 126 and a security device 127 that controls them. Based on the feature point information measured by the feature point extraction device 122, the security device 127 plays a central role, and the merge processing is executed by these devices.

  The feature point 112 is installed in at least one or more of the equipment (for example, equipment on the station platform, equipment on the railway track) around the rear surface of the preceding vehicle 101 and the merged point. Here, the term “feature point” is used, but the configuration of the feature point 112 naturally includes a “surface” having a certain size or more. It is desirable that the feature point 112 is installed at a position where the feature point extraction device 122 of the succeeding vehicle 102 can always measure while the approaching vehicle 102 approaches the preceding vehicle 101 after starting the merging process. FIG. 6 shows a specific example in which the feature points 112 are installed. As shown in the figure, examples include the rear part of the preceding vehicle, the upper surface part and the side part of the station platform, and the part sandwiched between the rails in the track.

  In the present embodiment, a case where the feature point 112 is installed on the connecting surface of the preceding vehicle 101 will be described. Even when the feature points 112 are installed in peripheral equipment other than the preceding vehicle 101, the merge processing procedure is the same as that when the feature points are installed in the preceding vehicle 101.

  Here, the connection surface means a surface in the vehicle front-rear direction including the coupler 111. In the present embodiment, the vehicle rear surface in the case of the preceding vehicle 101, and the vehicle front surface in the case of the subsequent vehicle 102, Become. The feature point 112 installed on the connecting surface of the preceding vehicle 101 is a location that can be detected by the feature point extracting device 122 having a laser radar and other means mounted on the succeeding vehicle 102 in the connecting surface. For example, the end shape of the connecting surface (the contour shape of the vehicle), the location where the connecting surface has characteristic irregularities, the installation position of a reflective material such as a reflector that performs characteristic reflection, and the reflectance of this reflector, etc. . The arrangement information of the feature points 112 is recorded in the feature point information recording device 124.

  Further, the connecting surface of the preceding vehicle refers to the entire range measurable from the feature point extracting device 122 of the following vehicle 102. Then, for example, a three-dimensional feature point may be installed on the inside of the windshield of the preceding vehicle 101 or on the roof portion of the preceding vehicle 101. Further, in order to enable the feature point extraction device 122 to easily detect the feature point 112, for example, a plurality of reflective materials having different reflectances are installed on the connection surface, or a plurality of reflective materials such as a barcode are specified. It may be arranged side by side in a pattern. Here, when using reflective materials having different reflectances, the feature point extraction device 122 extracts the feature points 112 in step 2020 of the merge processing flow to be described later by recording the reflectance information together with the arrangement position information. Is possible.

  The feature point extraction device 122 has a function capable of extracting a plurality of feature points 112 over a wide angle as well as one point in front as a measurable range, and a function capable of measuring a distance and an angle from the following vehicle 102 to the feature point 112. Those provided are preferred. For example, if a laser radar having a scanning function within a predetermined angle range is used, both distance information and angle information can be measured.

  In this embodiment, a laser radar having the scanning function is used as the feature point extraction device 122. By the way, the present invention is not limited to the use of this laser radar as the feature point extraction device 122. For example, an ultrasonic distance sensor, a millimeter wave wireless transmission device, a millimeter wave radar, a camera, an infrared distance sensor, and an inter-vehicle distance A device that measures the distance based on the communication delay time is also applicable. Further, these can be used in combination, and can be applied regardless of the measurement principle of the measurement apparatus. However, from the viewpoint of obstacle detection, when an assumed obstacle exists, for example, the beam emitted by the feature point extraction device 122 needs to have a property of being shielded by the obstacle.

  When there is an obstacle on a straight line connecting the installation position of the feature point extraction device 122 and the installation position of the feature point 112, the feature point extraction device 122 cannot detect the feature point 112. As described in Step 2050 of the merge processing flow described later, when the succeeding vehicle 102 cannot detect the feature point 112 of the preceding vehicle 101, it is determined that the feature point extracting device 122 is faulty or has an obstacle, and transitions to the abnormal mode. According to this, the range in which an obstacle can be detected differs depending on the installation position relationship between the feature point extraction device 122 and the feature point 112. In order to widen the detection range, for example, the feature point 112 and the feature point extraction device 122 may be installed on diagonal lines of the preceding vehicle 101 and the following vehicle 102, respectively.

  Therefore, examples showing the installation position of the feature point 112 and the obstacle detection range are shown in FIGS. FIG. 7 is a diagram illustrating an example in which one reflector is installed as the feature point 112 on the connection surface of the preceding vehicle 101. In the example of FIG. 7, since there is no reflector that is the feature point 112 in the direction in which the obstacle exists (that is, within the obstacle detectable range), the laser radar that is the feature point extraction device 122 may miss the obstacle. In order to avoid this, another detection means is required.

  On the other hand, FIG. 8 is a diagram showing an example (reflector 1 and reflector 2) in which two reflectors are installed as feature points 112 at both ends of the connecting surface of the preceding vehicle 101. FIG. In this case, the laser radar that is the feature point extraction device 122 needs to be of a type that can measure a plurality of angular ranges. In the example of FIG. 8, since the light emitted to the reflector 2 is blocked by the obstacle, it can be determined that the obstacle exists on the line connecting the reflector 2. Here, by increasing the size of the reflector, it is also possible to expand the range in which obstacle detection is possible. Further, if it is possible to provide a reflector over the entire horizontal direction of the connecting surface, it is most reliable in obstacle detection.

  Note that a method in which the feature point extraction device 122 directly detects the obstacle itself without detecting the feature point 112 will be considered. For example, in the case where an obstacle exists close to the connection surface of the preceding vehicle 101, the connection surface of the preceding vehicle 101 and the obstacle cannot be distinguished from each other. Therefore, there is a risk that the obstacle will be caught when the vehicle approaches.

  In this embodiment, the feature point extraction device 122 has a function of detecting the feature points 112 in the connection plane, and can also detect that the feature points 112 are shielded, so that it can be determined that an obstacle exists. That is, the feature point extraction device 122 of this embodiment is also effective for detecting obstacles.

  Next, an example of data to be recorded in the feature point information recording device 124 is shown in FIG. The vehicle shape data (full height, full width, and minimum ground height) of the preceding vehicle 101, and the feature point information regarding the arrangement position and reflectance of the feature point 112 (in this case, the reflector) are recorded in the feature point information recording device 124. . The vehicle shape data and feature point information shown in the figure are based on the appearance shape of the preceding vehicle shown on the right side and the arrangement of the reflectors 1 and 2 installed on the vehicle rear surface (connection surface). In FIG. 5, the arrangement of the feature points is represented on the XY coordinates, with the X axis on the ground and the Y axis on the left end of the vehicle rear surface. These vehicle shape data and feature point information may be recorded in advance in the feature point information recording device 124 included in the succeeding vehicle 102, or when the preceding vehicle 101 starts its own vehicle when the merge process is started. The feature point information may be transmitted to the following vehicle 102.

  Subsequently, each processing flow of normal processing, merging processing, and abnormality processing in the present embodiment will be described. FIG. 2 shows a processing flow related to normal processing, FIG. 3 shows a processing flow related to merge processing, and FIG. 4 shows a processing flow related to abnormality processing.

  In the present embodiment, all the processing flows in FIGS. 2, 3, and 4 are processed by the following vehicle 102. However, the merging process according to the present invention is not limited to the mode processed by the following vehicle 102 as in the present embodiment. That is, the relationship between the merged vehicle and the merged vehicle is configured with the following vehicle and the preceding vehicle in the present embodiment, but may be configured with the preceding vehicle and the following vehicle as an opposite relationship. Specifically, the succeeding vehicle 102 in FIG. 1 that plays the role of the merged vehicle of the embodiment is a merged vehicle, the preceding vehicle 101 of FIG. 1 that plays the role of the merged vehicle of the embodiment is the merged vehicle, and the preceding vehicle 101 As the (merged vehicle) moves backward, the succeeding vehicle 102 (merged vehicle) is merged. In this case, the devices included in the respective vehicles shown in FIG. 1 are also replaced, and the preceding vehicle 101 serving as the merged vehicle processes the processing flows shown in FIGS. 2, 3, and 4.

  Each processing flow of normal processing, merging processing, and abnormality processing in the present embodiment can be processed mainly by hardware, or can be processed (executed) mainly by software. In the case where hardware is mainly used, the security device 127 of the following vehicle 102 mainly processes the normal process, the merge process, and the interface between the three processes, and the subsequent vehicle 102 processes the abnormality process. This abnormality detection device 126 is mainly responsible for processing. On the other hand, when software is the main component, the security device 127 of the following vehicle 102 executes software (program) as a processing device (CPU). In that case, the software executed by the security device 127 has a normal mode, a merge mode, and an abnormal mode as operation modes corresponding to the three processes, and transitions between these three modes depending on the situation. is there.

  In the description of each processing flow described below, an entity that performs processing is represented by a device as hardware. Specifically, in the normal process and the merge process, the security device 127 is a processing subject, and in the abnormality process, the abnormality detection device 126 is a processing subject. When this is regarded as software, each routine of the normal mode and the merge mode of the software executed by the security device 127 corresponds to the normal processing and the merge processing, and the software executed by the security device 127 for the abnormal processing. It will be shown in advance that the abnormal mode routine is supported.

First, the normal process (normal mode) shown in FIG. 2 will be described.
In step 1010, the security device 127 of the following vehicle 102 starts normal processing, and proceeds to step 1020. The start of the normal process means that the following vehicle 102 starts driving, and corresponds to, for example, turning on the vehicle.

  In step 1020, the succeeding vehicle 102 performs normal traveling based on an instruction from the security device 127. At the start of normal travel, the security device 127 functions as a normal mode. Here, the normal traveling refers to all the operations other than the merger of the vehicles. During the normal running, the routine proceeds to step 1030 at regular intervals.

  In step 1030, the security device 127 confirms whether a trigger for starting the merge process has occurred. When the trigger for starting the merge process has occurred (Yes), the process proceeds to step 1040. If it has not occurred (No), the process returns to step 1020 and continues normal driving.

  A mode of a trigger for starting the merging process will be described. For example, as a first aspect, a transmission device that transmits information to a traveling vehicle is installed on the traveling road, and the subsequent vehicle 102 that has passed a predetermined position is instructed to start merge processing from the transmission device. Send information. When the security device 127 of the following vehicle 102 receives this instruction information, it is set as a trigger for starting the merging process. As a second aspect, a communication means is provided between the preceding vehicle 101 and the following vehicle 102, and information instructing the start of the merge process is transmitted from the preceding vehicle 101. When the security device 127 of the following vehicle 102 receives this instruction information, it is set as a trigger for starting the merging process. As a third aspect, the security device 127 of the following vehicle 102 holds the merge plan information including the merge point with the preceding vehicle 101 and the planned merge time. When it is detected that the current point of the host vehicle (following vehicle 102) has approached the merge point and notified to the security device 127, this is used as a trigger for the merge process start. As a fourth aspect, the feature point extraction device 122 of the following vehicle 102 measures the distance to the preceding vehicle 101 or a specific sign that exists in front of the traveling direction, and the distance has become a certain value or less. By being detected and notified to the security device 127, this is used as a trigger for starting the merge process. Of course, it is not limited to these four aspects.

  In step 1040, the security device 127 proceeds to step 2010 to start the merge process, and the normal process itself ends in step 1050.

Next, the merging process (merging mode) shown in FIG. 3 will be described.
In step 2010, the security device 127 of the following vehicle 102 starts the merge process with the preceding vehicle 101, and proceeds to step 2020.

  In step 2020, the security device 127 uses the feature point extraction device 122 to extract the feature points 112 included in the connection surface of the preceding vehicle 101, and proceeds to step 2030. When extracting the feature point 112, it is desirable to measure the position information including the distance to the feature point 112 and the angle from the feature point extraction device 122 as a base point.

  In step 2030, the security device 127 determines whether the information of the feature point 112 detected by the feature point extraction device 122 in the previous step 2020 matches the information of the feature point 112 recorded in the feature point information recording device 124. To check. When the information of the feature point 112 recorded in the feature point information recording device 124 and the information of the feature point 112 detected by the feature point extracting device 122 match, the security device 127 detects the feature point of the preceding vehicle 101. It is determined that 112 has been extracted.

Here, a method in which the security device 127 confirms that the information of the feature point 112 is the same in step 2030 will be described.
For example, in the case where the connecting surface of the preceding vehicle 101 includes a plurality of feature points 112, the feature points 112 recorded by the feature point extraction device 122 and the feature points recorded by the feature point information recording device 124 are recorded. It is determined that the feature point 112 has been extracted (for example, in FIG. 5, the installation relationship in which the reflector 1 and the reflector 2 are 185 cm apart in the horizontal direction is determined). As another method, in the case where the stop positions of the preceding vehicle 101 and the succeeding vehicle 102 at the start of the merging process are determined in advance, the feature point extracting device 122 uses the feature points 112 of the following vehicle 102 and the preceding vehicle 101. It is determined that the feature point 112 has been extracted when the measured value when measuring the distance between and the inter-vehicle distance at the stop position planned in advance is equal. As another method, in the case where a laser radar is used as the feature point extraction device 122, when the feature point extraction device 122 detects reflected light from a material having a specific reflectance employed in the reflector (for example, In FIG. 5, it is determined whether or not the reflected light having a reflectance of 99% is detected from the reflector, and the feature point 112 is extracted.

  Further, in the case where the connecting surface of the preceding vehicle 101 includes three or more feature points 112, even if a part of the feature points 112 cannot be extracted in the previous step 2020, the features that can be extracted in the previous step 2030. It may be determined that the feature point 112 has been extracted by confirming that the measured value of the point 112 is equal to the information recorded by the feature point information recording device 124 (for example, three or more feature points 112 are extracted). If it is provided, it is acceptable if two or more of them can be extracted). By providing redundancy in feature point extraction in this way, for example, even when a part of the feature point 112 is undetectable for some reason (surface contamination, damage, etc.), It is possible to improve the operation rate. And the detection accuracy can be improved by increasing the number of feature points and increasing the redundancy. However, ensuring safety is the top priority, so even if some feature points cannot be extracted and the rest can be extracted, if the factors that could not be extracted affect safety and cannot be ignored. Needless to say, it is not determined that a feature point has been extracted.

  Further, there may be a case where the preceding vehicle 101 is stopped in a curved section or a gradient section. At this time, since the feature point 112 is extracted diagonally backward (left and right or up and down) in the previous step 2030, the feature point extraction device 122 corrects the angle and confirms the match of the feature point information. . By this processing, it is possible to apply the present embodiment even in a curve section or a gradient section. At that time, the correction processing at the time of feature point extraction can be simplified by recording the correction position information of the feature point 112 in the assumed merged section in the feature point information recording device 124 in advance. When correcting the position information, the linear information (curvature, gradient, etc.) of the merged section and the in-line position information of the preceding vehicle 101 are confirmed together to determine whether there is a mismatch with the correction angle of the measurement information. Thus, it can be diagnosed whether an erroneous correction is made.

  Returning to the processing flow, if the feature point 112 can be extracted in Step 2030 (Yes), the process proceeds to Step 2040 and the security device 127 transitions to the merge mode, and then proceeds to Step 2050. On the other hand, if the feature point 112 has not been extracted (No), the security device 127 transitions to the abnormal mode in step 2061 and then proceeds to the abnormal process start in step 3010.

  In step 2050, it is confirmed that the feature point 112 of the preceding vehicle 101 extracted in the previous step 2030 can be detected (the feature point 112 is continuously detected). In the merging mode (merging process), the security device 127 of the following vehicle 102 always confirms the detection of the feature point 112 of the preceding vehicle 101 (actually at regular intervals). Continue the merger process.

  When the feature point 112 of the preceding vehicle 101 can be detected (Yes), the process proceeds to step 2060. When the feature point 112 of the preceding vehicle 101 becomes undetectable (No), the abnormality detection device 126 determines that an abnormality has occurred and notifies the safety device 127 of the occurrence of the abnormality. Based on the abnormality notification, the security device 127 transitions to the abnormality mode in step 2061 and then proceeds to the abnormality process start in step 3010.

  In step 2060, the safety device 127 calculates a travel speed pattern according to the inter-vehicle distance from the preceding vehicle 101, and outputs the calculated speed pattern to the speed control device 123 to control the travel speed of the subsequent vehicle 102. And it transfers to step 2070 which judges merge completion. Note that when the traveling speed of the subsequent vehicle 102 is controlled in step 2060, the security device 127 may execute control for causing the subsequent vehicle 102 to automatically travel, and the driver of the subsequent vehicle 102 may be operated by the driver. You may perform the driving assistance for assisting.

  In step 2070, the security device 127 confirms whether merging with the preceding vehicle 101 is completed. When the merging is not completed (No), the process returns to Step 2050, and the process of Step 2060 is repeatedly executed until the merging is completed or abnormality is determined. When the process of step 2060 is repeated, feature point extraction and travel speed calculation are repeatedly performed to control the travel of the succeeding vehicle 102 in accordance with the movement of the vehicle and changes in the surrounding environment. It is suitable for ensuring the above. On the other hand, when it is confirmed that the preceding vehicle 101 and the succeeding vehicle 102 have been merged (Yes), the process proceeds to step 2080 and the merging process is terminated.

  Here, a method for confirming that the merging of vehicles is completed in Step 2070 will be described. For example, when the inter-vehicle distance measured by the feature point extraction device 122 is equal to or less than a certain value, the security device 127 determines that the vehicle is in contact and determines that the merging has been completed. Further, in a vehicle having a function of performing electrical connection or air pipe connection when the merge is completed, as is practically used in railway vehicles, when the succeeding vehicle 102 detects a transmission signal from the preceding vehicle 101 or when the air pressure changes Is detected, the security device 127 determines that the merging has been completed.

  In step 2080, the security device 127 shifts to the normal mode when the merge process is completed. Then, the operation by the two-car train in which the preceding vehicle 101 and the following vehicle 102 are merged is started. Prior to the start of operation after the completion of the merger, it is desirable that the preceding vehicle 101 and the following vehicle 102 perform on-board network construction, knitting information update (information update such as knitting ID, knitting growth, vehicle configuration), a brake test, and the like. . The procedure after the completion of the merger differs depending on the operation rule and is not covered by this embodiment, so details are not mentioned.

Finally, the abnormality process (abnormal mode) shown in FIG. 4 will be described.
Step 3010 is a step that is executed after the feature point 112 of the preceding vehicle 101 becomes undetectable in Step 2030 or Step 2050 of the previous merge process flow and transitions to the abnormal mode in Step 2061 of the previous merge process flow. . From this step 3010, abnormality processing at the time of merging is started, and the routine proceeds to step 3020.

  In step 3020, the abnormality detection device 126 determines the continuation status (temporary or continuous) of the abnormal event that has occurred. Here, the temporary abnormality refers to a situation in which an abnormality is temporarily detected, but thereafter no abnormality is detected and it can be determined that the abnormality has been removed. The continuous abnormality refers to a situation in which the abnormality detection state continues and it can be determined that the abnormality has not been removed. As a method for confirming the continuation state of the abnormality, for example, when the feature point extraction device 122 tries the feature point detection of the preceding vehicle 101 a plurality of times and the feature point detection fails in all the trials, a continuous abnormality, partly If the feature point detection succeeds in the trial, a temporary abnormality is determined. If it is determined that the abnormality is a temporary abnormality (Yes), the process proceeds to step 3030. If it is determined that the abnormality is a continuous abnormality (No), the process proceeds to step 3031.

  In step 3030, the abnormality detection device 126 notifies the security device 127 that the abnormality has been removed. Receiving this notification, the security device 127 resumes the merging process, proceeds to step 3040, and ends the abnormal process. When resuming the merge process, the security device 127 transitions to the normal mode and then resumes the merge process from the previous step 2010.

  In step 3031, the abnormality detection device 126 determines whether the abnormal event that has occurred affects the operation safety (present or absent) and confirms whether or not the preceding vehicle 101 can be approached when the abnormality occurs. Send alert information to the person involved in the merge process. As the alert information, information on the feature point 112 measured by the feature point extraction device 122, and an image of the distance between the preceding vehicle 101 and the following vehicle 102 by an imaging device such as a camera separately installed at the front end of the following vehicle 102 are captured. Information suitable for confirming the status of the occurrence of an abnormality, such as image information that has been used

  Here, the abnormality that does not affect the safety of operation is that the factor that the feature point 112 of the preceding vehicle 101 cannot be detected is not the obstacle being caught (the collision does not collide with the obstacle even if the traveling for merging is continued) ). Further, an abnormality having an influence on the safety of operation is that a factor that the feature point 112 of the preceding vehicle 101 cannot be detected causes an obstacle to be caught (if the traveling for merging continues, the obstacle collides with the obstacle). Refers to the situation where judgment can be made

  As a method for confirming the influence on safety, for example, a method of detecting a reflector installed at the rear end of the preceding vehicle 101 as the feature point 112 by a laser radar used as the feature point extraction device 122 will be described. When the entire rear end of the preceding vehicle 101 (for example, the contour shape of the preceding vehicle 101) can be detected by the laser radar, but the reflector body cannot be detected, it is determined that the detection is impossible due to damage or dirt of the reflector. . In this case, it is determined that the abnormality does not affect the operation safety.

  As another method, a case where the feature point extraction device 122 fails will be described. In this case, the commander, station staff, etc. visually check an image taken by an imaging device such as a camera separately installed at the front end of the following vehicle 102, and there is no obstacle between the following vehicle 102 and the preceding vehicle 101. Make sure. As a result, it is determined that the abnormality has no effect on the safety of operation. If it is determined by the above procedure or the like that there is no abnormality affecting the safety of operation (Yes), the process proceeds to step 3041. On the other hand, when it is determined that there is an abnormality having an influence on the safety of operation (No), the process proceeds to step 3042.

  In step 3041, the abnormality detection device 126 notifies the security device 127 that the abnormal event that has occurred is an abnormality that does not affect the safety of the operation. Receiving this notification, the security device 127 shifts the subsequent vehicle 102 to the degenerate operation. For example, the safety device 127 performs the degenerate operation of the succeeding vehicle 102 by partially limiting functions such as further reducing the traveling speed of the succeeding vehicle 102. The specific method of the degenerate operation differs depending on the cause of the abnormality, the train system configuration, the train operation rules, and the like. For example, when the feature point extraction device 122 is out of order, the presence or absence of an obstacle is confirmed manually (visually by a commander, station staff, etc.) with an image taken by an imaging device such as a camera as described above. In order to suppress the impact when the vehicle 101 and the succeeding vehicle 102 come into contact with each other to a certain level, a method of setting the speed limit to an extremely low speed (about 3 km / h) and continuing traveling at the slowest speed may be considered. When the degeneration operation is performed and the security device 127 confirms the completion of merging with the preceding vehicle 101 by the same procedure as in the previous step 2070, the process proceeds to step 3040 and the abnormality process is terminated.

  In step 3042, the abnormality detection device 126 notifies the security device 127 that the abnormal event that has occurred is an abnormality that is continuous and has an effect on the safety of operation. Receiving this notification, the safety device 127 performs an emergency stop of the following vehicle 102. When the safety device 127 confirms the completion of the emergency stop of the following vehicle 102, the process proceeds to step 3040, and the abnormality process is terminated.

  As described above, according to the present embodiment, the merged vehicle (following vehicle 102 or preceding vehicle 101) can perform traveling control for merging with the merged vehicle (preceding vehicle 101 or following vehicle 102), and at the time of this merge processing A function is provided to detect and judge abnormalities. This merging process is continued only while the feature point extracting device 122 can always detect the feature point 112 of the preceding vehicle 101 during the merging process. When the feature point extraction device 122 fails or when an obstacle exists between the preceding vehicle 101 and the following vehicle 102, it is determined that an abnormality has occurred. Therefore, it is possible to merge vehicles safely and smoothly in a short time.

  Further, the present embodiment is intended for control when the preceding vehicle 101 and the following vehicle 102 come into contact with each other and the vehicles are physically merged by the couplers 111 and 121. However, the present invention is not limited to the control for physical merging of vehicles as in the present embodiment. For example, a plurality of vehicles (automobiles) are not physically combined, such as in a vehicle platooning. In a system that travels close to the vehicle, it can also be applied as a system that detects obstacles between vehicles and detects a failure of a means for confirming an oncoming vehicle. This enables safe, smooth and stable platooning. Furthermore, the present invention can also be applied as an obstacle detection system for stopping or storing a plurality of vehicles close to each other, such as garage storage of a railway vehicle or parking of a car. As a result, the vehicle can be stopped or stored at a desired position safely and smoothly in a short time.

101: preceding vehicle 102: following vehicle 111: coupler (first coupler)
112: Feature point 121: Coupler (second coupler)
122: Feature point extraction device 123: Speed control device 124: Feature point information recording device 125: Vehicle speed sensor 126: Abnormality detection device 127: Security device

Claims (15)

A vehicle that can be merged with other vehicles,
A processing device;
A feature point extraction device for measuring feature point information;
A feature point recording device that records in advance information representing the feature points;
When approaching the other vehicle by moving forward or backward, the processing device matches the feature point information measured by the feature point extraction device with the feature point information recorded by the feature point recording device. A vehicle characterized in that it is determined whether or not to make a decision, and if it matches, the approach is allowed, and if it does not match, the approach is stopped. The vehicle according to claim 1,
The feature point extraction device is characterized in that a feature point provided on a surface of the other vehicle facing the traveling direction of the vehicle is a measurement target. The vehicle according to claim 2,
The feature point extraction device is configured by a laser radar or a millimeter wave radar capable of measuring a plurality of angular ranges in the traveling direction of the vehicle, and has a vehicle cross-sectional shape and a surface facing the traveling direction of the vehicle in the other vehicle. A vehicle characterized by measuring at least one of the uneven shape, the position of a reflector installed on the opposite surface, and the reflectance of the reflector as information of the feature point. The vehicle according to claim 1,
The vehicle characterized in that the feature point extraction device uses a feature point provided in a ground facility located near the other vehicle between the vehicle and the other vehicle as a measurement target. The vehicle according to any one of claims 1 to 4, wherein
In the case where they do not match, the processing device further analyzes the factor determined to be inconsistent, and if it is confirmed that there is no influence on safety against the approach due to the factor, the processing device allows the approach by the slowest speed. Vehicle. The vehicle according to any one of claims 1 to 5,
In the case where they do not match, the processing device transmits alert information for confirming whether or not access to the other vehicle is possible to the person concerned in the approach. The vehicle according to claim 6,
The alert information includes at least one of information on the feature points measured by the feature point extraction device and image information obtained by imaging a space between the vehicle and the other vehicle. The vehicle of claim 1;
Another vehicle according to claim 1;
The features of claim 1;
A vehicle control system comprising: The vehicle control system according to claim 8,
The other vehicle includes the feature point on a surface facing the traveling direction of the vehicle. The vehicle control system according to claim 9,
The feature point extraction device is configured by a laser radar or a millimeter wave radar capable of measuring a plurality of angular ranges in the traveling direction of the vehicle,
The information representing the characteristic points includes at least the vehicle cross-sectional shape, the uneven shape of the surface facing the traveling direction of the vehicle, the position of the reflector installed on the facing surface, and the reflectance of the reflector in the other vehicle. A vehicle control system including one. The vehicle control system according to claim 8,
The vehicle control system characterized in that the feature point is provided as a ground facility located near the other vehicle between the vehicle and the other vehicle. The vehicle control system according to any one of claims 8 to 11,
In the case where they do not match, the processing device further analyzes the factor determined to be inconsistent, and if it is confirmed that there is no influence on safety against the approach due to the factor, the processing device allows the approach by the slowest speed. Vehicle control system. The vehicle control system according to any one of claims 8 to 12,
In the case where they do not coincide with each other, the processing device transmits alert information for confirming whether or not access to the other vehicle is possible to the person involved in the approaching work. The vehicle control system according to claim 13,
The alert information includes at least one of information on the feature points measured by the feature point extraction device and image information obtained by imaging a space between the vehicle and the other vehicle. The vehicle control system according to any one of claims 8 to 14,
The vehicle and the other vehicle are each constituted by a railway vehicle,
The vehicle approach system according to claim 1, wherein the approach is a process until the vehicle and the other vehicle are merged.