JP2016166884A - Vehicle mutual position detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle mutual position detection device capable of detecting mutual positions in the longitudinal direction between a preceding vehicle and a following vehicle even in a case where a sound wave and electromagnetic wave with wide directivity are used.SOLUTION: A vehicle mutual position detection device applied to a travel system which causes a preceding truck 50 and a truck 60 following the truck 50 to travel, comprises: an ultrasonic sensor 18 which is installed on the center of the truck 60 and transmits the first transmission wave from the installed position to the front side; an ultrasonic sensor pair 11, 12 which is installed at right-left symmetry positions on the rear surface of the truck 50, receives the first transmission wave and transmits mutually-identifiable second transmission waves from the installed positions to the front side immediately after reception of the first transmission wave or after a prescribed period of time; and an arithmetic unit 47 which detects a right-left deviation direction between the truck 50 and the truck 60 on the basis of the difference in the times until the ultrasonic sensor 18 receives the second transmission waves transmitted from the ultrasonic sensors 11, 12.SELECTED DRAWING: Figure 14

Description

  The present invention relates to a vehicle mutual position detection apparatus that is applied to a traveling system that travels a following vehicle following a preceding vehicle and detects a mutual position of the preceding vehicle and the following vehicle in the left-right direction.

  There is an unmanned vehicle traveling system that includes a preceding first unmanned vehicle and a second unmanned vehicle that travels following the first unmanned vehicle. In such an unmanned vehicle traveling system, a plurality of reflective photoelectric switches spaced apart from each other by a predetermined distance are arranged on the front surface of the second unmanned vehicle, and a photoelectric switch group is arranged on the rear surface of the first unmanned vehicle. There is one in which reflectors are arranged at the same height (for example, see Patent Document 1).

  The photoelectric switch group provided in the second unmanned vehicle emits light toward the first unmanned vehicle, but only the photoelectric switch that receives the light reflected by the reflecting plate is turned on. Therefore, by detecting which photoelectric switch in the photoelectric switch group is turned on, the amount of deviation of the left and right positions from the first unmanned vehicle is detected.

Japanese Patent Laid-Open No. 2-76009

  Compared with the unmanned traveling system described in Patent Document 1, the inter-vehicle distance between the preceding vehicle and the succeeding vehicle is longer in a traveling system in which a logistics vehicle or the like travels in a row. When the inter-vehicle distance between the preceding vehicle and the following vehicle is long, it is difficult to detect the amount of deviation in the left-right direction of the succeeding vehicle with respect to the preceding vehicle using light having a large attenuation rate with respect to the transmission distance as in Patent Document 1. It is. Further, since white noise is large on public roads in the daytime, it is difficult to detect the amount of lateral displacement of the following vehicle with respect to the preceding vehicle using light.

  Further, when sound waves and electromagnetic waves are transmitted from a plurality of sensors separated from each other by a predetermined distance as in Patent Document 1, if the inter-vehicle distance is long, the diffusion range of the sound waves and electromagnetic waves becomes wide. Therefore, the reflected wave is received by a sensor other than the sensor facing the reflector, and there is a concern that the detection accuracy of the amount of deviation in the left-right direction is deteriorated. For this reason, the method described in Patent Document 1 can be applied only to sound waves and electromagnetic waves having narrow directivity.

  In view of the above circumstances, the present invention provides a mutual position detection device for a vehicle that can detect the mutual position of a preceding vehicle and a following vehicle in the left-right direction even when sound waves and electromagnetic waves having a wide directivity are used. The main purpose.

  A first aspect of the present invention is a vehicle mutual position detection device applied to a traveling system that travels a preceding first vehicle and a second vehicle following the first vehicle, the rear surface of the first vehicle, A sensor pair that is installed at the same height at the left and right ends of at least one of the front surfaces of the second vehicle, transmits a transmitted wave from the installed position to the front, and receives the reflected wave, and each of the sensor pair An arithmetic device that detects a left-right displacement direction between the first vehicle and the second vehicle based on a difference in intensity of the reflected wave received by the sensor.

  According to the first invention, the sensor pairs are installed at the same height at the left and right ends of at least one of the rear surface of the first vehicle and the front surface of the second vehicle. Is transmitted. Since the sensor pairs are installed at the left and right ends of the vehicle, even if the transmission waves transmitted from the sensors are diffused, overlapping of the diffusion ranges is suppressed. And the transmitted transmission wave is reflected by the 1st vehicle or 2nd vehicle which faces a sensor pair, and is received by each sensor of a sensor pair.

  When the first vehicle and the second vehicle are not shifted left and right, the intensity of the reflected wave received by each sensor is equal. However, when the first vehicle and the second vehicle are deviated from side to side, the intensity of the reflected wave received by each sensor differs depending on the direction of deviation. Therefore, it is possible to detect the left-right displacement direction between the first vehicle and the second vehicle based on the difference in the intensity of the reflected wave received by each sensor. Therefore, even when a sound wave or electromagnetic wave having a wide directivity is used, it is possible to detect the mutual position in the left-right direction between the preceding vehicle and the following vehicle.

  A second aspect of the present invention is a vehicle mutual position detection device applied to a traveling system for traveling a preceding first vehicle and a second vehicle following the first vehicle, the rear surface of the first vehicle, A pair of sensors that are installed at the same height at the left and right ends of at least one of the front surfaces of the second vehicle, transmit a transmission wave that is a pulse wave to the front from the installed position, and receive the reflected waves; and An arithmetic unit that detects a left-right shift direction between the first vehicle and the second vehicle based on a difference in pulse length of the reflected wave received by each sensor of the sensor pair.

  According to the second invention, similarly to the first invention, the pulse wave transmitted from each sensor of the sensor pair is reflected by the first vehicle or the second vehicle facing the sensor pair, and Received by the sensor. And when the 1st vehicle and the 2nd vehicle have shifted | deviated to right and left, the difference according to a shift | offset | difference arises in the pulse length of the reflected wave received by each sensor. Therefore, it is possible to detect the left / right deviation direction between the first vehicle and the second vehicle based on the difference in the pulse length of the reflected wave received by each sensor. Therefore, even when a sound wave or electromagnetic wave having a wide directivity is used, it is possible to detect the mutual position in the left-right direction between the preceding vehicle and the following vehicle.

  A third aspect of the present invention is a vehicle mutual position detection device applied to a traveling system that travels a preceding first vehicle and a second vehicle following the first vehicle, wherein the first vehicle includes: A central sensor installed at the center of at least one of the rear surface and the front surface of the second vehicle and transmitting a first transmission wave from the installed position to the front surface; and a rear surface of the first vehicle and a front surface of the second vehicle Among them, a sensor pair that is installed at the other left-right symmetrical position with respect to the one where the central sensor is installed, and a time until the first transmission wave is received by each sensor of the sensor pair. And an arithmetic unit that detects a left-right deviation direction between the first vehicle and the second vehicle.

  According to the third aspect of the invention, the central sensor is installed at the center of at least one of the rear surface of the first vehicle and the front surface of the second vehicle, and the first transmission wave is transmitted from the central sensor to the front of the installation position. . Then, the transmitted first transmission wave is received by each sensor of the sensor pair installed at the other left-right symmetrical position with respect to one of the rear surface of the first vehicle and the front surface of the second vehicle with respect to the one where the central sensor is installed. The

  When the first vehicle and the second vehicle are not shifted left and right, the distance from the central sensor to each sensor of the sensor pair is equal. However, when the 1st vehicle and the 2nd vehicle have shifted right and left, a difference arises in the distance from a central sensor to each sensor. For this reason, there is a difference depending on the shift direction in the time until the first transmission wave is received by each sensor. Therefore, it is possible to detect the left and right shift directions of the first vehicle and the second vehicle based on the difference in time until the first transmission wave is received by each sensor. Therefore, even when a sound wave or electromagnetic wave having a wide directivity is used, it is possible to detect the mutual position in the left-right direction between the preceding vehicle and the following vehicle.

  Furthermore, each sensor of the sensor pair receives the first transmission wave transmitted from the central sensor as a direct wave instead of a reflected wave, so that the reception intensity of the first transmission wave is higher than when receiving the reflected wave. growing. For this reason, the distance which can detect the mutual position of a 1st vehicle and a 2nd vehicle can be made longer.

  According to a fourth aspect of the present invention, there is provided a vehicle mutual position detecting device applied to a traveling system that travels a preceding first vehicle and a second vehicle following the first vehicle, the front surface of the second vehicle. A central sensor that is installed in the center and transmits a first transmission wave to the front from the installed position, is installed at a symmetrical position on the rear surface of the first vehicle, receives the first transmission wave, and A sensor pair that transmits a second transmission wave that can be distinguished from each other immediately after receiving a transmission wave or after a predetermined time from the position where the second transmission wave is installed, and the second transmission that is transmitted from each sensor of the sensor pair by the central sensor. An arithmetic unit that detects a left-right shift direction between the first vehicle and the second vehicle based on a difference in time until the wave is received.

  According to the fourth invention, the central sensor is installed at the center of the front surface of the second vehicle, and the first transmission wave is transmitted from the central sensor to the front of the installation position. The transmitted first transmission wave is received by each sensor of the sensor pair installed on the rear surface of the first vehicle at a symmetrical position. Then, immediately after receiving the first transmission wave or after a predetermined time, second transmission waves that can be distinguished from each other are transmitted from each sensor of the sensor pair to the front of the installation position. The second transmission wave transmitted from each sensor of the sensor pair is received by the central sensor.

  When the first vehicle and the second vehicle are not shifted left and right, the distance from the central sensor to each sensor of the sensor pair is equal. However, when the 1st vehicle and the 2nd vehicle have shifted right and left, a difference arises in the distance from a central sensor to each sensor. For this reason, a difference in accordance with the deviation direction occurs in the time until the second transmission wave transmitted from each sensor of the sensor pair by the central sensor is received. Therefore, it is possible to detect the left and right displacement directions of the first vehicle and the second vehicle based on the difference in time until the second transmission wave transmitted from each sensor of the sensor pair is received by the central sensor. Therefore, even when a sound wave or electromagnetic wave having a wide directivity is used, it is possible to detect the mutual position in the left-right direction between the preceding vehicle and the following vehicle.

  Furthermore, since the central sensor receives the second transmission wave transmitted from each sensor of the sensor pair as a direct wave instead of a reflected wave, the distance at which the mutual position between the first vehicle and the second vehicle can be detected is Can be longer.

The block diagram of the mutual position detection apparatus of the vehicle which concerns on 1st Embodiment. The figure which shows the preceding track and subsequent track | truck when not shifting | deviating to right and left. The figure which shows the intensity | strength of the reflected wave received by each sensor of an ultrasonic sensor pair. The figure which shows the prior | preceding track and subsequent track | truck when it has shifted | deviated to right and left. The figure which shows the intensity | strength of the reflected wave received by each sensor of an ultrasonic sensor pair. The flowchart which shows the procedure which detects the mutual position of a vehicle. The side view of the mutual position detection apparatus of the vehicle which concerns on the modification of 1st Embodiment. The block diagram of the mutual position detection apparatus of the vehicle which concerns on 2nd Embodiment. The figure which shows the preceding track and subsequent track | truck when not shifting | deviating to right and left. The figure which shows the prior | preceding track and subsequent track | truck when it has shifted | deviated to right and left. The figure which shows the time until it receives a 1st ultrasonic wave by each sensor of an ultrasonic sensor pair. The block diagram of the mutual position detection apparatus of the vehicle which concerns on 3rd Embodiment. The figure which shows the preceding track and subsequent track | truck when not shifting | deviating to right and left. The figure which shows the prior | preceding track and subsequent track | truck when it has shifted | deviated to right and left.

  Hereinafter, each embodiment in which a vehicle mutual position detection device applied to a traveling system that travels a preceding first track and a second track that follows the first track will be described with reference to the drawings. . In the following embodiments, parts that are the same or equivalent to each other are denoted by the same reference numerals in the drawings, and the description of the same reference numerals is used.

(First embodiment)
First, the configuration of the vehicle mutual positioning device according to the first embodiment will be described with reference to FIG. The mutual position detection apparatus for a vehicle according to the first embodiment includes a sensor pair including an ultrasonic sensor 11 and an ultrasonic sensor 12, a transmission / reception circuit 13, and an arithmetic device 17, and is provided in a truck 50 (first vehicle). It is mounted on the following track 60 (second vehicle). When the truck 50 is the second vehicle relative to the preceding vehicle, the mutual position detection device is also mounted on the truck 50.

  The ultrasonic sensors 11 and 12 are installed at the same height at the left end and the right end of the front surface of the track 60, respectively. Generally, in a distribution vehicle such as a truck, ultrasonic sensors are provided at both the left and right ends of the front and rear surfaces of the vehicle in order to detect surrounding obstacles during parking. As the ultrasonic sensors 11 and 12, those generally installed as described above may be used. The ultrasonic sensors 11 and 12 transmit ultrasonic pulse waves (transmission waves) from the installed positions to the front and receive the reflected waves. Since the ultrasonic sensors 11 and 12 are installed at the left and right ends of the track 60, even if the ultrasonic waves emitted from the ultrasonic sensors 11 and 12 are diffused, overlapping of the diffusion ranges is suppressed. Note that the ultrasonic sensors 11 and 12 are adjusted so that the ultrasonic waves emitted from the ultrasonic sensors 11 and 12 have the same directivity characteristics when the track 50 and the track 60 are not shifted left and right.

  The transmission / reception circuit 13 includes transmission circuits 18 and 14 and reception circuits 15 and 16. The transmission circuits 18 and 14 are electrically connected to the ultrasonic sensors 11 and 12, respectively, and apply electrical signals to the ultrasonic sensors 11 and 12 to emit ultrasonic pulse waves. The receiving circuit 15 is electrically connected to the ultrasonic sensor 11, and the receiving circuit 16 is electrically connected to the ultrasonic sensor 12. The receiving circuits 15 and 16 output a voltage corresponding to the intensity of the reflected wave to an output resistor connected to the output terminal, and detect the reflected wave received by the ultrasonic sensors 11 and 12 as an electrical signal.

  The arithmetic unit 17 is electrically connected to the receiving circuits 15 and 16, and based on the received signals detected by the receiving circuits 15 and 16, that is, the intensity of the reflected wave, the left and right of the track 50 and the track 60 are mutually connected. Detect position.

  Next, a method for detecting the left and right mutual positions of the track 50 and the track 60 will be described in detail with reference to FIGS.

  FIG. 2 shows the mutual position when the track 50 and the track 60 are not shifted left and right. FIGS. 3A and 3B show envelopes of reflected waves received by the ultrasonic sensors 11 and 12, respectively, in the case of FIG. As shown in FIG. 2, when the track 50 and the track 60 are not shifted left and right, the ultrasonic sensors 11 and 12 are arranged so that half of the diffusion range in the horizontal direction of the ultrasonic waves hits the rear surface of the track 50. Send.

  When the track 50 and the track 60 are not shifted left and right, the ultrasonic sensors 11 and 12 are adjusted so as to have the same directivity characteristics. Therefore, as shown in FIGS. The reflected waves received by the sensors 11 and 12 have the same waveform. Here, the maximum value and pulse length of the intensity (amplitude) of the reflected wave received by the ultrasonic sensor 11 are I1 and W1, and the maximum value and pulse length of the reflected wave received by the ultrasonic sensor 12 are I2 and Let W2. When the track 50 and the track 60 are not shifted left and right, I1 = I2 and W1 = W2.

  On the other hand, FIG. 4 shows the mutual position when the track 60 on which the ultrasonic sensors 11 and 12 are installed is shifted to the left with respect to the track 50 facing the ultrasonic sensors 11 and 12. FIGS. 5A and 5B show the envelopes of the reflected waves received by the ultrasonic sensors 11 and 12, respectively, in the case of FIG.

  As shown in FIGS. 5A and 5B, the waveforms of the reflected waves received by the ultrasonic sensors 11 and 12 are different, and there are differences in the intensity and pulse length of the received reflected waves. The intensity I2 and the pulse length W2 of the reflected wave received by the ultrasonic sensor 12 are larger than the intensity I2 and the pulse length W2 when the track 50 and the track 60 are not shifted left and right. On the other hand, the intensity I1 and the pulse length W1 of the reflected wave received by the ultrasonic sensor 11 are smaller than the intensity I1 and the pulse length W1 when the track 50 and the track 60 are not shifted left and right.

  When the track 60 is shifted leftward with respect to the track 50, the ultrasonic wave transmitted from the ultrasonic sensor 12 hits the rear surface of the track 50 in a range wider than half of the diffusion range in the horizontal direction. On the other hand, the ultrasonic wave transmitted from the ultrasonic sensor 11 hits the rear surface of the track 50 in a range narrower than half of the diffusion range in the horizontal direction. Therefore, when the track 60 is shifted to the left with respect to the track 50, compared to the case where the track 50 and the track 60 are not shifted left and right, the intensity I2 of the reflected wave received by the ultrasonic sensor 12 and The pulse length W2 increases, and the intensity I1 and pulse length W1 of the reflected wave received by the ultrasonic sensor 11 decrease.

  Therefore, when the track 60 is shifted leftward with respect to the track 50 (with respect to the front direction of the ultrasonic sensors 11 and 12), the intensity I1 of the reflected wave received by the left ultrasonic sensor 11 is Becomes smaller than the intensity I2 of the reflected wave received by the ultrasonic sensor 12. Conversely, when the track 60 is shifted to the right with respect to the track 50, the intensity I2 of the reflected wave received by the right ultrasonic sensor 12 is the intensity of the reflected wave received by the left ultrasonic sensor 11. It becomes smaller than I1.

  Therefore, the arithmetic unit 17 detects the right and left deviation directions of the track 50 and the track 60 based on the difference between the reflected wave intensities I1 and I2 received by the ultrasonic sensors 11 and 12.

  In addition, there is a correlation between the difference in the intensity of the reflected waves received by the ultrasonic sensors 11 and 12 and the left and right shift amount d between the track 50 and the track 60. Therefore, the arithmetic unit 17 also detects the left-right displacement amount d between the track 50 and the track 60 based on the difference in intensity of the reflected waves received by the ultrasonic sensors 11 and 12.

  Next, a procedure for detecting the mutual position of the vehicle executed by the arithmetic device 17 will be described with reference to FIG.

  First, in S11, it is determined whether or not a reception signal of a reflected wave received by the ultrasonic sensor 11 is input. If no received signal is input (NO), the intensity I1 of the received signal of the ultrasonic sensor 11 is set to 0 in S12. On the other hand, if there is an input of a reception signal in S11 (YES), the intensity I1 of the reception signal of the ultrasonic sensor 11 is acquired in S13.

  Subsequently, in S14, it is determined whether or not a reception signal of a reflected wave received by the ultrasonic sensor 12 is input. If no received signal is input (NO), the intensity I2 of the received signal of the ultrasonic sensor 12 is set to 0 in S15. On the other hand, if a received signal is input in S14 (YES), the received signal intensity I2 of the ultrasonic sensor 12 is acquired in S16.

  Subsequently, in S17, the difference between the intensity I1 of the reception signal of the ultrasonic sensor 11 and the intensity I2 of the reception signal of the ultrasonic sensor 12 is calculated, and the horizontal shift direction and the shift amount d between the track 50 and the track 60 are calculated. Is detected.

  Specifically, the side on which the ultrasonic sensor that receives the reflected wave with the lower intensity of the left and right ultrasonic sensors 11 and 12 is installed, with the front direction of the ultrasonic sensors 11 and 12 as a reference. The direction of displacement of the track 60 on which the acoustic wave sensors 11 and 12 are installed is detected. For example, when the intensity I1 of the reflected wave received by the left ultrasonic sensor 11 is smaller than the intensity I2 of the reflected wave received by the right ultrasonic sensor 12, the front direction of the ultrasonic sensors 11 and 12 is used as a reference. As a result, it is detected that the track 60 is shifted to the left.

  Furthermore, a correlation (for example, a map or a relationship) between the difference ΔI = | I1−I2 | between the intensity of the reflected waves received by the ultrasonic sensors 11 and 12 and the left and right shift amount d between the track 50 and the track 60. Formula) is created in advance. Then, by applying the difference ΔI in the intensity of the reflected wave to the correlation created in advance, the left-right deviation amount d between the track 50 and the track 60 is detected.

  By using the shift direction and the shift amount d of the track 60 with respect to the track 50 detected by the arithmetic unit 17, the vehicle speed of the track 60, the handle operation amount, and the like can be automatically controlled, and the track 60 can automatically follow the track 50.

  According to 1st Embodiment described above, there exist the following effects.

  When the track 50 and the track 60 are not shifted left and right, the intensities I1 and I2 of the reflected waves received by the ultrasonic sensors 11 and 12 are equal. However, when the track 50 and the track 60 are shifted from side to side, the intensities I1 and I2 of the reflected waves received by the ultrasonic sensors 11 and 12 differ depending on the direction of the shift. Therefore, it is possible to detect the right and left displacement directions of the track 50 and the track 60 based on the difference between the reflected wave intensities I1 and I2 received by the ultrasonic sensors 11 and 12. Therefore, even when ultrasonic waves having a wide directivity are used, the mutual position in the left-right direction between the preceding vehicle and the following vehicle can be detected.

  The left side of the ultrasonic sensors 11 and 12, the side where the sensor receiving the reflected wave with the lower intensity is installed, the direction of displacement of the track 60 where the ultrasonic sensors 11 and 12 are installed (the ultrasonic sensor 11 , 12 on the basis of the front direction).

  When the track 50 and the track 60 are shifted from side to side, a difference ΔI corresponding to the shift amount d is generated in the intensities I1 and I2 of the reflected waves received by the ultrasonic sensors 11 and 12. Therefore, by creating the correlation between the reflected wave intensity difference ΔI and the shift amount d in advance, the reflected wave intensity difference ΔI is applied to the previously created correlation, so that the track 50 and the track 60 are correlated. It is possible to detect the amount of left / right deviation.

  -Many logistics vehicles such as trucks 50 and 60 are equipped with ultrasonic sensors at both the left and right ends of the front and rear surfaces of the vehicle in order to detect surrounding obstacles during parking. If an already installed ultrasonic sensor is used, it is possible to detect the mutual position of the preceding vehicle and the succeeding vehicle in the left-right direction at low cost.

  When the track 50 and the track 60 are shifted in the left-right direction, the intensity of the reflected wave received by one of the ultrasonic sensors 11 and 12 is reduced and the intensity of the reflected wave received by the other sensor Becomes bigger. For this reason, even when the amount of shift between the track 50 and the track 60 in the left-right direction is small, the difference in the received intensity of the reflected wave is emphasized. Therefore, a small amount of deviation between the track 50 and the track 60 in the left-right direction can also be detected.

(Modification of the first embodiment)
The first embodiment may be modified as follows. Moreover, you may make it combine each modification arbitrarily.

  -The greater the maximum intensity of the reflected wave received by the ultrasonic sensors 11, 12, the longer the pulse length of the reflected wave. Therefore, the arithmetic unit 17 may detect the left and right shift directions of the track 50 and the track 60 based on the difference between the pulse lengths W1 and W2 of the reflected waves received by the ultrasonic sensors 11 and 12. Of the left and right ultrasonic sensors 11, 12, the side on which the sensor that receives the reflected wave having the shorter pulse length is installed, and the displacement direction of the track 60 on which the ultrasonic sensors 11, 12 are installed (the ultrasonic sensor 11 , 12 on the basis of the front direction).

  There is a correlation between the difference in the pulse length of the reflected wave received by the ultrasonic sensors 11 and 12 and the amount of left-right displacement d between the track 50 and the track 60. Therefore, the correlation between the difference ΔW = | W1−W2 | in the pulse length of the reflected wave received by the ultrasonic sensors 11 and 12 and the left and right shift amount d between the track 50 and the track 60 is created in advance. It may be left. Even in this case, the difference d between the track 50 and the track 60 can be detected by applying the difference ΔW in the pulse length of the reflected wave to the correlation created in advance.

  As shown by a broken line in FIG. 1, a second sensor pair consisting of ultrasonic sensors 11A and 12A is further installed inside a first distance of the first sensor pair consisting of ultrasonic sensors 11 and 12, and the first sensor pair and Depending on the width of the track 50 facing the second sensor pair, a transmission wave may be transmitted from either the first sensor pair or the second sensor pair and the reflected wave may be received. The second sensor pair is a sensor pair that transmits ultrasonic waves from the installed position to the front and receives the reflected waves, and is a sensor pair in which the overlapping part of the diffusion range of the transmitted ultrasonic waves is narrower than a predetermined range. is there.

  In this case, when the width of the track 50 facing the first sensor pair and the second sensor is smaller than the width of the track 60 where the first sensor pair and the second sensor pair are installed, the second sensor Using the pair, the mutual position of the track 50 and the track 60 in the left-right direction can be detected. Therefore, the present invention can also be applied to a traveling system that travels following vehicles following preceding vehicles having different widths. Note that the transmission / reception circuit 13 is provided with a switch for switching the connection between the first sensor pair and the second sensor pair, and the ultrasonic wave was first transmitted from the first sensor pair and the reflected wave could not be received. In this case, the connection is switched to the connection with the second sensor pair, and ultrasonic waves are transmitted by the second sensor pair. When an ultrasonic wave is first transmitted by the first sensor pair and the reflected wave is received, the ultrasonic wave is continuously transmitted by the first sensor pair.

  As shown in FIG. 7, the ultrasonic sensors 11 and 12 may be installed near the upper end of the track 60. By installing the ultrasonic sensors 11 and 12 at a high position, the influence of reflected waves from the ground can be suppressed. Further, a distribution vehicle such as a truck has a higher vehicle height than a general vehicle such as a passenger car. Therefore, when the ultrasonic sensors 11 and 12 are installed in the vicinity of the upper end of the truck 60, when a general vehicle exists in front of the truck 60, no reflected wave is returned from the general vehicle. Therefore, following an incorrect vehicle can be suppressed.

  As shown in FIG. 7, a third sensor pair consisting of ultrasonic sensors 11C and 12C is installed at a predetermined distance below the first sensor pair consisting of ultrasonic sensors 11 and 12 installed near the upper end of the track 60. May be. The third sensor pair transmits a transmission wave from the installed position to the front and receives the reflected wave. The arithmetic unit 17 cannot receive the reflected wave of the transmission wave transmitted from the first sensor pair by the first sensor pair, and receives the reflected wave of the transmission wave transmitted from the third sensor pair by the third sensor pair. In this case, it is determined that a passenger car is present facing the vehicle on which the third sensor pair is installed. The transmission / reception circuit 13 is provided with a switch for switching the connection between the first sensor pair and the third sensor pair.

  The ultrasonic sensors 11 and 12 may transmit ultrasonic waves so that a part or all of the diffusion range in the horizontal direction of the ultrasonic waves hits the rear surface of the track 50 instead of half of the diffusion range in the horizontal direction of the ultrasonic waves. Good. Even if it does in this way, although the difference in the received intensity of a reflected wave is not emphasized like 1st Embodiment, the shift | offset | difference of the track 50 and the track 60 is shown in the intensity | strength I1 of the reflected wave received by the ultrasonic sensors 11 and 12. Differences occur depending on the direction and the amount of displacement d.

  The ultrasonic sensors 11 and 12 are installed at the same height on the left and right ends of the rear surface of the track 50, and the transmission / reception circuit 13 connected to the ultrasonic sensors 11 and 12 and the arithmetic unit 17 connected to the transmission / reception circuit 13. May be mounted on the truck 50. In this way, the ultrasonic waves transmitted from the ultrasonic sensors 11 and 12 are reflected by the front surface of the track 60 and received by the ultrasonic sensors 11 and 12. Similarly to the first embodiment, when the track 50 and the track 60 are shifted from side to side, the reflected waves are received by the ultrasonic sensors 11 and 12 with the intensity I1 and I2 in the direction and amount d. There are corresponding differences.

  Therefore, the displacement direction and displacement amount d of the track 50 with respect to the track 60 can be detected as in the first embodiment. In this case, the displacement direction and displacement amount d of the track 60 with respect to the track 50 are calculated from the detected displacement direction and displacement amount d of the track 50 with respect to the detected track 60. Then, if the calculated displacement direction and displacement amount d of the truck 60 with respect to the truck 50 are transmitted to the truck 60 by inter-vehicle communication, the truck 60 can be caused to automatically follow the truck 50. In addition, the mutual position detection apparatus with the following vehicle which follows the truck 60 is mounted in the truck 60.

(Second Embodiment)
First, the configuration of the vehicle mutual position detection device according to the second embodiment will be described with reference to FIG. The mutual position detection device for a vehicle according to the second embodiment includes a sensor pair including an ultrasonic sensor 11 and an ultrasonic sensor 12, a transmission / reception circuit 23, an arithmetic device 27, an ultrasonic sensor 18 (central sensor), A transmission / reception circuit 33 and an arithmetic device 37 are provided. The ultrasonic sensors 11, 12, the transmission / reception circuit 23, and the calculation device 27 are mounted on a track 60 (second vehicle) that follows the preceding track 50 (first vehicle), and the ultrasonic sensor 18, the transmission / reception circuit 33, the calculation device. 37 is mounted on the preceding track 50. Furthermore, the track 60 is equipped with an ultrasonic sensor 18 of a mutual position detecting device, a transmission / reception circuit 33, and an arithmetic device 37 for detecting the mutual position of the truck 60 and the vehicle following the truck 60. The truck 50 is equipped with ultrasonic sensors 11 and 12, a transmission / reception circuit 23, and an arithmetic unit 27, which are mutual position detection devices that detect the mutual position of the truck 50 and the vehicle preceding the truck 50.

  The ultrasonic sensors 11 and 12 are installed at the same height at the left end and the right end of the front surface of the track 60, respectively. The ultrasonic sensor 18 is installed at the center of the track 60. At least one of the ultrasonic sensors 11 and 12 transmits a pulse wave (second transmission wave) of the second ultrasonic wave from the installed position to the front. When the ultrasonic sensor 18 receives the second ultrasonic wave transmitted from at least one of the ultrasonic sensors 11 and 12, the ultrasonic sensor 18 receives the pulse wave of the first ultrasonic wave (first transmission wave) from the position where it is installed, That is, it transmits toward the ultrasonic sensors 11 and 12. The height at which the ultrasonic sensors 11 and 12 are installed and the height at which the ultrasonic sensor 18 is installed are not necessarily the same. The ultrasonic sensor 18 only needs to be installed at a height where the diffusion range of the first ultrasonic wave emitted from the ultrasonic sensor 18 hits the ultrasonic sensors 11 and 12.

  The transmission / reception circuit 23 includes transmission circuits 28 and 24 and reception circuits 25 and 26. The transmission circuits 28 and 24 are electrically connected to the ultrasonic sensors 11 and 12, respectively, and at least one of the transmission circuits 28 and 24 applies an electric signal to the electrically connected ultrasonic sensor to provide a second signal. Send ultrasonic waves. The receiving circuit 25 is electrically connected to the ultrasonic sensor 11, and the receiving circuit 26 is electrically connected to the ultrasonic sensor 12. The receiving circuits 25 and 26 detect the first ultrasonic wave received by the ultrasonic sensors 11 and 12 as an electrical signal.

  The arithmetic unit 27 is electrically connected to the transmission circuits 28 and 24 and the reception circuits 25 and 26. Based on the difference in time until the first transmission wave is received by the ultrasonic sensors 11, 12, that is, the difference in time until the reception signal is detected by the reception circuits 25, 26, the computing device 27 The left and right mutual positions with 60 are detected.

  The transmission / reception circuit 33 includes a transmission circuit 34 and a reception circuit 35, and the arithmetic device 37 is electrically connected to the transmission circuit 34 and the reception circuit 35. The receiving circuit 35 detects the second ultrasonic wave received by the ultrasonic sensor 18 as an electric signal, and sends the detected electric signal to the arithmetic device 37. When the arithmetic device 37 receives the electric signal detected from the receiving circuit 35, the arithmetic device 37 causes the transmitting circuit 34 to transmit the electric signal to the ultrasonic sensor 18. The transmission circuit 34 applies an electric signal to the ultrasonic sensor 18 to transmit a pulse wave of the first ultrasonic wave.

  Next, a method of detecting the left and right mutual positions of the track 50 and the track 60 will be described in detail with reference to FIGS. FIG. 9 shows the mutual positional relationship when the track 50 and the track 60 are not shifted left and right, and FIG. 10 shows the mutual positional relationship when the track 50 and the track 60 are shifted left and right. FIG. 11 shows the time from when the second ultrasonic wave is transmitted by the ultrasonic sensor 11 until the first ultrasonic wave transmitted by the ultrasonic sensor 18 is received by the ultrasonic sensors 11 and 12 in the case of FIG. Indicates.

  As shown in FIG. 9, when the track 50 and the track 60 are not shifted left and right, the distances from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 are equal. Therefore, the time from when the second ultrasonic wave is transmitted by the ultrasonic sensor 12 until the first ultrasonic wave transmitted from the ultrasonic sensor 18 is received by the ultrasonic sensors 11 and 12 becomes equal.

  On the other hand, as shown in FIG. 10, when the track 60 is shifted leftward with respect to the track 50, the distance from the ultrasonic sensor 18 to the left ultrasonic sensor 11 is the right ultrasonic wave from the ultrasonic sensor 18. It becomes longer than the distance to the sensor 12. Therefore, as shown in FIG. 11, the time T1 until the first ultrasonic wave is received by the ultrasonic sensor 11 is longer than the time T2 until the first ultrasonic wave is received by the ultrasonic sensor 12.

  Conversely, when the track 60 is shifted to the right with respect to the track 50, the distance from the ultrasonic sensor 18 to the right ultrasonic sensor 12 is greater than the distance from the ultrasonic sensor 18 to the left ultrasonic sensor 11. Also gets longer. Therefore, the time T2 until the ultrasonic sensor 12 receives the first ultrasonic wave is longer than the time T1 until the ultrasonic sensor 11 receives the first ultrasonic wave.

  That is, in the times T1 and T2 until the first ultrasonic wave is received by the ultrasonic sensors 11 and 12, a difference according to the right and left shift direction and the shift amount d between the track 50 and the track 60 occurs. Therefore, the computing device 27 detects the right and left displacement directions and the displacement amount d between the track 50 and the track 60 based on the difference in time until the first transmission wave is received by the ultrasonic sensors 11 and 12.

  Specifically, the track 60 on which the ultrasonic sensors 11 and 12 are installed is connected to the side of the left and right ultrasonic sensors 11 and 12 on which the sensor with the longer time until receiving the first ultrasonic wave is set. This is the direction of displacement. For example, when the time T1 until the first ultrasonic sensor 11 receives the first ultrasonic wave is longer than the time T2 until the first ultrasonic sensor 12 receives the first ultrasonic wave, the ultrasonic sensor 11 , 12 as a reference, it is detected that the track 60 is shifted leftward.

  Furthermore, a correlation between the difference ΔT = | T1−T2 | between the time until the first ultrasonic wave is received by the ultrasonic sensors 11 and 12 and the left and right shift amount d between the track 50 and the track 60 (for example, Maps and relational expressions) are created in advance. Then, by applying the reception time difference ΔT to the correlation created in advance, the left-right deviation amount d between the track 50 and the track 60 is detected.

  In addition, each time from when the first ultrasonic wave is transmitted by the ultrasonic sensor 18 to when the first ultrasonic wave is received by the ultrasonic sensors 11 and 12 is acquired, and the left and right shift between the track 50 and the track 60 is acquired. The direction and the shift amount d may be detected. In this case, the timing at which the first transmission wave is transmitted by the ultrasonic sensor 18 is transmitted from the track 50 to the track 60, the first ultrasonic wave is transmitted by the ultrasonic sensor 18, and then the ultrasonic sensors 11, 12 are used. Each time until receiving the first ultrasonic wave is acquired.

  The arithmetic unit 27 transmits the first ultrasonic wave from the ultrasonic sensor 18 to the ultrasonic sensor 11, the ultrasonic sensor 11, the ultrasonic sensor 11, and the ultrasonic sensor 11. Each distance up to 12 is calculated. The rear surface of the track 50 on which the ultrasonic sensor 18 is installed and the front surface of the track 60 on which the ultrasonic sensors 11 and 12 are installed are parallel to each other. The mutual position of the ultrasonic sensor 18 and the ultrasonic sensors 11 and 12 is calculated based on each distance up to. Further, the distance between the truck 50 and the truck 60 and the mutual position of the truck 50 and the truck 60 in the left-right direction are calculated, and the lateral displacement direction and the displacement amount d between the truck 50 and the truck 60 are detected.

  According to 2nd Embodiment described above, there exist the following effects.

  When the track 50 and the track 60 are not shifted left and right, the distances from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 are equal. However, when the track 50 and the track 60 are shifted from side to side, the distance from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 is different. For this reason, the time required to receive the first transmission wave by the ultrasonic sensors 11 and 12 varies depending on the shift direction. Therefore, it is possible to detect the left and right shift directions of the track 50 and the track 60 based on the difference in time until the first transmission wave is received by the ultrasonic sensors 11 and 12. Therefore, even when ultrasonic waves having a wide directivity are used, the mutual position in the left-right direction between the preceding vehicle and the following vehicle can be detected.

  Since the ultrasonic sensors 11 and 12 receive the first transmission wave transmitted from the ultrasonic sensor 18 as a direct wave instead of a reflected wave, the first transmission wave is received as compared with the case of receiving the reflected wave. Strength increases. For this reason, the distance which can detect the mutual position of the track 50 and the track 60 can be made longer.

  Detecting the side of the ultrasonic sensors 11 and 12 on which the sensor with the longer time until the first transmission wave is installed is detected as the displacement direction of the vehicle on which the ultrasonic sensors 11 and 12 are installed Can do.

  Each distance from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 can be calculated from each time from when the first transmission wave is transmitted by the ultrasonic sensor 18 until it is received by the ultrasonic sensors 11 and 12. . The mutual position between the ultrasonic sensor 18 and the ultrasonic sensors 11 and 12 can be calculated based on each distance from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12. That is, the distance between the truck 50 and the truck 60 and the mutual position of the truck 50 and the truck 60 in the left-right direction can be calculated. Therefore, it is possible to detect the right and left displacement direction and the displacement amount d between the track 50 and the track 60.

  Since the first ultrasonic wave is transmitted from the track 50 in response to the second ultrasonic wave transmitted from the track 60, the mutual position of the track 50 and the track 60 in the left-right direction is detected. The timing at which detection is performed can be adjusted on the vehicle side.

(Modification of the second embodiment)
The second embodiment may be modified as follows. Moreover, you may make it combine each modification arbitrarily.

  The first ultrasonic wave may be transmitted by the ultrasonic sensor 18 at an arbitrary timing without transmitting the second ultrasonic wave by the ultrasonic sensors 11 and 12. Even in this case, the right and left shift directions and the shift amount d between the track 50 and the track 60 can be detected based on the difference in time until the first ultrasonic waves are received by the ultrasonic sensors 11 and 12.

  As in the first embodiment, the right and left displacement directions and the displacement amount d between the track 50 and the track 60 are detected based on the difference in intensity of the first transmission waves received by the ultrasonic sensors 11 and 12. Also good.

  The ultrasonic sensors 11 and 12 are installed at both left and right ends of the rear surface of the track 50, the ultrasonic sensor 18 is installed at the center of the front surface of the track 60, and the transmission / reception circuit 23 and the arithmetic unit 27 are installed in the track 50. The transmitter / receiver circuit 33 and the arithmetic device 37 may be installed on the truck 60. Even in this case, as in the second embodiment, when the track 50 and the track 60 are shifted to the left and right, at times T1 and T2 until the first ultrasonic wave is received by the ultrasonic sensors 11 and 12, Differences occur depending on the displacement direction and the displacement amount d.

  Therefore, the shift direction and shift amount d of the track 50 with respect to the track 60 can be detected as in the second embodiment. In this case, the displacement direction and displacement amount d of the track 60 with respect to the track 50 are calculated from the detected displacement direction and displacement amount d of the track 50 with respect to the detected track 60. In addition, the ultrasonic sensor 11 and 12 of the mutual position detection apparatus which detects the mutual position with the vehicle which tracks the track 60, the transmission / reception circuit 23, and the calculating device 27 are mounted in the track 60. In addition, an ultrasonic sensor 18 of a mutual position detection device that detects a mutual position with a vehicle preceding the track 50, a transmission / reception circuit 33, and an arithmetic device 37 are mounted on the track 50.

(Third embodiment)
With reference to FIG. 12, a configuration of a vehicle mutual position detection device according to the third embodiment will be described. The mutual position detection device for a vehicle according to the third embodiment includes an ultrasonic sensor 18 (central sensor), a transmission / reception circuit 43, a calculation device 47, a sensor pair including the ultrasonic sensor 11 and the ultrasonic sensor 12, and A transmission / reception circuit 53 and an arithmetic device 57 are provided. The ultrasonic sensor 18, the transmission / reception circuit 43, and the calculation device 47 are mounted on a truck 60 (second vehicle) that follows the preceding track 50 (first vehicle), and the ultrasonic sensors 11, 12, the transmission / reception circuit 53, the calculation device. 57 is mounted on the preceding track 50. Furthermore, the track 60 is equipped with ultrasonic sensors 11 and 12, a transmission / reception circuit 53, and an arithmetic device 57, which are mutual position detection devices that detect the mutual position between the track 60 and a vehicle that follows the track 60. In addition, an ultrasonic sensor 18 of a mutual position detecting device that detects the mutual position of the truck 50 and a vehicle preceding the truck 50, a transmission / reception circuit 43, and an arithmetic device 47 are mounted on the truck 50.

  The ultrasonic sensor 18 is installed at the center of the track 50. The ultrasonic sensors 11 and 12 are installed at the same height at the left end and the right end of the rear surface of the track 50, respectively. The ultrasonic sensor 18 transmits a pulse wave (first transmission wave) of the first ultrasonic wave from the installed position to the front surface, that is, toward the ultrasonic sensors 11 and 12. The ultrasonic sensors 11 and 12 are positions where pulse waves (second transmission waves) of second ultrasonic waves that can be distinguished from each other are installed immediately after receiving the first ultrasonic wave or after a predetermined time after receiving the first ultrasonic wave, respectively. Send to the front. The height at which the ultrasonic sensors 11 and 12 are installed and the height at which the ultrasonic sensor 18 is installed are not necessarily the same. The ultrasonic sensor 18 only needs to be installed at a height where the diffusion range of the first ultrasonic wave emitted from the ultrasonic sensor 18 hits the ultrasonic sensors 11 and 12.

  The transmission / reception circuit 43 includes a transmission circuit 44 and a reception circuit 45, and the arithmetic device 47 is electrically connected to the transmission circuit 44 and the reception circuit 45. The transmission circuit 44 applies an electrical signal to the ultrasonic sensor 18 to transmit a pulse wave of the first ultrasonic wave. The receiving circuit 45 detects the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 and received by the ultrasonic sensor 18 as an electric signal, and sends the detected electric signal to the arithmetic unit 47.

  The arithmetic unit 47 detects the left and right mutual positions of the track 50 and the track 60 based on the time difference until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 is received by the ultrasonic sensor 18. To do.

  The transmission / reception circuit 53 includes transmission circuits 58 and 54 and reception circuits 55 and 56, and the arithmetic unit 57 is electrically connected to the transmission circuits 58 and 54 and reception circuits 55 and 56. The receiving circuits 56 and 55 detect the first ultrasonic waves received by the ultrasonic sensors 11 and 12 as electric signals, and send the detected electric signals to the arithmetic device 57, respectively.

  When the arithmetic device 57 receives the electric signals detected from the receiving circuits 56 and 55, the arithmetic device 57 causes the transmitting circuits 58 and 54 to transmit the electric signals to the ultrasonic sensors 11 and 12 immediately after reception or after a predetermined time, respectively. The transmission circuits 58 and 54 transmit electric signals to the ultrasonic sensors 11 and 12 to transmit second ultrasonic waves that can be distinguished from each other. Specifically, pulse waves having different frequencies and encoding methods are transmitted from the ultrasonic sensors 11 and 12.

  Next, a method for detecting the left and right mutual positions of the track 50 and the track 60 will be described in detail with reference to FIGS. FIG. 13 shows the mutual positional relationship when the track 50 and the track 60 are not shifted left and right, and FIG. 14 shows the mutual positional relationship when the track 50 and the track 60 are shifted left and right.

  As shown in FIG. 13, when the track 50 and the track 60 are not shifted left and right, the distances from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 are equal. Therefore, the time until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 is received by the ultrasonic sensor 18 becomes equal.

  On the other hand, as shown in FIG. 14, when the track 60 is shifted leftward with respect to the track 50, the distance from the ultrasonic sensor 18 to the right ultrasonic sensor 12 is the ultrasonic wave from the ultrasonic sensor 18 to the left ultrasonic wave. It becomes longer than the distance to the sensor 11. Therefore, the time from the transmission of the first ultrasonic wave by the ultrasonic sensor 18 to the transmission of the first ultrasonic wave by the ultrasonic sensor 12 is determined after the transmission of the first ultrasonic wave by the ultrasonic sensor 18. It takes longer than the time until the first ultrasonic wave is transmitted by the ultrasonic sensor 11. Therefore, the timing at which the second ultrasonic wave is transmitted from the ultrasonic sensor 12 is later than the timing at which the second ultrasonic wave is transmitted from the ultrasonic sensor 11.

  Therefore, the second ultrasonic wave transmitted from the ultrasonic sensor 12 is transmitted at a later timing than the second ultrasonic wave transmitted from the ultrasonic sensor 11, and the transmission distance becomes longer. Therefore, the time T2 from when the first ultrasonic wave is transmitted until the second ultrasonic wave transmitted from the ultrasonic sensor 12 is received by the ultrasonic sensor 18 is from the first ultrasonic wave to the ultrasonic wave. It becomes longer than time T <b> 1 until the second ultrasonic wave transmitted from the ultrasonic sensor 11 by the sensor 18 is received.

  Conversely, when the track 60 is shifted to the right with respect to the track 50, the distance from the ultrasonic sensor 18 to the left ultrasonic sensor 11 is greater than the distance from the ultrasonic sensor 18 to the right ultrasonic sensor 12. Also gets longer. Therefore, the time T1 from when the first ultrasonic wave is transmitted until the second ultrasonic wave transmitted from the ultrasonic sensor 11 is received by the ultrasonic sensor 18 is the ultrasonic wave after the first ultrasonic wave is transmitted. It becomes longer than the time T <b> 2 until the second ultrasonic wave transmitted from the ultrasonic sensor 12 by the sensor 18 is received.

  During the time T1 and T2 from when the first ultrasonic wave is transmitted by the ultrasonic sensor 18 until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 is received, the track 50 and the track 60 Differences occur according to the left and right displacement directions and the displacement amount d. Therefore, the arithmetic unit 47 determines the left / right shift between the track 50 and the track 60 based on the time difference until the ultrasonic sensor 18 receives the second transmission waves transmitted from the ultrasonic sensors 11 and 12, respectively. The direction and the shift amount d are detected.

  Specifically, the side where the sensor that transmits the second ultrasonic wave that is received later by the ultrasonic sensor 18 among the left and right ultrasonic sensors 11 and 12 is set is set on the side where the ultrasonic sensors 11 and 12 are installed. It is assumed that the track 50 is shifted. That is, of the left and right ultrasonic sensors 11 and 12, the side where the sensor that transmits the second ultrasonic wave that is received first by the ultrasonic sensor 18 is set on the side of the track 60 on which the ultrasonic sensor 18 is installed. This is the direction of displacement.

  Furthermore, a difference in time ΔT = | T1−T2 | from when the first ultrasonic wave is transmitted by the ultrasonic sensor 18 until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 is received, A correlation (for example, a map or a relational expression) between the right and left shift amount d between the track 50 and the track 60 is created in advance. Then, by applying the reception time difference ΔT to the correlation created in advance, the left-right deviation amount d between the track 50 and the track 60 is detected.

  According to 3rd Embodiment described above, there exist the following effects.

  When the track 50 and the track 60 are shifted left and right, the distance from the ultrasonic sensor 18 to the ultrasonic sensors 11 and 12 is different. Therefore, there is a difference depending on the shift direction in the time until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 by the ultrasonic sensor 18 is received. Therefore, the left and right shift directions of the track 50 and the track 60 can be detected by the ultrasonic sensor 18 based on the time difference until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 is received. it can. Therefore, even when a sound wave or electromagnetic wave having a wide directivity is used, it is possible to detect the mutual position in the left-right direction between the preceding vehicle and the following vehicle.

  The ultrasonic sensor 11, 12 is installed on the side where the sensor that transmits the second ultrasonic wave having a longer time until reception by the ultrasonic sensor 18 is installed. It can be detected as the direction of vehicle displacement.

(Modification of the third embodiment)
The first ultrasonic wave may not be transmitted by the ultrasonic sensor 18 and the second ultrasonic wave may be transmitted by the ultrasonic sensors 11 and 12 at the same timing. Even in this case, based on the difference in time until the second ultrasonic wave transmitted from the ultrasonic sensors 11 and 12 by the ultrasonic sensor 18 is received, the left and right shift directions of the track 50 and the track 60 and The shift amount d can be detected.

(Other embodiments)
The present invention is not limited to the description of each embodiment described above, and may be modified as follows.

  The ultrasonic sensors 11, 12, and 18 may employ millimeter wave radars or other radars that transmit electromagnetic waves.

  The vehicle mutual position detection device according to each of the above embodiments may be applied to a traveling system that travels a preceding first bus and a second bus that follows the first bus.

  11, 11A, 11C, 12, 12A, 12C, 18 ... ultrasonic sensors, 13, 23, 33, 43, 53 ... transmission / reception circuits, 17, 27, 37, 47, 57 ... arithmetic units, 50, 60 ... tracks.

Claims (8)

A vehicle mutual position detection device applied to a traveling system for traveling a preceding first vehicle (50) and a second vehicle (60) following the first vehicle,
A central sensor (18) installed at the front center of the second vehicle and transmitting the first transmission wave from the installed position to the front;
From the position where the first transmission wave is received on the rear surface of the first vehicle, receives the first transmission wave, and the second transmission waves that can be distinguished from each other immediately after receiving the first transmission wave or after a predetermined time A pair of sensors (11, 12) transmitting to the front;
Calculation for detecting a left-right shift direction between the first vehicle and the second vehicle based on a difference in time until the second transmission wave transmitted from each sensor of the sensor pair is received by the central sensor. A device (47);
A vehicle mutual position detecting device comprising: A vehicle mutual position detection device applied to a traveling system for traveling a preceding first vehicle (50) and a second vehicle (60) following the first vehicle,
A central sensor (18) installed at the center of at least one of the rear surface of the first vehicle and the front surface of the second vehicle, and transmitting a first transmission wave from the installed position to the front;
A sensor pair (11, 12) that is installed at the other left-right symmetrical position with respect to one of the rear surface of the first vehicle and the front surface of the second vehicle with respect to the one where the central sensor is installed, and receives the first transmission wave; ,
An arithmetic device (27) for detecting a left-right displacement direction between the first vehicle and the second vehicle based on a difference in time until the first transmission wave is received by each sensor of the sensor pair;
A vehicle mutual position detecting device comprising: At least one sensor of the sensor pair transmits a second transmission wave from the installed position to the front,
The mutual position detecting device for a vehicle according to claim 2, wherein the central sensor transmits the first transmission wave when the second transmission wave is received.   3. The arithmetic unit according to claim 2, wherein a side on which a sensor having a longer time until receiving the first transmission wave in the sensor pair is installed is set as a shift direction of the vehicle in which the sensor pair is installed. Or the mutual position detection apparatus of the vehicle as described in 3.   The computing device determines whether the first vehicle and the second vehicle are left and right based on each time from when the first transmission wave is transmitted by the central sensor to when it is received by each sensor of the sensor pair. The mutual position detecting device for a vehicle according to any one of claims 2, 3, and 4 that detects a deviation amount of the vehicle.   The arithmetic unit is configured such that a side on which a sensor that transmits a second transmission wave having a longer time until reception by the central sensor among the sensor pair is installed is shifted from a vehicle on which the sensor pair is installed. The mutual position detecting device for a vehicle according to claim 1, wherein the vehicle is a direction.   The mutual position detection apparatus for a vehicle according to claim 1, wherein the sensor pair is an ultrasonic sensor that transmits and receives ultrasonic waves.   When the first vehicle and the second vehicle are not shifted left and right, the sensor pair is configured such that half of the spread range in the horizontal direction of the transmission wave transmitted from each sensor of the sensor pair hits the destination vehicle. The vehicle mutual position detecting device according to claim 7, wherein the transmission wave is transmitted to the vehicle.

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