JP2020067749A - Rank travel system - Google Patents

Abstract

To provide a rank travel system capable of allowing heavy vehicles to perform a rank travel inside a tunnel without requiring a skillful driver.SOLUTION: A rank travel system is the system for allowing following vehicles heavier than a leading vehicle to perform a rank travel with the leading vehicle performing a manned-traveling inside a tunnel as a top. A leading vehicle includes a leading unit 10 for measuring a separation distance from a restriction object which restricts traveling inside a tunnel and transmitting a separation distance from the restriction object on a tunnel cross-section to following vehicles as separation distance information. Each one of the following vehicles includes a following unit 20 for determining whether the restriction object can be avoided based on received separation distance information, and allowing each following vehicle to perform automatic traveling on the same track following route to follow the leading vehicle on the same track when the restriction object can be avoided, or on an avoidance route to follow the leading vehicle by avoiding a restriction object when the restriction object cannot be avoided.SELECTED DRAWING: Figure 2

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a platooning system that causes an automated vehicle to follow a leading vehicle that travels in a mine by manned traveling to perform platooning.

  In a tunnel during excavation, a large dump truck or a trailer truck is run inside the mine in order to transport the slip (excavated earth and sand) (for example, refer to Patent Document 1).

JP, 2003-301700, A

  However, due to the narrow environment inside the mine, the driver is limited to those who are familiar with driving in the mine. Further, it is necessary to operate a plurality of large dump trucks and truck tractors when transporting a large amount of slip, but it is difficult to secure skilled drivers for a plurality of people.

  The present invention has been made in view of such circumstances, and provides a platooning system that solves the above-mentioned problems and allows a large vehicle to platoon within a tunnel without requiring a skilled driver. Especially.

The platooning system of the present invention includes a leading vehicle that is manned in a regulated space having a regulation object that regulates traveling in the width and / or height, and a trailing vehicle that is larger than the leading vehicle. A platooning system for traveling, wherein the leading vehicle measures a distance from the restricted object, and transmits a distance between the restricted object and the restricted object in a cross section of the restricted space to the following vehicle as separation information. The following vehicle determines whether or not the restricted object can be avoided based on the received separation information, and when the restricted object can be avoided, follows the leading vehicle on the same track. When it is impossible to avoid the restricted object on the same track following route, it is preferable to include a tracking unit that automatically runs on the avoidance route that avoids the restricted object and follows the leading vehicle. To.
Furthermore, in the platooning system of the present invention, the leading unit transmits the separation information indicating the positional relationship between the restricted object and a reference point set at the center in the width direction of the leading vehicle to the following vehicle, When the reference unit of the leading vehicle and the reference point set in the widthwise center of the following vehicle coincide with each other in the left-right direction, the follow-up unit avoids the restricted object by the own vehicle with a predetermined clearance. You may judge whether it is possible.
Furthermore, in the platooning system of the present invention, the leading unit may measure a road surface condition and set an upper limit speed of the leading vehicle according to the measured road surface condition.
Further, in the platooning system of the present invention, the follow-up unit measures vertical vibration of the following vehicle, and the leading unit sets an upper limit speed of the leading vehicle according to the vibration measured by the following unit. You may set it.
In addition, the leading unit of the present invention is mounted on a leading vehicle that makes a trailing vehicle larger than the subject vehicle lead in a platoon in a regulated space in which there is a regulation object that regulates traveling in width and / or height. In the leading unit, the distance measurement sensor that measures the distance from the restricted object, the leading information generation unit that generates the distance between the restricted object in the cross section of the restricted space as the separation information, and the separation information. And a transmitting unit for transmitting to the following vehicle.
Further, the follow-up unit of the present invention, which is larger than the leading vehicle, travels in a row with the leading vehicle leading the manned traveling in a regulated space having a regulation object that regulates the traveling in the width and / or height. A follow-up unit mounted on a following vehicle, receiving a distance from the leading vehicle with respect to the restricted object in a cross section of the restricted space as separation information, and avoiding the restricted object based on the received separation information. If it is possible to avoid the regulated object, it is the same track following route that follows the leading vehicle on the same track, and if the restricted object cannot be avoided, the regulated object is And a travel route generation unit that generates an avoidance route that follows the leading vehicle, and generates automatic travel information that travels the same trajectory following route or the avoidance route, and By comprising an automatic travel information generation unit for controlling the automatic running of the same trajectory tracking route or the bypass route by the dynamic travel information, the characterized.

  According to the present invention, the driver of the leading vehicle can travel inside the tunnel mine without being aware of the size of the following vehicle. Therefore, there is an effect that a succeeding vehicle 2 larger than the leading vehicle can be run in a row within the tunnel without requiring a skilled driver.

It is a figure showing an example of a formation of a formation running system concerning the present invention. It is a block diagram which shows the structure of the leading unit shown in FIG. It is a block diagram which shows the structure of the tracking unit shown in FIG. It is a figure which shows the example of the separation information produced | generated by the leading information production | generation part shown in FIG. 4 is a flowchart illustrating a tracking operation performed by the tracking unit shown in FIG. 3. It is explanatory drawing explaining the avoidance determination example by the driving | running route production | generation part shown in FIG. It is a figure which shows the example of a route produced | generated by the driving route production | generation part shown in FIG. It is explanatory drawing explaining the misalignment loading process by a face. It is explanatory drawing explaining the misalignment loading process by a face.

  Next, a mode for carrying out the present invention (hereinafter, simply referred to as “embodiment”) will be specifically described with reference to the drawings.

  The platooning system of the present embodiment causes a lead vehicle 1 that is manned to travel in a regulated space where there is a regulation object that regulates the width and / or height of a tunnel mine, and carries cargo such as slips. It is a system for automatically running the following vehicle 2 in a row, and includes a leading unit 10 mounted on the leading vehicle 1 and a follow-up unit 20 mounted on the following vehicle 2. FIG. 1 shows an example of a convoy consisting of three vehicles, one leading vehicle 1 and two following vehicles 2. However, the number of following vehicles 2 may be one or three or more. good.

The following vehicle 2 is a freight vehicle that carries freight such as scraps. Since it efficiently carries a large amount of freight, a vehicle height H ₂ is high, a vehicle length L ₂ is long, and a vehicle width W ₂ is wide. is there. Therefore, in the present embodiment, it is assumed that the following vehicle 2 is allowed to travel to the face of the face and the side of the well without turning inside the mine. Therefore, it is desirable that the following vehicle 2 has all-wheel steering. By adopting all-wheel steering, it is possible to make the traveling control on the face side and on the wellhead side common.

In the present embodiment, the leading vehicle 1 may have a function of leading the following vehicle 2. Therefore, it is possible to use a passenger vehicle having a lower vehicle height H ₁ than the following vehicle 2, a shorter vehicle length L ₁ , and a narrower vehicle width W ₁ .

  Further, the following vehicle 2 is provided with driver's seats 4 on the face of the loading platform 3 on the face side and on the pit side, respectively, so that manned traveling can be performed on the face face and the pit side without turning inside the mine. .

  Referring to FIG. 2, the leading unit 10 includes a vehicle control ECU (engine control unit) 11, an HMI (human machine interface) system 12, an underground information acquisition unit 13, a leading control unit 14, and a communication unit 15. An in-vehicle LAN 16 for connecting each of these components is provided.

The vehicle control ECU 11 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
The vehicle control ECU 11 includes a brake control ECU that controls a brake actuator that is a braking device, an engine control ECU that controls an engine that is a drive device, a steering control ECU that controls a steering actuator that is a steering device, and the like. The vehicle control ECU 11 outputs from each sensor such as an accelerator sensor that detects a pedal operation amount of an accelerator pedal, a brake sensor that detects a pedal operation amount of a brake pedal, and a steering sensor that detects a steering angle that is a steering wheel operation amount. The vehicle is controlled by acquiring a detection signal that controls the braking device, the driving device, the steering device, and the like.

  The HMI system 12 includes a controller 121, an operation unit 122, a display unit 123, and a voice output unit 124. The operation unit 122 is a switch group that receives various operations by the driver. The display unit 123 is a display that outputs various kinds of information to be notified to the driver as an image. A part or all of the operation unit 122 and the display unit 123 may be configured as a touch panel.

  The voice output unit 124 is a speaker that outputs various information to notify the driver by voice. The controller 121 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The controller 121 notifies the vehicle control ECU 11 and the lead control unit 14 of various operations received by the operation unit 122, and also displays the various information notified from the vehicle control ECU 11 and the lead control unit 14 from the display unit 123 and the voice output unit 124. Output.

  The underground mine information acquisition unit 13 includes a distance measurement sensor 131 that measures the distance between the leading vehicle 1 and the trailing vehicle 2 and a regulated object such as a pit wall or a center, and a road surface measurement sensor 132 that measures a road surface condition. I have it.

  The separation measurement sensor 131 is composed of, for example, a millimeter wave radar, a laser radar, a camera, a three-dimensional laser scanner (3D scanner), and the like, and measures the separation from the regulated object in the tunnel cross section as separation information.

  The road surface measurement sensor 132 is a sensor that measures the unevenness of the road surface. For example, a millimeter wave radar, a laser radar, a camera, a three-dimensional laser scanner (3D scanner) that measures the unevenness of the road surface in the front, or a vertical vibration. It is composed of an acceleration sensor or the like that measures unevenness of the road surface. The separation measurement sensor 131 and the road surface measurement sensor 132 may be partly or wholly shared.

  The leading control unit 14 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and a leading information generation unit 141 and a leading travel guide unit. It functions as 142.

  The leading information generation unit 141 generates as leading information for leading the succeeding following vehicle 2, and transmits the generated leading information to the succeeding succeeding vehicle 2 via the communication unit 15.

  The leading traveling guide unit 142 sets an upper limit speed according to the unevenness of the road surface and guides the traveling of the leading vehicle 1 below the upper limit speed.

  The communication unit 15 has a function of transmitting and receiving information to and from the tracking unit 20 via wireless communication using the 760 MHz band, the 2.4 GHz band, the 5.9 GHz band, or the like.

  Referring to FIG. 3, the tracking unit 20 includes a vehicle control ECU (engine control unit) 21, a tracking information acquisition unit 22, a tracking control unit 23, a communication unit 24, and an in-vehicle LAN 25 connecting these components. Is equipped with.

The vehicle control ECU 21 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
The vehicle control ECU 21 includes a brake control ECU that controls a brake actuator that is a braking device, an engine control ECU that controls an engine that is a drive device, a steering control ECU that controls a steering actuator that is a steering device, and the like. The vehicle control ECU 11 drives the vehicle by controlling the braking device, the driving device, the steering device, and the like based on the automatic travel information from the tracking control unit 23.

  The follow-up information acquisition unit 22 includes a front measurement sensor 221 that measures the leading vehicle 1 or the following vehicle 2 that travels ahead, a separation measurement sensor 222 that measures the separation from a regulated object, and a vibration that measures the vibration of the following vehicle 2. And a measurement sensor 223.

  The forward measurement sensor 221 is composed of, for example, a millimeter wave radar, a laser radar, a camera, a three-dimensional laser scanner (3D scanner), and the like, and the distance between the leading vehicle 1 or the following vehicle 2 traveling ahead and the own vehicle, and the forward direction. The left-right positional relationship between the leading vehicle 1 or the following vehicle 2 traveling on the vehicle and the own vehicle is measured. Since the following vehicle 2 is assumed to travel on the face of the face and the side of the well, the front measurement sensors 221 are provided on the side of the face and the side of the well, and are switched according to the traveling direction.

  The separation measurement sensor 222 is composed of, for example, a millimeter wave radar, a laser radar, a camera, a three-dimensional laser scanner (3D scanner), and the like, and measures the separation from the regulated object in the tunnel cross section. The front measurement sensor 221 and the separation measurement sensor 222 may be partially or wholly shared.

  The vibration measurement sensor 223 is composed of, for example, an acceleration sensor, and measures the vertical vibration of the following vehicle 2.

  The tracking control unit 23 is an information processing unit such as a microcomputer provided with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and includes a travel route generation unit 231 and an automatic travel information generation. It functions as the unit 232.

  The traveling route generation unit 231 generates, on the basis of the leading information from the leading vehicle 1, the same trajectory following route in which the vehicle follows the locus of the leading vehicle 1 or the avoidance route for avoiding the restricted object.

  The automatic traveling information generation unit 232 automatically travels the same trajectory following route or the avoidance route at a predetermined inter-vehicle distance D based on the same trajectory following route or the avoidance route generated by the traveling route generating unit 231 and the traveling information. Generate driving information.

  The communication unit 24 has a function of transmitting and receiving information to and from the leading unit 10 via wireless communication using the 760 MHz band, the 2.4 GHz band, the 5.9 GHz band, or the like.

Next, the leading information generation operation by the leading unit 10 will be described in detail with reference to FIG.
The underground mine information acquisition unit 13 measures the distance from the regulated object in the tunnel cross section at a predetermined interval by the distance measurement sensor 131. The distance measurement position at which the distance is measured by the distance measurement sensor 131 is set in advance to a distance L _a from the rear end of the leading vehicle 1, as shown in FIG. 1, for example.

  Based on the measurement result by the distance measurement sensor 131, the leading information generation unit 141 determines the positional relationship between the restricted object in the tunnel cross section as shown in FIG. 4 and the reference point X set at the center of the leading vehicle 1 in the width direction. The separation information shown is generated. In FIG. 4, a solid line shows a regulated object, (a) shows an example in which the anti-wall is a regulated object, and (b) shows an example in which the pedestal 6 of the center is a regulated object.

In addition, the leading information generation unit 141 acquires travel information (for example, speed, acceleration / deceleration control, steering angle) regarding travel of the vehicle from the vehicle control ECU 11. Then, the leading information generator 141, and the separation information, and travel information, and generates the leading information and the distance L _a from the spaced measurement position to the rear end of the leading vehicle 1, the generated lead information via the communication unit 15 It is transmitted to the succeeding succeeding vehicle 2.

Next, the leading traveling guide operation by the leading unit 10 will be described in detail.
The underground mine information acquisition unit 13 measures the unevenness of the road surface by the road surface measurement sensor 132. Then, the leading travel guide unit 142 determines the unevenness state of the road surface based on the measurement result of the road surface measurement sensor 132, and sets the upper limit speed. The underground mine information acquisition unit 13 sets a lower upper limit speed as the unevenness of the road surface is larger.

  Next, the leading travel guide unit 142 notifies the driver of the set upper limit speed by the display unit 123 and the voice output unit 124 of the HMI system 12, and also notifies the vehicle control ECU 11 of the set upper limit speed, thereby leading the vehicle. The speed of the vehicle 1 is controlled below the upper limit speed. As a result, it is possible to realize platooning at a safe speed according to the road surface condition without the driver's awareness. Further, when the vehicle control ECU 11 performs the braking control according to the notification of the upper limit speed, the vehicle control ECU 11 operates the display unit 123 and the voice output unit 124 of the HMI system 12 to indicate that the braking control is performed according to the notification of the upper limit speed. Inform your hands.

  Next, the follow-up operation by the follow-up unit 20 mounted on the following vehicle 2 that directly follows the leading vehicle 1 will be described in detail with reference to FIGS. 5 to 7. In addition, the following vehicle 2 (following unit 20) identifies that the vehicle in front is the leading vehicle 1 based on the measurement result (vehicle width, vehicle height, etc.) by the front measurement sensor 221, and the own vehicle is directly connected to the leading vehicle 1. It is good to recognize that it is the following vehicle 2 that follows.

The traveling route generation unit 231 receives the leading information (separation information + traveling information + distance L _a ) from the leading vehicle 1 (step S101). Then, the travel route generation unit 231 uses the received leading information (separation information) and the stored dimension information of the own vehicle (vehicle height H ₂ , vehicle length L ₂ , vehicle width W ₂ ) to lead the vehicle. When the reference point X of 1 and the reference point Y set at the center of the following vehicle 2 in the width direction are made to coincide with each other in the left-right direction, the host vehicle can avoid the restricted object at the predetermined clearance α at the distance measurement position. It is determined whether there is any (step S102).

  As shown in FIG. 6A, when the restricted object can be avoided in step S102, the traveling route generation unit 231 follows the trajectory of the reference point X of the lead vehicle 1 by the reference point Y of the own vehicle. A follow-up route is generated (step S103), and the generated same-route follow-up route is transmitted to another succeeding vehicle 2 (step S104).

  Next, the automatic travel information generation unit 232 obtains automatic travel information for traveling the same track following route at a predetermined inter-vehicle distance D based on the same track following route generated by the travel route generating unit 231 and the travel information. By generating and notifying the generated automatic traveling information to the vehicle control ECU 11, the automatic traveling of the same trajectory following route is controlled (step S105).

  Hereinafter, when the restricted object can be avoided in step S102, the operations of steps S101 to S105 are repeated. As a result, the following vehicle 2 that directly follows will follow the same track at a predetermined inter-vehicle distance D according to the traveling of the leading vehicle 1.

  As illustrated in FIG. 6B, when the restricted object cannot be avoided in step S102, the traveling route generation unit 231 sets the separation information measurement position of the separation information included in the leading information received in step S101 as an avoidance point. And stores it (step S106). Referring to FIG. 7A, a point having a distance obtained by adding a distance La included in the leading information and a predetermined inter-vehicle distance D forward from the tip of the own vehicle is stored as an avoidance point.

  Next, as shown in FIG. 6C, the travel route generation unit 231 sets the reference point X of the leading vehicle 1 and the reference point Y of the following vehicle 2 when the restricted object is avoided with the predetermined clearance α. The distance and direction in the left-right direction are calculated as the avoidance amount Z (step S107).

  In addition, when it comes into contact with the regulated object in the height direction or when the regulated object projects on both sides, the avoidance amount Z may not be calculated in step S107. In this case, the traveling route generation unit 231 stops the traveling of the own vehicle by notifying the vehicle control ECU 21 of the avoidance impossible information. In addition, the traveling route generation unit 231 also transmits the avoidance impossible information to the leading vehicle 1 and the following succeeding vehicle 2, and the leading vehicle 1 and the following succeeding vehicle 2 also stop traveling.

Next, based on the calculated avoidance amount Z, the traveling route generation unit 231 moves from the same trajectory following route indicated by the dotted line in FIG. 7A to a direction in which the restricted object is avoided, as shown in FIG. An avoidance route indicated by a solid line is generated (step S108), and the generated avoidance route is transmitted to another succeeding vehicle 2 that follows (step S109).
Next, the automatic travel information generation unit 232 generates and generates automatic travel information for traveling on the avoidance route at a predetermined inter-vehicle distance D based on the avoidance route generated by the travel route generation unit 231 and the travel information. The automatic control of the avoidance route is controlled by notifying the vehicle control ECU 21 of the automatic control information (step S110).

When the next leading information (separation information + running information + distance L _a ) is received from the leading vehicle 1 while the automatic running of the avoidance route is controlled (step S111), the running route generation unit 231 When the reference point X of the leading vehicle 1 and the reference point Y set in the widthwise center of the following vehicle 2 are matched in the left-right direction based on the separation information, the own vehicle has a predetermined clearance at the separation measurement position. It is determined whether or not the restricted object can be avoided by α (step S112).

  If the restricted object cannot be avoided in step S112, the travel route generation unit 231 updates and stores the separation information measurement position of the separation information included in the leading information received in step S111 as the avoidance point (step S113). .

  Next, the traveling route generation unit 231 shifts the reference point Y of the following vehicle 2 from the reference point X of the leading vehicle 1 by the avoidance amount Z on the basis of the separation information, and the own vehicle has a predetermined clearance at the separation measurement position. It is determined whether or not the restricted object can be avoided by α (step S114).

  If the restricted object cannot be avoided in step S114, the restricted route may come into contact with the restricted object on the traveling route. Therefore, the travel route generation unit 231 returns to step S107 to calculate a new avoidance amount Z. Then, in step S108, a new avoidance route is generated.

  When it is possible to avoid the restricted object in step S114, the restricted object can be avoided in the current avoidance route that is traveling, so the process returns to step 110, and the automatic travel information generation unit 232 causes the automatic travel of the current avoidance route. Control.

  If the restricted object can be avoided in step S112, the automatic travel information generation unit 232 determines whether the rear end of the vehicle has passed the avoidance point (step S115). The avoidance point is updated in step S113.

  When the rear end of the own vehicle has not passed the avoidance point in step S115, the process returns to step 110, and the automatic travel information generation unit 232 controls the automatic travel of the current avoidance route.

  When the rear end of the own vehicle has passed the avoidance point in step S115, the process returns to step S103, and the traveling route generation unit 231 generates the same trajectory following route indicated by the dotted line in FIG. The avoidance route shown by the dotted line in (b) is switched to the automatic running of the same track following route. When switching between the avoidance route and the same track following route, the inner wheel difference between the front wheels and the rear wheels may be absorbed by the clearance α. The inner ring difference between the rear wheel and the rear wheel may be eliminated.

  The automatic travel information generation unit 232 may control the automatic travel while confirming whether or not the own vehicle can avoid the restricted object with the predetermined clearance α by the separation measurement sensor 222. In this case, it is possible to automatically travel while confirming the safety of the same route following route and avoidance route generated by the leading information (separation information) from the leading vehicle 1.

  Next, the following operation of the following unit 20 mounted on the following vehicle 2 that follows another following vehicle 2 will be described in detail. The following vehicle 2 (following unit 20) identifies that the vehicle ahead is the following vehicle 2 based on the measurement result (vehicle width, vehicle height, etc.) by the front measurement sensor 221, and the own vehicle is the other following vehicle 2 It is good to recognize that it is the following vehicle 2 that follows.

  The following vehicle 2 that follows the other following vehicle 2 is controlled to follow the same vehicle as the following vehicle 2 that directly follows the leading vehicle 1.

Other following vehicle 2 follows the following vehicle 2 units to follow the 20 (automatic travel information generation unit 232) leading information from leading vehicle 1 (spacing information + traveling information + distance L _a), directly to the lead vehicle 1 Based on the synchronous follow-up route and the avoidance route generated by the follow-up unit 20 mounted on the following vehicle 2 to follow, automatic driving information for traveling on the same track as the following vehicle 2 preceding by the predetermined inter-vehicle distance D is generated. Then, the generated automatic traveling information is notified to the vehicle control ECU 11 to control the automatic traveling on the same track as the preceding succeeding vehicle 2.

In addition, when the piles are stacked higher than the vehicle height H _2, there is a possibility that they may contact the regulated object in the height direction. Therefore, an optical sensor or a camera for measuring the height of the deviation is provided, and when the height of the deviation exceeds a preset height threshold, the vehicle is prohibited from traveling or the vehicle height H ₂ is corrected. It is good to judge whether or not it can be avoided.

  Further, when the amount of load of slip is large, the influence from the road surface becomes large. Therefore, the measurement result by the vibration measurement sensor 223 of the following vehicle 2 is transmitted to the leading vehicle 1, and the leading traveling guide section 142 of the leading unit 10 sets the upper limit speed based on the measurement result of the vibration measurement sensor 223 of the following vehicle 2. You may set it.

Next, the slip loading process on the face will be described in detail with reference to FIGS. 8 and 9.
In the present embodiment, since the following vehicle 2 is not connected, it is possible to efficiently load the trailing vehicle 2 on the trailing face efficiently, and release the facet early. Hereinafter, an example in which the four trailing vehicles 2a to 2d are made to follow the leading vehicle 1 will be described.

  As shown in FIG. 8 (a), the leading vehicle 1 leads the four following vehicles 2a to 2d, and the trailing vehicles 2a to 2d are made to follow the trailing face and stopped. In this state, follow-up traveling is canceled.

  Next, as shown in FIG. 8 (b), the leading vehicle 1 is turned to travel toward the wellhead side, and a space for the succeeding vehicle 2a to enter the succeeding vehicle 2d is secured and stopped. Then, the following vehicle 2a is manned to travel toward the face and is stopped at the slip loading position. Further, the following vehicle 2b is driven by a manned vehicle to the face of the face, and a space is provided between the following vehicle 2c and the following vehicle 2c for the slip loading machine 5 such as a wheel loader or a loadhole dump.

  When the slid loading machine 5 finishes the sled loading on the succeeding vehicle 2a, the sled stacking machine 5 is evacuated between the succeeding vehicles 2b and 2c as shown in FIG. The vehicle is made to travel toward the wellhead side and is moved between the leading vehicle 1 and the following vehicle 2d.

  Next, as shown in FIG. 8 (d), the following vehicle 2b is manned to travel toward the face and is stopped at the slip loading position. Further, the succeeding vehicle 2c is manned to travel to the face of the face, a space is provided between the following vehicle 2d and the slip stacking machine 5, and the succeeding vehicle 2d is manned to run to the face of the face to prevent slipping. A space for the following vehicle 2b to enter is secured between the loaded succeeding vehicle 2a.

  When the slid loading machine 5 finishes slid loading on the succeeding vehicle 2b, the sled stacking machine 5 is evacuated between the succeeding vehicles 2c and 2d as shown in FIG. The vehicle is driven toward the wellhead side and moved between the following vehicle 2a and the following vehicle 2d.

  Next, as shown in FIG. 9 (f), the following vehicle 2c is manned to travel to the face of the face and stopped at the slip loading position. Further, the succeeding vehicle 2d is manned to travel to the face of the face, and a space between the loaded stacking machine 5 and the succeeding vehicle 2c is ensured between the succeeding vehicle 2b and the loaded succeeding vehicle 2b.

  When the sled loading machine 5 finishes the sled loading on the succeeding vehicle 2c, as shown in FIG. 9 (g), the sled stacking machine 5 is evacuated between the succeeding vehicle 2d and the succeeding vehicle 2b, and the succeeding vehicle 2c is manned. It is made to travel to the pit side by running and is moved between the following vehicle 2b and the following vehicle 2d (sliding machine 5).

  Next, as shown in FIG. 9 (h), the following vehicle 2d is manned to travel to the face of the face and stopped at the slip loading position.

  When the slid loading machine 5 finishes slid loading on the succeeding vehicle 2d, as shown in FIG. 9 (i), the sled stacking machine 5 is evacuated while securing a space between the succeeding vehicle 2d and the succeeding vehicle 2d. The following vehicle 2d is manned to travel to the pit side, and is moved between the following vehicle 2c and the stacking machine 5.

  As a result, as shown in FIG. 9 (j), a formation of the following vehicles 2a to 2d, which lead the leading vehicle 1, is formed. In the slip loading process described above, it is not necessary to drive the leading vehicle 1 and the following vehicles 2a to 2d at the same time. Therefore, there can be only one driver.

  In this embodiment, the following vehicles 2a to 2d are made to travel by manned traveling in the slip loading process, but the following vehicles 2a to 2d may be made to run remotely by remote control. In the case of remote traveling, it is possible to save the driver from having to get into the driver's seat 4, so that the slip loading process can be performed more efficiently.

As described above, in the present embodiment, the leading vehicle 1 heads the leading vehicle 1 that is manned in a regulated space (the inside of a tunnel) where there is a regulated object that regulates traveling in the width and / or the height. 1 is a platooning system for platooning a succeeding vehicle 2 which is larger than 1. The leading vehicle 1 measures the distance from a regulated object that regulates traveling in the mine to determine the distance from the regulated object in the tunnel cross section. The leading unit 10 that transmits to the following vehicle 2 as the separation information is provided, and the following vehicle 2 determines whether or not the restricted object can be avoided based on the received separation information, and when the restricted object can be avoided, In the same track following route that follows the leading vehicle 1 on the same track, when the regulated object cannot be avoided, the following unit 20 that automatically runs on the avoidance route that avoids the regulated object and follows the leading vehicle 1 is used. Prepare There.
With this configuration, the driver of the leading vehicle 1 can travel inside the tunnel mine without being aware of the size of the following vehicle 2. Therefore, a succeeding vehicle 2 larger than the leading vehicle 1 can be run in a row within the tunnel without requiring a skilled driver. In addition, since the avoidance route can be generated based on the separation information measured by the leading vehicle 1, the avoidance route can be steered.

Further, in the present embodiment, the leading unit 10 transmits the separation information indicating the positional relationship between the restricted object and the reference point X set at the center of the leading vehicle 1 in the width direction to the following vehicle 2, and the tracking unit 20 When the reference point X of the leading vehicle 1 and the reference point Y set in the widthwise center of the following vehicle 2 are aligned in the left-right direction, whether or not the own vehicle can avoid the restricted object with a predetermined clearance α. To judge.
With this configuration, it is possible to accurately determine whether the following vehicle 2 can avoid the restricted object with the predetermined clearance α.

Further, in the present embodiment, the leading unit 10 measures the road surface condition and sets the upper limit speed of the leading vehicle 1 according to the measured road surface condition.
With this configuration, a safe speed can be set according to the road surface condition.

Further, in the present embodiment, the tracking unit 20 measures the vertical vibration of the following vehicle 2, and the leading unit 10 sets the upper limit speed of the leading vehicle 1 according to the vibration measured by the tracking unit 20.
With this configuration, a safe speed can be set according to the traveling state of the following vehicle 2.

  Further, the present embodiment is a leading unit 10 mounted on a leading vehicle 1 that makes a trailing vehicle 2 larger than the own vehicle lead in a pit in a tunnel mine, and is a regulation that restricts running in the mine. A distance measurement sensor 131 that measures the distance from the object, a leading information generation unit 141 that generates the distance from the regulated object in the tunnel cross section as the distance information, and a communication unit 15 that transmits the distance information to the following vehicle 2 are provided. There is.

  Further, the present embodiment is a follow-up unit 20 mounted on a trailing vehicle 2 which is larger than the leading vehicle 1 and runs in a row with the leading vehicle 1 manned traveling in the tunnel mine leading from the leading vehicle 1. The distance from the controlled object in the tunnel cross section is received as the separation information, and it is judged based on the received separation information whether or not the restricted object can be avoided. If the restricted object can be avoided, the lead vehicle on the same track. When the controlled object cannot be avoided in the same track following route following 1 in FIG. 1, a running route generation unit 231 that generates the avoidance route in which the restricted object is avoided and follows the leading vehicle 1 and the same track following route are generated. An automatic travel information generation unit 232 that generates automatic travel information for traveling on a route or an avoidance route and controls automatic travel on the same trajectory following route or avoidance route according to the generated automatic travel information. Eteiru.

  The present invention has been described above based on the embodiments. It should be understood by those skilled in the art that this embodiment is an exemplification, that various modifications can be made to the combination of the respective constituent elements, and that such modifications are within the scope of the present invention.

1 Leading Vehicle 2, 2a to 2b Trailing Vehicle 3 Bed 4 Driver's Seat 5 Sliding Machine 6 Stand 10 Leading Unit 11 Vehicle Control ECU
12 HMI system 13 Underground information acquisition unit 14 Leading control unit 15 Communication unit 16 In-vehicle LAN
20 Tracking unit 21 Vehicle control ECU
22 Tracking information acquisition unit 23 Tracking control unit 24 Communication unit 25 In-vehicle LAN
121 controller 122 operation unit 123 display unit 124 voice output unit 131 distance measurement sensor 132 road surface measurement sensor 141 leading information generation unit 142 leading travel guide unit 221 forward measurement sensor 222 distance measurement sensor 223 vibration measurement sensor 231 traveling route generation unit 232 automatic traveling Information generator

Claims (6)

A platooning system for platooning a leading vehicle that is manned in a regulated space in which there is a regulation object that regulates traveling in width and / or height, and a trailing vehicle that is larger than the leading vehicle is platooned. ,
The leading vehicle includes a leading unit that measures a distance from the restricted object and transmits the distance from the restricted object in a cross section of the restricted space to the following vehicle as separation information.
The following vehicle determines whether or not it is possible to avoid the restricted object based on the received separation information, and if it is possible to avoid the restricted object, the same track that follows the leading vehicle on the same track. A platooning system comprising: a follow-up unit for automatically traveling on an avoidance route that avoids the restricted object and follows the leading vehicle when the restricted object cannot be avoided on the following route. The leading unit transmits the separation information indicating the positional relationship between the restricted object and a reference point set at the center in the width direction of the leading vehicle to the following vehicle,
When the reference point of the leading vehicle and the reference point set in the widthwise center of the following vehicle coincide with each other in the left-right direction, the follow-up unit can avoid the restricted object by the own vehicle with a predetermined clearance. The platooning system according to claim 1, wherein it is determined whether or not   The platooning system according to claim 1 or 2, wherein the leading unit measures a road surface state and sets an upper limit speed of the leading vehicle according to the measured road surface state. The tracking unit measures vertical vibration of the following vehicle,
The platooning system according to any one of claims 1 to 3, wherein the leading unit sets the upper limit speed of the leading vehicle according to the vibration measured by the tracking unit. A leading unit mounted on a leading vehicle that runs in a platoon with a succeeding vehicle larger than the own vehicle at the head, in a regulated space where there is a regulated object that regulates traveling in either or both of width and height,
A separation measurement sensor that measures the separation from the regulated object,
A leading information generation unit that generates a distance from the restricted object in a cross section of the restricted space as separation information,
A transmission unit that transmits the separation information to the following vehicle, the leading unit. A follow-up unit mounted on a trailing vehicle that is larger than the leading vehicle and runs in platooning with a leading vehicle that is manned running in a regulated space that has a regulated object that regulates running in width and / or height. There
A distance from the leading vehicle in the cross section of the restricted space to the restricted object is received as separation information, and it is determined whether or not the restricted object can be avoided based on the received separation information. If it is avoidable, it is the same track following route that follows the leading vehicle on the same track, and if it is impossible to avoid the restricted object, the avoidance route that avoids the restricted object and follows the leading vehicle And a travel route generator that generates
An automatic travel information generation unit that generates automatic travel information for traveling on the same trajectory following route or the avoidance route, and controls automatic traveling on the same trajectory following route or the avoidance route according to the generated automatic traveling information. A follow-up unit characterized by doing.

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