JP2021018592A - 走行制御装置、走行システムおよび走行プログラム - Google Patents
走行制御装置、走行システムおよび走行プログラム Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- H—ELECTRICITY
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- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
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- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- H—ELECTRICITY
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
Description
図1は、第1実施形態に係る走行システムの概略構成を示す図である。
図2は、車両12に搭載される機器のハードウェア構成を示すブロック図である。なお、本実施形態の車両12は、先頭車両14及び後続車両15において同様の構成を有している。図2に示されるように、車両12は、上述した車両制御装置20の他、GPS(Global Positioning System)装置31と、外部センサ32と、内部センサ33と、入力装置34と、アクチュエータ35と、を含んでいる。
図4は、サーバ装置18に搭載される機器のハードウェア構成を示すブロック図である。
図6は、遠隔操作装置16に搭載される機器のハードウェア構成を示すブロック図である。遠隔操作装置16は、上述した遠隔制御装置50の他、表示装置61と、スピーカ62と、入力装置63と、を含んでいる。
次に、走行システム10の作用について説明する。なお、作用を時系列に並べるため、車両12の車両制御装置20の作用、サーバ装置18の作用を順に説明する。
図11は、第2実施形態に係る走行システムの概略構成を示す図である。なお、前述した第1実施形態と同一構成部分については、同一番号を付してその説明を省略する。
図12は、検出装置90に搭載される機器のハードウェア構成を示すブロック図である。
次に、走行システム80の作用について説明する。なお、作用を時系列に並べるため、検出装置90の作用、サーバ装置18の作用を順に説明する。
12 車両
14 先頭車両
15 後続車両
17 リモートセンタ
18 サーバ装置(走行制御装置)
70 道路
74 車群
80 走行システム
90 検出装置
202 環境情報取得部
203 自動運転制御部
205 リモート運転制御部
401 通信部
402 記憶部
403 渋滞状況取得部
404 車群取得部
405 リモート運転切替制御部(切替制御部)
406 自動運転切替制御部
901 車群検出部
902 渋滞検出部
N2 車車間通信(複数の車両の間の通信)
Claims (12)
- 走行する車両の渋滞発生状況又は渋滞が予測される渋滞予測状況を取得する渋滞状況取得部と、
走行状態にある所定の車群の情報を取得する車群取得部と、
前記車群を構成する車両と通信する通信部と、
前記渋滞状況取得部により前記渋滞発生状況又は前記渋滞予測状況が取得されたときに、前記車群取得部により取得された車群の先頭を走行する先頭車両をリモート運転に切替える切替制御部と、
を有する走行制御装置。 - 前記渋滞予測状況として、渋滞が発生しやすい所定の状況を記憶する記憶部を有する請求項1に記載の走行制御装置。
- 前記記憶部には、前記所定の状況として、所定の災害が記憶されている請求項2に記載の走行制御装置。
- 前記記憶部には、前記所定の状況として、渋滞が発生しやすい所定の場所及び渋滞が発生しやすい時間が記憶されている請求項2又は請求項3に記載の走行制御装置。
- 前記車群における前記先頭車両の後側を走行する複数の後続車両を自動運転に切り替える自動運転切替制御部を有する請求項1から請求項4までのいずれか1項に記載の走行制御装置。
- 請求項1から請求項4までのいずれか1項に記載の走行制御装置と、
車群の先頭を走行する先頭車両にリモート運転を行うための制御情報を送信するリモートセンタと、
前記先頭車両に設けられ、前記リモートセンタから受信した前記制御情報に基づいて前記リモート運転を実行するリモート運転制御部と、
を有する走行システム。 - 請求項5に記載の走行制御装置と、
車群の先頭を走行する先頭車両にリモート運転を行うための制御情報を送信するリモートセンタと、
前記先頭車両に設けられ、前記リモートセンタから受信した前記制御情報に基づいて前記リモート運転を実行するリモート運転制御部と、
前記後続車両に設けられ、前記車群を構成する他の車両との通信により、自車両の加減速及び操舵を制御する自動運転制御部と、
を有する走行システム。 - 前記車両が走行する道路には、前記車群を検出する車群検出部が設けられており、
前記車群取得部は、前記車群検出部で検出された検出信号により前記車群の情報を取得する請求項6又は請求項7に記載の走行システム。 - 前記車両が走行する道路には、前記渋滞発生状況を検出する渋滞検出部が設けられており、
前記渋滞状況取得部は、前記渋滞検出部で検出された検出信号により前記渋滞発生状況を取得する請求項6から請求項8までのいずれか1項に記載の走行システム。 - 前記車群取得部は、走行する複数の前記車両の間での通信により取得された環境情報により、前記車群の情報を取得する請求項6から請求項9までのいずれか1項に記載の走行システム。
- 前記渋滞状況取得部は、走行する複数の前記車両の間での通信により取得された環境情報により、前記渋滞発生状況を取得する請求項6から請求項9までのいずれか1項に記載の走行システム。
- 走行する車両の渋滞発生状況又は渋滞が予測される渋滞予測状況を取得するステップと、
走行状態にある所定の車群の情報を取得するステップと、
前記渋滞発生状況又は前記渋滞予測状況が取得されたときに、前記車群の先頭を走行する先頭車両をリモート運転に切替えるステップと、
をコンピュータに実行させるための走行プログラム。
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JP2019133728A JP7215368B2 (ja) | 2019-07-19 | 2019-07-19 | 走行制御装置、走行システムおよび走行プログラム |
US16/930,854 US20210018934A1 (en) | 2019-07-19 | 2020-07-16 | Travel control device, travel system, and travel program |
CN202010690995.4A CN112327823A (zh) | 2019-07-19 | 2020-07-17 | 行驶控制装置、行驶系统以及记录有行驶程序的记录介质 |
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2019
- 2019-07-19 JP JP2019133728A patent/JP7215368B2/ja active Active
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2020
- 2020-07-16 US US16/930,854 patent/US20210018934A1/en not_active Abandoned
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JP2017147626A (ja) * | 2016-02-18 | 2017-08-24 | トヨタ自動車株式会社 | 遠隔操作システム |
JP2019061608A (ja) * | 2017-09-28 | 2019-04-18 | 矢崎総業株式会社 | 車車間制御システム |
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US20210018934A1 (en) | 2021-01-21 |
JP7215368B2 (ja) | 2023-01-31 |
CN112327823A (zh) | 2021-02-05 |
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