JP4538841B2 - Convoy travel control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a convoy travel control apparatus, for example, a convoy travel control apparatus suitable for application to a vehicle such as an automobile driven by a driver.
[0002]
[Prior art]
Conventionally, in the field of automobiles, a platooning system in which a plurality of automobiles automatically travel in a platoon has been studied. As such platooning technology, for example, Japanese Patent Laid-Open No. 8-314541 has been proposed. Has been.
[0003]
[Problems to be solved by the invention]
According to the conventional platooning system, a large number of automobiles can be safely and highly efficiently driven on a limited road facility.
[0004]
In general, in a platooning system, the platoon is organized in a state in which the distance between the vehicle and the vehicle ahead is considerably shorter than in the case of traveling by a driver's manual operation. For this reason, when a platoon can only travel in a predetermined service section, and manual operation is required for traveling ahead from the end point of the service section, the driver's driving operation at that end point is not easy and driving The mental burden on the operation is large, and it is expected that traffic jams and dangerous situations will occur due to heavy use of the brake operation.
[0005]
SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a platooning control apparatus that ensures smooth traffic (traffic flow) at the end point of a platooning service section.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the row running control device according to the present invention is characterized by the following configuration.
[0007]
  That is, in a predetermined service section where platooning can be performed, platooning in which the host vehicle travels in a state in which the vehicle and the vehicle behind the vehicle and the communication equipment on the road equipment side are organized while the vehicle is organized. A convoy travel control device comprising a control means, wherein the convoy travel control means is configured such that when the remaining distance to the end point of the predetermined service section is shorter than a predetermined distance, the remaining distance is equal to or greater than the predetermined distance. Compared to some cases, the vehicle includes a vehicle distance changing means for changing the target vehicle distance to the front vehicle traveling immediately before the host vehicle to a larger value.When the predetermined service section has a plurality of lanes in the section of the predetermined distance and the remaining distance is shorter than the predetermined distance, the convoy travel control means In the formation formation, when the host vehicle is an even-numbered vehicle from the front preceding vehicle in the formation, control or instruct the driver to perform a lane change operation to another laneIt is characterized by.
  Also, in a predetermined service section where platooning is possible, platooning that allows the host vehicle to travel in a state where the platoon is organized with these vehicles while communicating with the front vehicle and / or the rear vehicle and the communication equipment on the road equipment side A convoy travel control device comprising a control means, wherein the convoy travel control means is configured such that when the remaining distance to the end point of the predetermined service section is shorter than a predetermined distance, the remaining distance is equal to or greater than the predetermined distance. More than a certain case, it includes an inter-vehicle distance changing means for changing a target inter-vehicle distance to a larger value with a preceding vehicle traveling immediately before the own vehicle, and the platooning control means passes the end point and then the own vehicle The vehicle running state of the host vehicle is released when a predetermined time elapses after the vehicle running state is released in the front vehicle traveling immediately before the vehicle.
  Also, in a predetermined service section where platooning is possible, platooning that allows the host vehicle to travel in a state where the platoon is organized with these vehicles while communicating with the front vehicle and / or the rear vehicle and the communication equipment on the road equipment side A convoy travel control device comprising a control means, wherein the convoy travel control means is configured such that when the remaining distance to the end point of the predetermined service section is shorter than a predetermined distance, the remaining distance is equal to or greater than the predetermined distance. The vehicle-to-vehicle distance changing unit includes a vehicle-to-vehicle distance changing unit that changes the target vehicle-to-vehicle distance to the front vehicle traveling immediately before the host vehicle to a larger value than the case where the remaining distance is greater than the predetermined distance. When the vehicle becomes shorter than a predetermined distance, manual release of the row running state of the host vehicle is prohibited.
[0013]
【The invention's effect】
According to the present invention described above, it is possible to provide a platooning control apparatus that ensures smooth traffic at the end point of a platooning service section.
[0014]
  That is, claim 1Thru 3According to the invention, when the distance to the end point of the service section becomes shorter than the predetermined distance, the distance from the preceding vehicle traveling immediately before the host vehicle is, LongTherefore, the driver's manual driving operation after passing through the end point is facilitated, traffic congestion due to inadvertent deceleration or the like can be prevented, and smooth traffic can be secured.
[0016]
  Claims1According to the invention, since the plurality of vehicles that form the platoon move to another lane for each vehicle, the operation of increasing the inter-vehicle distance in the section where the distance to the end point of the service section is a predetermined distance is quickly performed. And can ensure smooth traffic.
[0017]
  Claims2According to the invention, it is possible to prevent a plurality of vehicles that form the platoon from shifting to manual operation almost simultaneously, so that the driver can perform driving operation with a margin and ensure smooth traffic. Can do.
[0018]
  Claims3According to this invention, it is possible to prevent the detachment due to the driver's self-determination, and therefore it is possible to ensure smooth traffic of a plurality of vehicles that form the platoon.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, a row running control device according to the present invention will be described in detail with reference to the drawings as an embodiment in which the driver is applied to a vehicle such as an automobile that can be driven by the driver.
[0021]
First, the hardware configuration of the row running control device according to this embodiment will be described.
[0022]
FIG. 1 is a block diagram showing the overall system configuration of the row running control device according to this embodiment.
[0023]
In the figure, 2 is a road-to-vehicle communication device that transmits and receives various types of information to and from roadside communication equipment (so-called infrastructure). The service end position of platooning, the number of lanes, the gradient, the curvature, the platoon speed, Get information about existing obstacles.
[0024]
Reference numeral 3 denotes a distance sensor such as a laser radar or a millimeter wave radar that detects an inter-vehicle distance from another vehicle traveling in front of the host vehicle.
[0025]
Reference numeral 4 denotes a vehicle-to-vehicle communication device that transmits and receives various types of information to and from vehicles in front of and / or behind the host vehicle. In this embodiment, at least vehicle speed and acceleration / deceleration are obtained.
[0026]
5. By detecting information from the lane marker indicating the travel route to be traveled, the lateral position of the host vehicle with respect to the travel route, and the service start point of the convoy travel (the distance from the predetermined reference point (travel distance) For example, the lateral position is detected based on magnetism received from a magnetic nail embedded in the road surface in advance.
[0027]
6 detects the current position based on map information stored in advance in a storage medium such as a DVD-ROM or a GPS (Global Positioning System) signal received from the outside, and guides the route to the destination. It is a navigation device that performs the above.
[0028]
Reference numeral 7 denotes a vehicle speed sensor that detects the vehicle speed of the host vehicle.
[0029]
An inter-vehicle distance control electronic control unit (ECU) 10 controls a travel system actuator 11 such as a throttle, a brake actuator, or an automatic transmission in order to control the inter-vehicle distance with another vehicle existing ahead of the host vehicle. By doing so, the acceleration / deceleration of the host vehicle is controlled. In general, the distance between the front and rear vehicles when the platooning is automatically performed is considerably shorter than when the driver is driving manually by his / her own operation. Although it is quite difficult to follow the own vehicle by manual operation, if acceleration / deceleration control is performed by the inter-vehicle distance control ECU 10, a plurality of vehicles can form a platoon with a short inter-vehicle distance. Here, the platoon speed to be protected by the own vehicle is obtained from the infrastructure side via the road-to-vehicle communication device 2, or the other vehicle traveling at the head of the row to which the own vehicle belongs via the inter-vehicle communication device 4 May be obtained from
[0030]
A steering control electronic control unit (ECU) 12 controls the operation of a steering system actuator 13 such as a steering actuator or a brake actuator in order to change the traveling direction of the host vehicle.
[0031]
Reference numeral 15 denotes an information providing device such as a display or a speaker for notifying a driver of various information such as a vehicle speed to be observed in manual driving by display or voice.
[0032]
Note that the detection methods of the various sensors described above and the configuration of the communication device are generally common, and thus a detailed description thereof will be omitted.
[0033]
1 is a platoon for controlling the steering control ECU 10 and the inter-vehicle distance control ECU 10 based on the information obtained by the inter-vehicle communication device 2, the distance sensor 3, the lane marker sensor 5 and the like to realize the platoon traveling control. It is a traveling control device. The row running control device 1 is equipped with a microcomputer (not shown), and these control processes are realized by the CPU operating in accordance with programs and parameters stored in advance in the memory.
[0034]
The platooning control device 1 automatically or semi-automatically joins the own vehicle to a lane in which platooning with another vehicle can be performed with the hardware configuration shown in FIG. In order to automatically perform the platooning of the vehicle, the steering control ECU 12 and the inter-vehicle distance control ECU 10 are controlled. However, a general method is used for the control functions of the two types of ECUs. Detailed description in this embodiment will be omitted, and characteristic parts in this embodiment will be described below.
[0035]
As a premise in the present embodiment, automatic platooning by the platooning control device 1 is possible only in a predetermined service section, and manual driving operation of the driver is necessary in sections before and after the section. Shall. In addition, each vehicle that performs platooning has the above-described device configuration.
[0036]
FIG. 2 is a diagram for explaining the operation of the inter-vehicle distance control of the row running control device in the present embodiment.
[0037]
In the present embodiment, the convoy travel control device 1 communicates with the front vehicle and / or the rear vehicle using the inter-vehicle communication device 4 in a predetermined service section in which the convoy travel is possible, and communication equipment on the road facility side. While performing communication using the road-to-vehicle communication device 2 of the vehicle, while forming a platoon with these vehicles and maintaining the target inter-vehicle distance D, as shown in FIG. When the distance L to the end point of the service section becomes shorter than the predetermined distance X, the target inter-vehicle distance D with the preceding vehicle traveling immediately before the host vehicle is changed to a larger value.
[0038]
As a specific mode of changing the target inter-vehicle distance D in this case, for example, as shown in FIG. 2B, when the distance L becomes shorter than the predetermined distance X, the target inter-vehicle distance D is changed to the distance L. It is better to change it to a larger value as it gets shorter.
[0039]
As specific processing of the convoy travel control device 1 that realizes this operation, a lookup table representing the characteristics shown in FIG. 2B is stored in advance in the memory, and the lookup table is used as the road-vehicle communication device 2. A new target inter-vehicle distance D may be set by referring to the distance L obtained through the above. The predetermined distance X may be detected using the road-to-vehicle communication device 2, the lane marker sensor 5, or the navigation device 6.
[0040]
If the above-described control is performed in the platooning control device 1, the distance to the front vehicle traveling immediately before the host vehicle becomes long when the distance to the end point of the service section becomes shorter than the predetermined distance. This makes it easier for the driver to manually operate after passing the vehicle, prevents traffic congestion due to inadvertent deceleration, etc., and ensures smooth traffic.
[0041]
[Example]
Next, a specific example of the row running control device 1 according to the above-described embodiment will be described.
[0042]
<Example 1>
FIG. 3 is a diagram for explaining the operation of the inter-vehicle distance control of the convoy travel control apparatus according to the first embodiment.
[0043]
By performing the control in the above-described embodiment, it is possible to prevent the occurrence of traffic congestion due to inadvertent deceleration or the like, and to ensure smooth traffic. However, when there is a large amount of vehicle traffic in the service section and a plurality of platoons are traveling in sequence, each vehicle having the function of the platoon traveling control device 1 is controlled to change the inter-vehicle distance before the end point of the service section. If it is started, it is also expected to affect the traveling speed of other subsequent platoons, and in that case, the transportation efficiency in the entire service section will be reduced. That is, it is assumed that the degree of increase in the target inter-vehicle distance D by the above-described inter-vehicle distance change control is preferably as small as possible from the viewpoint of transportation efficiency in the entire service section.
[0044]
Therefore, in this embodiment, based on the case of FIG. 2B described above, the target inter-vehicle distance D increases as the number of lanes at the end point of the service section increases according to the number of lanes at the end point of the service section. Decrease the degree.
[0045]
This is because the more the number of lanes at the end point, the easier the inter-vehicle distance adjustment and lane change by manual driving operation of the driver after the platooning finish, and the occurrence of traffic congestion due to inadvertent braking operation etc. can be prevented. . Here, the number of lanes at the end point may be obtained via the map information of the road-to-vehicle communication device 2 or the navigation device 6.
[0046]
<Example 2>
FIG. 4 is a diagram for explaining the operation of the inter-vehicle distance control of the row running control device in the second embodiment.
[0047]
In the present embodiment, based on the case of FIG. 2B described above, when the end point of the service section is near or inside the tunnel entrance, the degree of increase in the target inter-vehicle distance D is increased.
[0048]
This is because the human visual perception decreases as the surroundings become darker, so in general, in such a situation, the driver considers the driving characteristics of taking a longer inter-vehicle distance during manual driving. When the point is near or inside the tunnel entrance, the inter-vehicle distance control as shown in FIG. 4 makes it easy to adjust the inter-vehicle distance by the driver's manual driving operation after the platooning is completed, due to inadvertent braking operation, etc. The occurrence of traffic jams can be prevented. Here, the presence / absence of the tunnel at the end point may be obtained via the map information of the navigation device 6 or the like.
[0049]
<Example 3>
FIG. 5 is a diagram for explaining the operation of the inter-vehicle distance control of the convoy travel control apparatus according to the third embodiment.
[0050]
In the present embodiment, based on the case of FIG. 2B described above, when the road shape at the end point of the service section is an uphill or a downhill, the degree of increase in the target inter-vehicle distance D is increased.
[0051]
This is because it is not easy to adjust the speed on an uphill or downhill by a manual driving operation compared to a flat road. This is to take into account driving characteristics. If the road shape at the end point is uphill or downhill, the inter-vehicle distance control as shown in FIG. It is easy to adjust the inter-vehicle distance by operation, and it is possible to prevent the occurrence of traffic congestion due to inadvertent braking operation. Here, the road shape at the end point may be obtained via the map information of the navigation device 6 or the like.
[0052]
Furthermore, more efficient control can be performed by adjusting the degree of increase in the target inter-vehicle distance D according to the slope of the uphill or downhill as shown in FIG.
[0053]
<Example 4>
FIG. 6 is a diagram for explaining the operation of the inter-vehicle distance control of the convoy travel control apparatus according to the fourth embodiment.
[0054]
In this embodiment, based on the case of FIG. 2B described above, when the road shape at the end point of the service section is a curve, the degree of increase in the target inter-vehicle distance D is increased.
[0055]
This is because when driving on a curved road by manual driving operation, it is necessary to consider the general driver's driving characteristics of reducing the speed before entering the curve and for a while after entering the curve. If the road shape is a curve and the inter-vehicle distance control as shown in FIG. 6A is performed, it becomes easy to adjust the inter-vehicle distance by the driver's manual operation after the platooning finishes, and traffic congestion due to inadvertent braking operation, etc. Can be prevented. Here, the road shape at the end point may be obtained via the map information of the navigation device 6 or the like.
[0056]
Furthermore, as shown in FIG. 6B, more efficient control can be performed by adjusting the degree of increase in the target inter-vehicle distance D according to the degree of curvature (curvature).
[0057]
<Example 5>
FIG. 7 is a diagram for explaining the operation of inter-vehicle distance control of the convoy travel control apparatus according to the fifth embodiment.
[0058]
In this embodiment, based on the case of FIG. 2B described above, the degree of increase in the target inter-vehicle distance D is increased in accordance with the speed limit at the end point of the service section. More specifically, as shown in FIG. 7B, the adjustment amount ΔD of the target inter-vehicle distance D is adjusted according to the speed limit set from the outside.
[0059]
This is to take into account the general driving characteristics of the driver that the longer the inter-vehicle distance is, the higher the traveling speed is, and the inter-vehicle distance control as shown in FIG. 7A is performed according to the speed limit at the end point. For example, it is easy to adjust the inter-vehicle distance by the driver's manual driving operation after the platooning is completed, and it is possible to prevent the occurrence of traffic jams due to inadvertent braking operation. Here, the speed limit at the end point may be obtained via the road-to-vehicle communication device 2.
[0060]
<Example 6>
FIG. 8 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the sixth embodiment.
[0061]
In this embodiment, in addition to the inter-vehicle distance control shown in FIG. 2B, when the distance to the end point of the service section becomes shorter than the predetermined distance X, as shown in FIG. , At least reduce the speed of the vehicle. Here, in order to reduce the formation speed, it may be set from the outside via the road-to-vehicle communication device 2. Moreover, what is necessary is just to set it as the structure similar to the case of FIG.2 (b), when reducing the speed of the own vehicle. By changing the vehicle speed in this way, it is possible to give the driver more margin for manual driving operation after platooning is completed, making it easier to adjust the distance between vehicles, and causing traffic congestion due to inadvertent braking operation, etc. Can be prevented.
[0062]
<Example 7>
FIG. 9 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the seventh embodiment.
[0063]
In the present embodiment, based on the case of FIG. 8 described above, when the distance to the end point of the service section becomes shorter than the predetermined distance X, the vehicle speed V of the platoon (or the own vehicle) is reduced by the distance L. By changing to a smaller value in accordance with this, the section traveling at a low speed can be shortened compared to the case of FIG. 8, and efficient transportation can be ensured.
[0064]
<Example 8>
FIG. 10 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the eighth embodiment.
[0065]
In the present embodiment, based on the case of FIG. 9 described above, the vehicle speed V of the platoon (or own vehicle) is changed according to whether the road shape at the end point of the service section is an uphill or a downhill. More specifically, the adjustment amount ΔV of the vehicle speed V is adjusted according to the gradient as shown in FIG.
[0066]
This is because when the road shape of the end point of the service section is a slope, the general driver's driving characteristics that the speed decreases on the uphill and the speed increases on the downhill are considered. If the vehicle speed change control as shown in FIG. 10 (a) and FIG. 10 (b) is further performed when the road shape is uphill or downhill, the inter-vehicle distance adjustment by the driver's manual driving operation after the platooning finishes This makes it easy to prevent traffic jams caused by inadvertent braking. Here, the road shape at the end point may be obtained via the map information of the navigation device 6 or the like.
[0067]
<Example 9>
FIG. 11 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the ninth embodiment.
[0068]
In this embodiment, based on the case of FIG. 9 described above, in order to consider human visual characteristics as in the case of FIG. 4, when the end point of the service section is near or inside the tunnel entrance, Increase the degree of reduction in the vehicle speed V of the host vehicle.
[0069]
If such vehicle speed change control is further performed, it becomes easy to adjust the inter-vehicle distance by the manual driving operation of the driver after the platooning is completed, and it is possible to prevent the occurrence of traffic congestion due to an inadvertent braking operation or the like. Here, the presence / absence of the tunnel at the end point may be obtained via the map information of the navigation device 6 or the like.
[0070]
<Example 10>
FIG. 12 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the tenth embodiment.
[0071]
In the present embodiment, based on the case of FIG. 9 described above, from the same viewpoint as in FIG. 3, according to the number of lanes at the end point of the service section, Alternatively, the degree of reduction in the vehicle speed V (of the host vehicle) is reduced.
[0072]
If such vehicle speed change control is further performed, the more the number of lanes at the end point, the higher the vehicle speed V, so that efficient transportation can be ensured and the inter-vehicle distance adjustment by the driver's manual driving operation after the platooning finishes. This makes it easier to change lanes and prevent congestion due to inadvertent braking. Here, the number of lanes at the end point may be obtained via the map information of the road-to-vehicle communication device 2 or the navigation device 6.
[0073]
<Example 11>
FIG. 13 is a diagram for explaining the operation of the lane change control of the convoy travel control apparatus according to the eleventh embodiment.
[0074]
In the present embodiment, it is assumed that there are a plurality of lanes in at least a section of Xm up to the end point of the service section, and all of the plurality of lanes can travel in a platoon. When the distance to the end point is shorter than the predetermined distance X, the lane change operation to another lane is performed when the own vehicle is an even-numbered vehicle from the front preceding vehicle of the formation in the formation being formed. The driver is instructed by voice and / or display using the information providing device 15 to perform control as described above or to perform a lane change operation.
[0075]
If such a lane change control is performed, a plurality of vehicles that form a platoon move to other lanes one by one, so that the distance to the end point of the service section is increased in the section where the distance is a predetermined distance. Can be performed quickly, and smooth traffic after passing through the end point can be secured.
[0076]
As a modification of the present embodiment, the convoy travel control device 1 is a vehicle in which the total weight of the own vehicle is small in the formation being formed when the distance to the end point becomes shorter than the predetermined distance X. When the vehicle is a passenger car or a vehicle with a small load, control may be performed so that a lane change operation to another lane is performed, or a lane change operation may be performed. This is because these vehicles generally have good movement performance and can quickly overtake the preceding vehicle while changing lanes. Here, the total weight, the type of vehicle, and the like may be set in advance in the platooning control apparatus 1, and the loading mechanism may be embedded in a predetermined position in the service section.
[0077]
<Example 12>
FIG. 14 is a diagram for explaining the operation of inter-vehicle distance control of the row running control device in the twelfth embodiment.
[0078]
In this embodiment, the convoy travel control device 1 passes through the end point of the service section, and when a predetermined time has elapsed after the convoy travel state is released in the front vehicle traveling immediately before the own vehicle, Release the convoy travel state. As a result, it is possible to sequentially release the formation from the first vehicle in the formation, and it is possible to prevent a plurality of vehicles that form the formation from shifting to manual operation almost simultaneously. This can be done with a margin, and smooth traffic can be secured. Further, in this case, even after passing through the end point, only the inter-vehicle distance control by the inter-vehicle distance control ECU 10 may be maintained until the formation of the host vehicle is released.
[0079]
<Example 13>
15 and 16 are diagrams for explaining the operation of the inter-vehicle distance control of the row running control device in the thirteenth embodiment.
[0080]
In this embodiment, the convoy travel control device 1 is a manual for the convoy travel state of the own vehicle when the distance to the end point of the service section is shorter than a predetermined distance Y (m) greater than the predetermined distance X (m). The release is prohibited. As a result, it is possible to prevent the detachment due to the driver's selfish judgment, and thus it is possible to ensure smooth traffic of a plurality of vehicles that form the platoon.
[0081]
In the above case, the predetermined distance X and the predetermined distance Y may be set to larger values as the formation length is longer, as shown in FIGS. 16 (a) and 16 (b).
[0082]
Further, when the end point of the service section is uphill, downhill, inside the tunnel, or in the vicinity of the entrance, the predetermined distance Y may be set to a larger value from the same viewpoint as each of the embodiments described above.
[0083]
Further, from the same viewpoint as each of the embodiments described above, the predetermined distance Y may be set to a larger value as the number of lanes at the end point of the service section is smaller.
[0084]
In addition, although the vehicle speed change control of each Example mentioned above can enjoy a bigger effect by performing together with the inter-vehicle distance change control first demonstrated with reference to FIG. 2, such vehicle speed change control is independent. You can go there.
[Brief description of the drawings]
FIG. 1 is a block configuration diagram showing a configuration of an entire system of a convoy travel control apparatus in the present embodiment.
FIG. 2 is a diagram for explaining the operation of inter-vehicle distance control of the row running control device in the present embodiment.
FIG. 3 is a diagram for explaining an operation of inter-vehicle distance control of the convoy travel control apparatus according to the first embodiment.
FIG. 4 is a diagram for explaining an operation of inter-vehicle distance control of a row running control device according to a second embodiment.
FIG. 5 is a diagram for explaining an operation of inter-vehicle distance control of a convoy travel control apparatus according to a third embodiment.
FIG. 6 is a diagram for explaining an operation of inter-vehicle distance control of a convoy travel control apparatus according to a fourth embodiment.
FIG. 7 is a diagram for explaining the operation of inter-vehicle distance control by the row running control device according to the fifth embodiment.
FIG. 8 is a diagram for explaining an operation of vehicle speed change control of a convoy travel control apparatus according to a sixth embodiment.
FIG. 9 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the seventh embodiment.
FIG. 10 is a diagram for explaining an operation of vehicle speed change control of a convoy travel control apparatus according to an eighth embodiment.
FIG. 11 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the ninth embodiment.
FIG. 12 is a diagram for explaining the operation of the vehicle speed change control of the convoy travel control apparatus according to the tenth embodiment.
FIG. 13 is a diagram for explaining an operation of lane change control of a convoy travel control apparatus according to an eleventh embodiment.
FIG. 14 is a diagram for explaining the operation of inter-vehicle distance control of the convoy travel control apparatus according to the twelfth embodiment.
FIG. 15 is a diagram for explaining the operation of inter-vehicle distance control by the convoy travel control apparatus according to the thirteenth embodiment.
FIG. 16 is a diagram for explaining the operation of inter-vehicle distance control of the convoy travel control apparatus according to the thirteenth embodiment.
[Explanation of symbols]
1: Convoy travel control device,
2: Road-to-vehicle communication device,
3: Distance sensor
4: Inter-vehicle communication device,
5: Lane marker sensor,
6: Navigation device,
7: Vehicle speed sensor,
10: Inter-vehicle distance control electronic control unit,
11: Traveling system actuator,
12: Steering control electronic control unit,
13: Steering system actuator,
15: Information providing device,

Claims (3)

In a predetermined service section in which a platoon can be traveled, a platoon travel control means for traveling the host vehicle in a state in which the vehicle and the rear vehicle and the communication equipment on the road equipment side are in communication with the vehicle. A convoy travel control device comprising:
When the remaining distance to the end point of the predetermined service section becomes shorter than the predetermined distance, the platoon traveling control means travels immediately before the own vehicle, rather than when the remaining distance is equal to or greater than the predetermined distance. Including inter-vehicle distance changing means for changing the target inter-vehicle distance with the preceding vehicle to a large value,
The predetermined service section is a plurality of lanes within a section of at least the predetermined distance to the end point,
When the remaining distance is shorter than the predetermined distance, the platooning control means is configured to move to another lane when the host vehicle is an even-numbered vehicle from the leading vehicle in the platoon in the formation being formed. lane change operation as is carried out, and controls, or to that Corps train running control apparatus characterized by instructing the driver. In a predetermined service section in which a platoon can be traveled, a platoon travel control means for traveling the host vehicle in a state in which the vehicle and the rear vehicle and the communication equipment on the road equipment side are in communication with the vehicle. A convoy travel control device comprising:
When the remaining distance to the end point of the predetermined service section becomes shorter than the predetermined distance, the platoon traveling control means travels immediately before the own vehicle, rather than when the remaining distance is equal to or greater than the predetermined distance. Including inter-vehicle distance changing means for changing the target inter-vehicle distance with the preceding vehicle to a large value,
The convoy travel control means cancels the convoy travel state of the host vehicle when a predetermined time has elapsed after the convoy travel state is canceled in the forward vehicle traveling immediately before the host vehicle after passing the end point. to that corps train running control apparatus characterized by. In a predetermined service section in which a platoon can be traveled, a platoon travel control means for traveling the host vehicle in a state in which the vehicle and the rear vehicle and the communication equipment on the road equipment side are in communication with the vehicle. A convoy travel control device comprising:
When the remaining distance to the end point of the predetermined service section becomes shorter than the predetermined distance, the platoon traveling control means travels immediately before the own vehicle, rather than when the remaining distance is equal to or greater than the predetermined distance. Including inter-vehicle distance changing means for changing the target inter-vehicle distance with the preceding vehicle to a large value,
The following distance changing means, said when the remaining distance is shorter than the larger second predetermined distance than the predetermined distance, I said to that Corps train running control and inhibits manual release of the row running condition of the vehicle apparatus.

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