JP4930367B2 - Convoy travel system - Google Patents

Description

  The present invention relates to a row running system.

  2. Description of the Related Art Conventionally, a convoy travel system is provided in which a plurality of vehicles travel in a convoy by using inter-vehicle communication or using a network communication system on a dedicated road such as an expressway.

For example, when a plurality of vehicles are driven using a network communication system, a network server is provided in the management center, and the network server acquires vehicle information such as the position and vehicle speed of each vehicle, and the position of each vehicle. In addition, a train of vehicles is organized based on the vehicle information, and the train is run in the train in which each vehicle is organized (see, for example, Patent Document 1).
JP 2006-338117 A

  However, in the conventional platooning system, when the platoon is formed, the host vehicle is driven at the head due to the operational problem of the platooning, or depending on the intention of each driver or the like. As a result, the influence of wind pressure on each vehicle increases, and the overall energy consumption of the formation increases.

  It is an object of the present invention to provide a platooning system that can solve the problems of the conventional platooning system and reduce the overall energy consumption of the platooning.

  Therefore, in the platooning system of the present invention, own vehicle information acquisition processing means for acquiring own vehicle information, neighboring vehicle information acquisition processing means for obtaining neighboring vehicle information about surrounding vehicles, the own vehicle information and the surroundings It has a formation formation processing means for reading a projected area of each vehicle including the own vehicle and the surrounding vehicle in the vehicle information, and arranging the formation by arranging the vehicles in order of the projected area.

  According to the present invention, in the platooning system, own vehicle information acquisition processing means for acquiring own vehicle information, neighboring vehicle information acquisition processing means for obtaining neighboring vehicle information about neighboring vehicles, the own vehicle information and the surroundings It has a formation formation processing means for reading a projected area of each vehicle including the own vehicle and the surrounding vehicle in the vehicle information, and arranging the formation by arranging the vehicles in order of the projected area.

  In this case, since the platoon is formed by arranging the vehicles including the own vehicle and the surrounding vehicles in the descending order of the projected area, the downstream vehicle in the wind flow direction is placed behind the upstream vehicle. The wind pressure received by each vehicle by the wind and the traveling wind can be lowered. Therefore, when viewed from the entire platoon, the air resistance received by each vehicle can be minimized, and the energy consumption of the entire platoon can be reduced.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram of a convoy travel system in an embodiment of the present invention.

  In the figure, 10 is the own vehicle as the vehicle, 11 is a vehicle that is present in the vicinity of the own vehicle 10 and is subject to platooning, that is, a surrounding vehicle, and 14 is a control unit that controls the entire vehicle 10. , 51 is a management center for managing the network communication system, and 63 is a network. The vehicle 10, the surrounding vehicle 11, the management center 51, the network 63 and the like constitute a platooning system.

  The own vehicle 10 is predetermined by a GPS sensor 15 serving as a current position detecting unit that detects the current position of the own vehicle 10 as the current vehicle position and the direction of the own vehicle 10 as the own vehicle direction, and is operated by a driver who is an operator. As an operation unit 34 as an input unit for performing input, a display unit 35 as an output unit for performing various displays by an image displayed on a screen (not shown) and notifying the driver, and a transmission / reception unit functioning as a communication terminal Communication unit 38, vehicle information detection unit 47 for detecting vehicle information indicating the state of the vehicle 10 and its running state, environmental information indicating the environment in which the vehicle 10 is placed, and the surrounding conditions of the vehicle 10 A surrounding information detection unit 48 that detects surrounding information to be displayed, a map screen is formed on the display unit 35 to display a map of the surroundings, or a route from the vehicle position to the destination when the destination is set Explore The navigation device 17 or the like for displaying the searched route representing the searched route on the display unit 35 is provided, and the GPS sensor 15, the operation unit 34, the display unit 35, the communication unit 38, the vehicle information detection unit 47, and the surrounding information detection The unit 48, the navigation device 17 and the like are connected to the control unit 14. Note that the surrounding vehicle 11 also has the control unit 14, the GPS sensor 15, the operation unit 34, the display unit 35, the communication unit 38, the vehicle information detection unit 47, the surrounding information detection unit 48, and the navigation device 17 in the same manner as the host vehicle 10. Etc. The GPS sensor 15 detects time in addition to the vehicle position and the vehicle direction. Note that the vehicle direction can be detected by disposing the direction sensor independently of the GPS sensor 15. Further, the function of the GPS sensor 15 can be included in the vehicle information detection unit 47.

  The vehicle information detection unit 47 includes a vehicle speed sensor (not shown) as a vehicle speed detection unit that detects the vehicle speed, a weight sensor (not shown) as a weight detection unit that detects the weight (total weight) of the host vehicle 10, instantaneous fuel consumption, average fuel consumption, and the like. A fuel consumption sensor (not shown) that detects the fuel consumption of the vehicle, a fuel gauge (not shown) that detects the remaining fuel in the fuel tank, and a cruising distance that indicates the cruising distance (detection of remaining gasoline, etc.) It can be detected by the amount, the battery remaining amount, etc.) A cruising distance sensor (not shown) is provided as a cruising distance detector. Vehicle information is constituted by the vehicle speed, weight, fuel consumption, remaining fuel, cruising distance, and the like. In addition, when the GPS sensor 15 is included in the vehicle information detection part 47, the own vehicle position, own vehicle direction, etc. also comprise vehicle information.

  The surrounding information detection unit 48 is a wind direction sensor (not shown) as a wind direction detection unit that detects the wind direction around the host vehicle 10 (the direction in which wind is received), and a wind speed detection unit that detects the wind speed around the host vehicle 10. A wind speed sensor (not shown), a wind pressure sensor (not shown) for detecting the wind pressure around the host vehicle 10, and a road shape (not shown) as a road shape detector for detecting the shape of the road on which the host vehicle 10 is traveling A sensor, a road surface state detection sensor (not shown) such as a road surface state detection unit for detecting a road surface state, a road surface state detection sensor such as a slip sensor, an object to be detected around the host vehicle 10, for example, the surrounding vehicle 11 and Laser radar, millimeter-wave radar that detects and calculates the distance to the vehicle 11, for example, the distance between the vehicle 11 and the surrounding vehicle 11 traveling ahead Radar (not shown) of equal, comprises an ultrasonic sensor or the like. Further, the surrounding information detection unit 48 includes a camera (not shown) as an imaging device that captures an object to be photographed around the host vehicle 10. Peripheral information is constituted by the wind speed, wind pressure, wind direction, road shape, road surface condition, detected object, inter-vehicle distance, object to be photographed, and the like.

  The control unit 14 is a control device that controls the entire vehicle 10 and a CPU 31 as an arithmetic device, and a first recording that is used as a working memory when the CPU 31 performs various arithmetic processes. In addition to a RAM 32 as a device and a control program, a ROM 33 as a second recording device in which various data are recorded is provided.

  The operation unit 34 is for realizing various functions in the control unit 14 when operated by the driver. In addition to a remote control, a keyboard, a mouse, and the like arranged independently of the control unit 14, the operation unit 34 In addition, the control unit 14 includes various operation elements such as buttons, keys, switches, and dials formed on a panel, a casing, and the like. A display is used as the display unit 35. A touch panel having both functions of the operation unit can be used as the operation unit 34 and the display unit 35. In the touch panel, operation elements such as keys, switches, and buttons are displayed as images on the screen, and driving When the person touches the operation element, a predetermined input operation is performed.

  In the present embodiment, in addition to the destination being recorded in the RAM 32 as information for convoy travel, the route on which the vehicle 10 travels, the time at which each point on the route passes, and the like as the travel schedule To be recorded. Note that travel route information is configured by the destination and the travel schedule.

  The ROM 33 records vehicle attribute information that is data unique to the host vehicle 10. The vehicle attribute information includes a formation permission signal indicating that there is an intention to perform platooning, information on the projection surface of the host vehicle 10 (vehicle height, width, total length, area, etc.), and the type of fuel used. , A fuel consumption rate representing a fuel consumption per fixed time, a drive device type (gasoline engine, diesel engine, motor drive device, hybrid drive device, etc.) and the like are recorded.

  The vehicle information is composed of the vehicle position, the vehicle direction, the travel route information of the vehicle 10, the vehicle information of the vehicle 10, the surrounding information of the vehicle 10, the vehicle attribute information of the vehicle 10, and the like.

  The communication unit 38 transmits the other vehicle position indicating the current location of the surrounding vehicle 11, the other vehicle direction indicating the direction of the surrounding vehicle 11, the travel route information of the surrounding vehicle 11, the vehicle of the surrounding vehicle 11, transmitted from the management center 51. In addition to the peripheral vehicle information such as the information, the peripheral information of the peripheral vehicle 11, and the vehicle attribute information of the peripheral vehicle 11, various information such as current traffic information and general information is received. The communication unit 38 can directly receive the surrounding vehicle information from the surrounding vehicle 11 by inter-vehicle communication.

  For this purpose, the communication unit 38 performs FM multiplex broadcasting from a beacon receiver (not shown) for receiving radio wave beacons, optical beacons and the like from radio wave beacon devices, optical beacon devices and the like arranged along the road, and FM broadcast stations. An FM receiver (not shown) for receiving is provided. The traffic information includes traffic jam information, regulation information, parking lot information, traffic accident information, service area congestion status information, and the like, and general information includes news, weather conditions, weather forecasts, and the like.

  And the communication processing means (not shown) of the CPU 31 performs communication processing and obtains surrounding vehicle information at every predetermined timing. Further, an information recording processing unit (not shown) of the CPU 31 performs an information recording process, and records the acquired surrounding vehicle information in the RAM 32 as history data together with the own vehicle information.

  The management center 51 includes a network server 53, a communication unit (not shown) connected to the network server 53, a database (not shown) as an information recording unit, and the like. A process is performed, the own vehicle information and the surrounding vehicle information of each surrounding vehicle 11 are acquired via the network 63, and transmitted to the own vehicle 10 and each surrounding vehicle 11. The information recording processing unit (not shown) of the network server 53 performs information recording processing, and records the acquired own vehicle information and surrounding vehicle information as history data in the database together with the acquired timing.

  The platooning system, the control unit 14, the CPU 31, the network server 53, and the like function as a computer alone or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. A recording medium is constituted by the RAM 32, the ROM 33, and the like. An MPU or the like can be used instead of the CPU 31 as the arithmetic device.

  By the way, the own vehicle 10 and the surrounding vehicles 11 having the above-described configuration can travel by forming a platoon using inter-vehicle communication or a network communication system.

  In this case, when the convoy is organized by the own vehicle 10 and the surrounding vehicles 11, the host vehicle is driven at the head due to the operational problem of the convoy travel, or the convoy is determined by the intention of each driver. If it is formed, the influence of the wind pressure received by each vehicle of the own vehicle 10 and the surrounding vehicle 11 becomes large, and the overall energy consumption of the formation becomes large.

  Therefore, in this embodiment, the formation is organized so that the energy consumption of the entire formation is reduced. In this case, a case will be described in which platooning is performed using inter-vehicle communication.

  FIG. 2 is a main flowchart showing the operation of the CPU in the embodiment of the present invention, FIG. 3 is a diagram showing a subroutine of the convoy travel determination process in the embodiment of the present invention, and FIG. 4 is an effective convoy in the embodiment of the present invention. FIG. 5 is a diagram showing a subroutine for the composition evaluation processing in the embodiment of the present invention, FIG. 6 is a diagram showing a subroutine for the reorganization processing in the embodiment of the present invention, and FIG. FIG. 8 is a second diagram showing an example of formation of a convoy in the embodiment of the present invention, and FIG. 9 is an example of formation of the convoy in the embodiment of the present invention. FIG. 10 is a first diagram illustrating an example of reorganizing a convoy, and FIG. 10 is a second diagram illustrating an example of reorganizing a convoy in an embodiment of the present invention.

  7 to 10, ai (i = 1, 2, 3, 4), bj (j = 1, 2, 3, 4), and ck (k = 1, 2, 3) The vehicle 10 is one of the vehicles ai, bj, and ck, and the other vehicle is the surrounding vehicle 11. For example, when the vehicle a2 in the row in FIG. 7, the vehicle b3 in the row in FIG. 8, and the vehicle c1 in the row in FIG. 9 are the own vehicle 10, the vehicles a1, a3, a4 in the row in FIG. Vehicles b1, b2, and b4 and vehicles c2 and c3 in the row of FIG.

  First, own vehicle information acquisition processing means (not shown) of the CPU 31 performs own vehicle information acquisition processing to acquire own vehicle information. Next, peripheral vehicle information acquisition processing means (not shown) of the CPU 31 performs peripheral vehicle information acquisition processing, and acquires peripheral vehicle information from the peripheral vehicle 11 via the communication unit 38.

  A platoon travel determination processing unit (not shown) of the CPU 31 performs a platoon travel determination process, and determines whether or not to shift to platoon travel based on the own vehicle information and the surrounding vehicle information. For this purpose, the surrounding vehicle determination processing means of the platooning traveling determination processing means performs surrounding vehicle determination processing, and based on the own vehicle position, own vehicle direction, other vehicle position, other vehicle direction, etc. Depending on whether or not the angle of the other vehicle direction with respect to the host vehicle direction falls within a predetermined range within a preset range (for example, a range represented by a straight distance, a distance on the route, etc.) It is determined whether there is a surrounding vehicle 11 that can form a convoy. When there is a surrounding vehicle 11 capable of forming a formation, the surrounding vehicle determination processing means determines whether the surrounding vehicle 11 that is transmitting a formation formation permission signal among the surrounding vehicles 11 that can form a formation. Determine if there is.

  Subsequently, when there is a surrounding vehicle 11 that has transmitted a formation formation permission signal, the surrounding vehicle determination processing means reads the destination and the travel schedule of the surrounding vehicle 11 that has transmitted the formation formation permission signal, and travels in the formation In determining whether or not there is a surrounding vehicle 11 suitable for the destination and the travel schedule.

  Then, when there is a surrounding vehicle 11 suitable for the destination and the travel schedule, the determination unit of the platoon travel determination processing unit performs a determination process and determines the shift to the platoon travel. In the peripheral vehicle determination process, when there is no peripheral vehicle 11 that can form a convoy of each of the peripheral vehicles 11, there is no peripheral vehicle 11 that transmits a convoy formation permission signal, and the destination and When there is no surrounding vehicle 11 suitable for the travel schedule, the determination processing unit determines to continue the single travel.

  Thus, when it is determined whether or not the surrounding vehicle 11 shifts to the platooning, the effective platoon setting processing means as the platooning processing means (not shown) of the CPU 31 performs the effective platoon setting process as the platooning process, Information on the surroundings of the own vehicle 10 and the surrounding vehicle 11 is read, and a row that can reduce the overall energy consumption of the row is set as an effective row based on the surrounding information.

  For this purpose, the valid platoon setting processing means first reads the wind direction from the surrounding information of the own vehicle 10 and determines the basic form of the platoon from the wind direction.

  In addition, there are a plurality of basic forms of the row, in the present embodiment, there are two. For example, as shown in FIG. 7, when there is no wind, or when the wind direction α1 is the front of each vehicle ai, The effective platoon setting processing means sets the basic form of the platoon to a vertical form. In this case, each vehicle ai is driven in one row.

  Further, as shown in FIG. 8, when the wind direction α2 forms a predetermined angle with respect to each vehicle bj, the effective formation setting processing means sets the basic form of the formation in a parallel form. In this case, each vehicle bj is driven in a plurality of rows, in this embodiment, two rows.

  Next, the effective platoon setting processing means reads the wind direction and projection plane information, and the projected area Sai of each vehicle ai, bj when viewed from the direction of receiving the wind (i = 1, 2, 3, 4). , Sbj (j = 1, 2, 3, 4) and Sck (k = 1, 2, 3) are calculated. Then, the effective platoon setting processing means temporarily arranges the platoon by arranging the vehicles ai, bj, ck in the platoon in the descending order of the projected areas Sai, Sbj, Sck (k = 1, 2,...). decide.

  For example, in the platoon shown in FIG. 7, the projected area Sai of each vehicle ai when viewed from the direction of receiving the wind is larger in the order of the vehicles a1, a2, a3, a4. Therefore, the formation of the formation is provisionally determined by arranging the vehicles a1, a2, a3, and a4 in order from the front to the rear. Further, in the formation shown in FIG. 8, the projected area Sbi of each vehicle bj when viewed from the direction of receiving the wind is larger in the order of the vehicles b1, b2, b3, and b4. Therefore, the vehicle b1 is placed on the upstream lane of the wind flow, the vehicles b2, b3, b4 are placed on the downstream lane of the wind flow, and the vehicles b2, b3, b4 are arranged in order from the front to the rear. Provisional decision is made.

  Next, the effective platoon setting processing means is configured to receive wind pressure Pai (i = 1, 2, 3, 4), Pbj (j = 1, 2, 3, 4), Pck received by each vehicle ai, bj, ck in the platoon. (K = 1, 2, 3, 4) is read and the read wind pressures Pai, Pbj, Pck are added, so that the total amount of wind pressure Pai, Pbj, Pck for each column, that is, the total wind pressure amount ΣPa, ΣPb, ΣPc is calculated.

  Subsequently, the effective platoon setting processing means changes the formation of the formation, calculates the total wind pressure amount ΣPa ′, ΣPb ′, ΣPck ′ of the formation after the change of formation, and each of the total wind pressure amounts ΣPa ′, Based on ΣPb ′ and ΣPck ′, it is determined whether or not the temporarily determined total wind pressure amounts ΣPa, ΣPb, ΣPc can be reduced. When the total wind pressure amounts ΣPa, ΣPb, ΣPc can be reduced, the effective row setting processing means determines the formation that can minimize the total wind pressure amounts ΣPa, ΣPb, ΣPc as the formation of the row. . Further, when the total wind pressure amounts ΣPa, ΣPb, ΣPc cannot be reduced, the tentatively determined knitting is determined as the formation of the platoon.

  The effective platoon setting processing means may be arranged such that a vehicle having a shorter cruising distance is placed behind the other vehicles or a fuel consumption is less, regardless of the total wind pressures ΣPa, ΣPb, ΣPc. Place the equipped vehicle in front of other vehicles.

  When the platoon is formed in this way, the platoon travel processing means (not shown) of the CPU 31 performs the platoon travel processing, and displays information indicating the order of the vehicles ai, bj, ck in the platoon, that is, the platoon formation information. Send and receive between cars. The platooning processing means performs platooning in the knitted platoon based on the received platooning information.

  Subsequently, the formation determination processing means (not shown) of the CPU 31 performs formation determination processing and determines formation based on the overall efficiency of the formation.

  Next, the knitting determination process will be described with reference to FIGS. In this case, FIG. 9 shows the effective platoon set in the effective platoon setting process. In the effective row, the vehicles c1, c2, and c3 are arranged in this order in the wind flow direction.

  First, the composition evaluation processing means of the composition determination processing means performs composition evaluation processing, and sequentially reads the fuel remaining of each vehicle ck before the formation of the formation or after a predetermined time has elapsed since formation of the formation. Based on the read fuel remaining amount, the fuel consumption amount of each vehicle ck is calculated. Further, the train composition evaluation processing means reads the fuel consumption amount, reads the fuel type, and calculates an average fuel unit price of each vehicle ck for each fuel type. If there is a factor that increases the actual fuel unit price depending on the driving route of the platoon, for example, an environmental tax is imposed according to the fuel type, the amount of exhaust gas, etc., the fuel unit price is multiplied by a predetermined coefficient greater than 1. .

  Next, the formation evaluation processing means calculates a fuel price as a vehicle efficiency index representing the efficiency for each vehicle ck based on the calculated average fuel unit price, and based on the fuel price, Calculate the total fuel price as a convoy efficiency index that represents the overall efficiency.

  Subsequently, the formation evaluation processing means determines whether or not the total fuel price has increased before the formation of the formation or after a predetermined time has elapsed since the formation of the formation. When the total fuel price is not high, the evaluation processing means of the composition determination processing means performs an evaluation process, determines that the current composition should be maintained, and when the total fuel price becomes high, The reorganization processing means of the determination processing means performs a reorganization process to reorganize the formation.

  For this purpose, the specific vehicle extraction processing means of the reorganization processing means performs the specific vehicle extraction processing, and the fuel price for each vehicle ck is determined before the formation of the convoy or after a predetermined time has elapsed since the formation of the convoy. The increased vehicle, for example, the vehicle c1 in FIG. 9 is extracted as the specific vehicle. Subsequently, the wind pressure determination processing means of the reorganization processing means performs wind pressure determination processing and reads the extracted wind pressure Ppr received by the specific vehicle. The wind pressure determination processing means compares the read wind pressure Ppr with the wind pressure Pst detected when the formation is formed.

Next, it is determined whether or not the wind pressure Ppr and the wind pressure Pst are greatly different. The ratio γ of the wind pressure Ppr to the wind pressure Pst
γ = Ppr / Pst
Is larger than the threshold value, it can be determined that the wind pressure Ppr and the wind pressure Pst are significantly different. In this case, the wind pressure changes when the wind speed changes, the wind direction changes, the weight of the vehicle changes as the fuel is consumed, and the projected area of the adjacent vehicle changes.

  Then, the evaluation processing means of the reorganization processing means performs an evaluation process, and when the wind pressure Ppr and the wind pressure Pst are greatly different, it is determined that the knitting of the other platoon is more efficient, and the wind pressure Ppr and the wind pressure Pst Is not significantly different, it is determined that the current knitting efficiency is high and the current knitting should be maintained.

  In this way, when the formation determination process by the formation determination processing means is performed, and it is determined that the formation of other platoons is more efficient as a result of the formation determination process, a series of processes by the CPU 31 is performed from the beginning. In the effective row setting process, a row of another organization is set as the effective row. As a result, as shown in FIG. 10, the vehicle c1 can be placed behind the vehicles c2 and c3.

  In the present embodiment, in the specific vehicle extraction process, a vehicle in which the fuel price for each vehicle ck becomes high before the formation of the convoy or after a predetermined time has elapsed since the formation of the convoy is defined as the specific vehicle. Although the vehicle is extracted, a vehicle with a short cruising distance can be extracted as a specific hand vehicle. In this case, when an effective platoon is set again in the effective platoon setting process, a vehicle with a shorter cruising distance can be placed in a direction than other vehicles.

  On the other hand, if it is determined that the current organization should be maintained, the CPU 31 merging / leaving determination processing means (not shown) performs merging / leaving determination processing to determine whether or not there is a vehicle joining or leaving the platoon. to decide.

  When there are vehicles that join or leave the platoon, a series of processing by the CPU 31 is performed from the beginning, and when there are no vehicles that join or leave the platoon, the platoon running end determination processing means (not shown) of the CPU 31 A travel end determination process is performed to determine whether the formation has arrived at the destination. When the convoy arrives at the destination, the convoy travel end processing means (not shown) of the CPU 31 performs the convoy travel end processing and ends the convoy travel.

  In this way, when the platooning is completed, the traveling processing means of the CPU 31 performs the traveling process, determines whether the vehicle forming the platoon has left the platoon and has arrived at the destination, and reaches the destination. When it arrives, the process is terminated.

  Thus, in the present embodiment, the vehicles ai, bj, ck in the row are arranged in the descending order of the projected areas Sai, Sbj, Sck, so that the downstream vehicle in the wind flow direction is the upstream vehicle. The wind pressure received by each vehicle due to natural wind and traveling wind can be lowered. Therefore, when viewed from the entire platoon, the air resistance received by each vehicle ai, bj, ck can be minimized, and the overall energy consumption of the platoon can be reduced.

  Further, by adding the wind pressure Pai, Pbj, Pck received by each vehicle in the platoon, the total wind pressure amount ΣPa, ΣPb, ΣPc for each fleet is calculated. Since it is determined, the overall energy consumption of the formation can be further reduced. In addition, if the wind speed changes, the direction of the wind changes, the weight of the vehicle changes as the fuel is consumed, and the projected area of the adjacent vehicle changes after the platooning starts, the wind pressure Pai , Pbj, and Pck change, but the formation is determined based on the total wind pressures ΣPa, ΣPb, and ΣPc, so that they are not affected by changes in the wind pressures Pai, Pbj, and Pck.

Next, a flowchart will be described.
Step S1: Obtain own vehicle information.
Step S2: Acquire surrounding vehicle information.
Step S3 A convoy travel determination process is performed.
Step S4: Determine whether or not to shift to platooning. When it shifts to platooning, it progresses to step S5, and when it does not transfer, it progresses to step S11.
Step S5: Valid platoon setting processing is performed.
Step S6 A platooning process is performed.
Step S7 A knitting determination process is performed.
Step S8: Determine whether the other flight is more efficient. When the efficiency of the other flight is higher, the process returns to step S1, and when the efficiency of the other flight is lower, the process proceeds to step S9.
Step S9: It is determined whether or not there is a vehicle to join / leave. If there is a vehicle to join / leave, the process returns to step S1, and if not, the process proceeds to step S10.
Step S10: It is determined whether or not the destination has been reached. If it has arrived at the destination, the process proceeds to step S11. If it has not arrived, the process returns to step S1.
Step S11 Leave the line.
Step S12: It is determined whether or not the destination has been reached. If it has arrived at the destination, the process ends. If it has not arrived, the process returns to step S1.

Next, the flowchart of FIG. 3 will be described.
Step S3-1: It is determined whether there is a surrounding vehicle 11 that can form a convoy. If there is a nearby vehicle 11 that can form a convoy, the process proceeds to step S3-2, and if not, the process proceeds to step S3-5.
Step S3-2: It is determined whether there is a surrounding vehicle 11 that is transmitting the formation formation permission signal. If there is a surrounding vehicle 11 that has transmitted a formation permission signal, the process proceeds to step S3-3, and if not, the process proceeds to step S3-5.
Step S3-3: It is determined whether there is a surrounding vehicle 11 suitable for the destination and the travel schedule. If there is a nearby vehicle 11 suitable for the destination and travel schedule, the process proceeds to step S3-4.
Step S3-4 Decide to move to platooning and return.
Step S3-5: Decide to continue the independent travel and return.

Next, the flowchart of FIG. 4 will be described.
Step S5-1: The basic shape of the formation is determined from the wind directions α1, α2.
Step S5-2: A knitting is provisionally determined.
Step S5-3: Total wind pressure amounts ΣPa, ΣPb and ΣPc are calculated.
Step S5-4: The formation of the formation is changed, and the total wind pressure amounts ΣPa ′, ΣPb ′, and ΣPck ′ for each formation are calculated.
Step S5-5: It is determined whether or not the temporarily determined total wind pressure amounts ΣPa, ΣPb, ΣPc can be reduced. If the tentatively determined total wind pressure amounts ΣPa, ΣPb, ΣPc can be reduced, the process proceeds to step S5-6, and if not, the process proceeds to step S5-7.
Step S5-6: Determine the knitting that can minimize the total wind pressure amounts ΣPa, ΣPb, ΣPc, and return.
Step S5-7: Determine the tentatively determined knitting and return.

Next, the flowchart of FIG. 5 will be described.
Step S7-1: Calculate fuel consumption.
Step S7-2: Calculate an average fuel unit price for each fuel type.
Step S7-3: Calculate the total fuel price of the entire platoon.
Step S7-4: It is determined whether or not the total fuel price has increased after a predetermined time has elapsed. If the total fuel price has increased after the predetermined time has elapsed, the process proceeds to step S7-5, and if not, the process proceeds to step S7-6.
Step S7-5 Perform reorganization processing and return.
Step S7-6: Determine that the current organization should be maintained, and return.

Next, the flowchart of FIG. 6 will be described.
Step S7-5-1 The vehicle ck whose fuel price per vehicle is high is extracted.
Step S7-5-2: The wind pressure Ppr received by the extracted vehicle ck is detected.
Step S7-5-3: The wind pressure Ppr is compared with the wind pressure Pst detected when the formation is formed.
Step S7-5-4: It is determined whether or not the wind pressure Ppr and the wind pressure Pst are significantly different. If the wind pressure Ppr and the wind pressure Pst are significantly different, the process proceeds to step S7-5-5, and if not, the process proceeds to step S7-5-6.
Step S7-5-5: It is determined that the other knitting has higher efficiency, and the process returns.
Step S7-5-6: Determine that the current composition should be maintained, and return.

  In the present embodiment, platooning is performed using vehicle-to-vehicle communication. However, when using a network communication system, peripheral vehicle information acquisition processing means (not shown) of the network server 53 An information acquisition process is performed to acquire own vehicle information, surrounding vehicle information, etc. via the network 63, and a formation formation processing unit (not shown) of the network server performs formation formation processing, and the own vehicle information, the surrounding vehicle information Based on the above, a formation is formed, formation formation information is formed, and the formation information is transmitted to the own vehicle 10 and the surrounding vehicles 11.

  Then, the CPU 31 reads the formation information via the communication unit 38 and the network 63, and performs the formation movement in the formation formed based on the formation information.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a conceptual diagram of a row running system in an embodiment of the invention. It is a main flowchart which shows operation | movement of CPU in embodiment of this invention. It is a figure which shows the subroutine of the row | line | column running determination process in embodiment of this invention. It is a figure which shows the subroutine of the effective platoon setting process in embodiment of this invention. It is a figure which shows the subroutine of the organization evaluation process in embodiment of this invention. It is a figure which shows the subroutine of the reorganization process in embodiment of this invention. It is a 1st figure which shows the example of organization of the formation in embodiment of this invention. It is a 2nd figure which shows the example of organization of the formation in embodiment of this invention. It is a 1st figure which shows the example which reorganizes the formation in embodiment of this invention. It is a 2nd figure which shows the example which reorganizes the formation in embodiment of this invention.

Explanation of symbols

10 Vehicle 11 Peripheral vehicle 51 Management center 63 Network Pai, Pbj, Pck, Ppr Wind pressure Sai, Sbj, Sck Projected area α1, α2 Wind direction ΣPa, ΣPb, ΣPc Total wind pressure

Claims (3)

Own vehicle information acquisition processing means for acquiring own vehicle information;
Peripheral vehicle information acquisition processing means for acquiring peripheral vehicle information about the peripheral vehicle;
It has platoon formation processing means for reading the projected area of each vehicle comprising the own vehicle and the surrounding vehicle in the own vehicle information and the surrounding vehicle information, and forming the platoon by arranging the vehicles in order of the projected area. Characteristic platooning system.   The platoon formation processing means reads the wind pressure received by each vehicle comprising the host vehicle and the surrounding vehicles in the host vehicle information and the surrounding vehicle information, calculates the total wind pressure amount received by the entire platoon based on the wind pressure, The convoy travel system according to claim 1, wherein the convoy is determined based on the total wind pressure.   The platooning system according to claim 1 or 2, wherein the platoon formation processing means sets the basic shape of the platoon based on the wind direction in the host vehicle information and the surrounding vehicle information.

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