JP5195930B2 - 隊列走行制御システム及び車両 - Google Patents
隊列走行制御システム及び車両 Download PDFInfo
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- JP5195930B2 JP5195930B2 JP2010547330A JP2010547330A JP5195930B2 JP 5195930 B2 JP5195930 B2 JP 5195930B2 JP 2010547330 A JP2010547330 A JP 2010547330A JP 2010547330 A JP2010547330 A JP 2010547330A JP 5195930 B2 JP5195930 B2 JP 5195930B2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
- Regulating Braking Force (AREA)
Description
決定される前記目標車間距離Ln_tgtは、
Ln_tgt=Smax n−1・L1_tgt
で表されることとしてもよい。
図1に示す隊列走行制御システム1は、複数の車両に隊列を組んで走行させるべく、当該複数の車両の各々の走行状態を制御するシステムである。この隊列走行制御システム1により、複数の車両が比較的狭い車間距離で縦一列に並んで走行する隊列走行が実現される。この隊列走行制御システム1では、任意台数の車両で構成される隊列走行を実現することができるが、ここでは、図2に示すように、5台の車両C1,C2,C3,C4,C5で隊列走行が行われる場合を例に挙げて説明する。
Lm_tgt=Smax・Lm−1_tgt=Smax 2・Lm−2_tgt= … =Smax m−1・L1_tgt …(1)
L4_tgt=Smax・L3_tgt=Smax 2・L2_tgt=Smax 3・L1_tgt
といった演算を行い、自車両Cjの前方の目標車間距離Lj−1_tgtを決定する(S101)。車間誤差伝播比の最大値Smaxの値は、車車間通信の無駄時間、センシングの遅れ、車両の応答遅れといった要因を考慮した上で、隊列走行制御システム1の設計者により予め決定され、車両制御ECU10の情報記憶部10aに予め記憶されている。例えば、一般的な車車間通信の無駄時間、センシングの遅れ、車両の応答遅れといった要因を考慮すれば、Smax=1.2程度の数値が想定される。また、目標車間距離L1_tgtの値は、隊列走行の諸条件に応じて自動的に求められてもよく、例えば車両C1〜C5の何れかの運転者の手動入力により決定されてもよい。なお、このような目標車間距離Lj−1_tgtを決定する処理S101は、必ずしも毎回行う必要はなく、隊列内における自車両Cjの序列(自車両が隊列の何台目であるか)が決定された時点で1回だけ行うこととしてもよい。
続いて、本発明に係る隊列走行制御システムの第2実施形態について説明する。本実施形態の隊列走行制御システム201の物理的な構成は、図1に示すように、隊列走行制御システム1と同様であるので、重複する説明は省略する。
Claims (4)
- 複数の車両が隊列を組んで走行するように前記車両間の相対位置関係を制御する隊列走行制御システムであって、
隊列において前後に連続した車両の間の車間距離の各目標値は、
前記隊列の走行中において後方の車両に伝播する車間距離の誤差の伝播比である車間誤差伝播比に基づいて決定されることを特徴とする隊列走行制御システム。 - 前記隊列の前からn番目の車両とn+1番目の車両との間の目標車間距離をLn_tgtとし、前記車間誤差伝播比の最大値をSmaxとしたとき、
決定される前記目標車間距離Ln_tgtは、
Ln_tgt=Smax n−1・L1_tgt
で表されることを特徴とする請求項1に記載の隊列走行制御システム。 - 前記隊列における先頭の車両の加速度指令値は、
前記車間誤差伝播比の周波数特性に基づいて決定されることを特徴とする請求項1又は2に記載の隊列走行制御システム。 - 請求項1〜3の何れか1項に記載の隊列走行制御システムを備えたことを特徴とする車両。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/050754 WO2010084569A1 (ja) | 2009-01-20 | 2009-01-20 | 隊列走行制御システム及び車両 |
Publications (2)
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JPWO2010084569A1 JPWO2010084569A1 (ja) | 2012-07-12 |
JP5195930B2 true JP5195930B2 (ja) | 2013-05-15 |
Family
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JP2010547330A Active JP5195930B2 (ja) | 2009-01-20 | 2009-01-20 | 隊列走行制御システム及び車両 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8660779B2 (ja) |
EP (1) | EP2390857B1 (ja) |
JP (1) | JP5195930B2 (ja) |
CN (1) | CN102282598B (ja) |
WO (1) | WO2010084569A1 (ja) |
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US9645579B2 (en) | 2011-07-06 | 2017-05-09 | Peloton Technology, Inc. | Vehicle platooning systems and methods |
US11334092B2 (en) | 2011-07-06 | 2022-05-17 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
US10474166B2 (en) | 2011-07-06 | 2019-11-12 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
US10520952B1 (en) | 2011-07-06 | 2019-12-31 | Peloton Technology, Inc. | Devices, systems, and methods for transmitting vehicle data |
US10254764B2 (en) | 2016-05-31 | 2019-04-09 | Peloton Technology, Inc. | Platoon controller state machine |
US8744666B2 (en) | 2011-07-06 | 2014-06-03 | Peloton Technology, Inc. | Systems and methods for semi-autonomous vehicular convoys |
US20170242443A1 (en) | 2015-11-02 | 2017-08-24 | Peloton Technology, Inc. | Gap measurement for vehicle convoying |
US9564053B2 (en) | 2012-01-12 | 2017-02-07 | Honda Motor Co., Ltd. | Synchronized driving assist apparatus and synchronized driving assist system |
US8620517B2 (en) | 2012-02-21 | 2013-12-31 | Toyota Mototr Engineering & Manufacturing North America, Inc. | Vehicular platooning using distributed receding horizon control |
JP5668741B2 (ja) * | 2012-10-04 | 2015-02-12 | 株式会社デンソー | 隊列走行装置 |
JP5943305B2 (ja) * | 2012-10-24 | 2016-07-05 | トヨタ自動車株式会社 | 走行制御装置 |
DE102012222869A1 (de) * | 2012-12-12 | 2014-06-12 | Robert Bosch Gmbh | Verfahren zum Ermitteln einer gemeinsamen Fahrstrategie, Recheneinheit und Computerprogrammpunkt |
US11294396B2 (en) | 2013-03-15 | 2022-04-05 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
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2009
- 2009-01-20 CN CN200980154879.2A patent/CN102282598B/zh not_active Expired - Fee Related
- 2009-01-20 WO PCT/JP2009/050754 patent/WO2010084569A1/ja active Application Filing
- 2009-01-20 JP JP2010547330A patent/JP5195930B2/ja active Active
- 2009-01-20 US US13/143,459 patent/US8660779B2/en active Active
- 2009-01-20 EP EP09838761.6A patent/EP2390857B1/en not_active Not-in-force
Patent Citations (2)
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JP2006232240A (ja) * | 2005-02-28 | 2006-09-07 | Japan Aerospace Exploration Agency | 車両交通量の安定化制御のための方法及び装置 |
JP2007102564A (ja) * | 2005-10-05 | 2007-04-19 | Nissan Motor Co Ltd | 走行制御装置 |
Also Published As
Publication number | Publication date |
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JPWO2010084569A1 (ja) | 2012-07-12 |
WO2010084569A1 (ja) | 2010-07-29 |
EP2390857A1 (en) | 2011-11-30 |
EP2390857A4 (en) | 2012-07-25 |
US8660779B2 (en) | 2014-02-25 |
CN102282598A (zh) | 2011-12-14 |
US20110270514A1 (en) | 2011-11-03 |
EP2390857B1 (en) | 2013-07-03 |
CN102282598B (zh) | 2015-02-18 |
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