JP6291767B2 - Convoy vehicle determination device - Google Patents

Description

  The present invention relates to a vehicle control technique for realizing platooning with a plurality of vehicles.

  The rear vehicle acquires the travel data of the preceding vehicle by wireless communication, and the vehicle control (convoy travel control) in which the rear vehicle follows the preceding vehicle based on the acquired travel data, the stable formation of a plurality of vehicles Techniques for realizing traveling are known. Such a row running has the advantage that the load of driving operation and air resistance can be reduced.

  In order to continuously obtain such advantages of the platooning, it is preferable that the change (increase / decrease) of the vehicle executing the platooning control is quickly identified and the platoon is reconstructed in an appropriate state according to the change. In view of this, there has been proposed a technique for identifying a vehicle that leaves the platoon based on the lateral movement of the host vehicle and other vehicles (see Patent Document 1).

JP 2011-2333010 A

  By the way, there may be a case where the vehicle that has been executing the convoy travel control stops the convoy travel control without leaving the convoy. However, with the technique described in Patent Document 1 described above, it is not possible to specify a vehicle that has stopped platooning control in such a case, and the advantage of platooning cannot be obtained sufficiently.

  An object of the present invention is to provide a technique for determining whether a vehicle is in platooning control.

  One aspect of the present invention is a convoy vehicle determination device (10, 20, 40), an acquisition unit (11-13), a calculation unit (14, S102, S302, S402), and a determination unit (14, S103). To S104, S303 to S304, S403 to S404). An acquisition means acquires the temporal change of the speed of the vehicle (1). The calculating means can correlate the speed change with time for the two vehicles whose speed change is acquired by the acquiring means, and the two vehicles can be in the formation running control in the same formation. An index value indicating sex is calculated. The determination means determines whether the two vehicles are in the convoy travel control based on the index value calculated by the calculation means.

  According to such a configuration, since it is possible to determine whether two vehicles are in row formation control in the same row, it is apparently a vehicle that runs in the same row and is running in row formation control. No vehicles can be identified.

  In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

It is a block diagram which shows the structure of the convoy vehicle determination apparatus of 1st Embodiment. It is a figure which shows the pair of the own vehicle and detection vehicle which determine that it is under formation control in the formation. It is a flowchart of the convoy vehicle determination process of 1st Embodiment. (A) is a figure which shows the driving | running state of a formation control vehicle, (B) is a figure which shows the correlation of a time-dependent change of the speed of a formation control vehicle. (A) is a diagram showing a state in which a part of the convoy control vehicle is switched to a non-control vehicle, (B) is a diagram showing a state in which the non-control vehicle has interrupted the convoy of the convoy control vehicle, and (C) is a convoy control vehicle FIG. 5 is a diagram showing a correlation of changes over time in the speed of a non-control vehicle. It is a flowchart of a correlation index value calculation process. It is a block diagram which shows the structure of the convoy vehicle determination apparatus of 2nd Embodiment. It is a figure which shows the installation state of a roadside machine. It is a flowchart of the convoy vehicle determination process of 2nd Embodiment. It is a figure which shows the outline | summary of 3rd Embodiment. (A) is a view showing a state in which a plurality of vehicles are traveling in a row, (B) is a view showing a state in which a vehicle outside the row is making a determination on the row, and (C) is a view in which vehicles outside the row are behind the row. It is a figure which shows the state which changed the lane. It is a block diagram which shows the structure of the convoy vehicle determination apparatus of 4th Embodiment. It is a flowchart of the convoy vehicle determination process of 4th Embodiment. It is a figure which shows the determination method of the vehicle platoon number of each vehicle.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
The convoy vehicle determination device 10 of the first embodiment shown in FIG. 1 is mounted on a vehicle 1 that includes a vehicle speed sensor 17, a wireless communication device 18, and a periphery monitoring sensor 19. In addition, in order to distinguish the said vehicle 1 (vehicle 1 used as the main body in the following description) and the other vehicle 1 for convenience of explanation, the said vehicle 1 is called "own vehicle 1A", and vehicles 1 other than the own vehicle 1A are referred to. This is referred to as “other vehicle 1B”.

  The vehicle speed sensor 17 detects the speed (traveling speed) of the host vehicle 1A. In this embodiment, a known sensor that detects the rotational speed of the axle from the number of pulses per unit time output from a pulse generator attached to the axle of the host vehicle 1A, and calculates the traveling speed from the detected rotational speed. Is used. Note that, for example, a GPS receiver or the like may be used instead of or together with such a sensor.

  The wireless communication device 18 has information (travel data) representing identification information, speed, etc. about the host vehicle 1A in the vicinity of the host vehicle 1A (in the present embodiment, within a communicable range centered on the host vehicle 1A) To the other vehicle 1B. Of the transmitted information, the information indicating the speed is information detected by the vehicle speed sensor 17.

  Further, the wireless communication device 18 transmits information transmitted by the other vehicle 1B existing in the vicinity of the host vehicle 1A, specifically, information indicating the identification information, speed, etc. of the other vehicle 1B of the transmission source (travel data). Is received by wireless communication. The communication mode of wireless communication is not particularly limited, and for example, vehicle-to-vehicle communication, road-to-vehicle communication, cellular communication, visible light communication, or the like may be used.

  The surroundings monitoring sensor 19 measures the relative speed etc. with respect to the own vehicle 1A about the target existing around the own vehicle 1A from the outside. In the present embodiment, a millimeter wave radar is used as the periphery monitoring sensor 19, and the other vehicle 1B existing in front of the host vehicle 1A is detected as a target. Instead of the millimeter wave radar or in combination with the millimeter wave radar, another device having the same function, such as a laser radar or a camera, may be used.

The convoy vehicle determination device 10 includes a speed information storage unit 11, a communication information storage unit 12, a monitoring information storage unit 13, and a convoy vehicle determination unit 14.
The speed information storage unit 11 stores information acquired from the vehicle speed sensor 17 and manages it in time series. Specifically, the speed information accumulation unit 11 acquires information representing the speed of the host vehicle 1A from the vehicle speed sensor 17 at regular intervals. The speed information accumulating unit 11 accumulates T times (T period worth) of information (the speed of the vehicle 1A), in other words, information from T-1 times before. That is, the speed information accumulating unit 11 acquires a change over time of the speed of the host vehicle 1A by periodically acquiring a detection result obtained by detecting the speed of the host vehicle 1A. In the present embodiment, the value T is a fixed value.

  The communication information storage unit 12 stores information acquired from the wireless communication device 18 and manages it in time series. Specifically, the communication information accumulation unit 12 acquires the vehicle number of the other vehicle 1B and information indicating the speed for each vehicle from the wireless communication device 18 at regular intervals. The vehicle number is identification information assigned to each other vehicle 1 </ b> B whose speed is detected by the wireless communication device 18 or the surrounding monitoring sensor 19. And the communication information storage part 12 accumulate | stores the information (speed of the other vehicle 1B) for T times, in other words, the information from before T-1 times for every vehicle number. That is, the communication information accumulating unit 12 acquires a change with time in the speed of the other vehicle 1B by periodically acquiring information representing the speed of the other vehicle 1B transmitted by the other vehicle 1B.

  The monitoring information storage unit 13 stores information acquired from the periphery monitoring sensor 19 and manages it in time series. Specifically, the monitoring information accumulation unit 13 acquires the vehicle number of the other vehicle 1 </ b> B and information indicating the relative speed for each vehicle from the periphery monitoring sensor 19 at regular intervals. And the monitoring information storage part 13 accumulate | stores the information (relative speed of the other vehicle 1B) for T times for every vehicle number, in other words, the information from before T-1 times. That is, the monitoring information accumulating unit 13 acquires a change with time in the speed of the other vehicle 1B by periodically acquiring a measurement result obtained by measuring the speed of the other vehicle 1B from the outside.

  The convoy vehicle determination unit 14 is configured using, for example, a microcomputer including a CPU, a ROM, a RAM, and the like, and the microcomputer executes various processes by executing processes according to a program recorded in a recording medium such as a ROM. To do. Specifically, the convoy vehicle determination unit 14 includes the other vehicle 1B (hereinafter referred to as “detected vehicle”) in which the speed or the like is detected by the wireless communication device 18 or the surrounding monitoring sensor 19, and the own vehicle 1A. It is determined whether or not (the same group) is in platooning control.

  That is, in the present embodiment, a plurality of vehicles 1 (the host vehicle 1A and one or more other vehicles 1B) have a CACC (Cooperative Adaptive Cruise Control) function for controlling acceleration / deceleration based on travel data acquired by wireless communication. Carry out platooning control to achieve this. Specifically, each vehicle (following vehicle) 1 other than the leading vehicle 1 of the platoon acquires traveling data such as speed from the preceding vehicle 1 that executes the platooning control in front of itself by wireless communication. Follow the preceding vehicle based on the data. By executing such row running control, the correlation of the temporal change in speed between the vehicles in the row running control becomes high. The platooning control described here is an example, and the specific method of the platooning control (for example, the contents of the traveling data, the transmission source and destination of the traveling data, the contents of the vehicle control, etc.) is not particularly limited. .

  As shown in FIG. 2, in the host vehicle 1 </ b> A, the formation vehicle determination unit 14 determines that the detection vehicle and the own vehicle 1 </ b> A are arranged in the same formation for each pair formed by one of the detected vehicles and the own vehicle 1 </ b> A. An index value indicating the possibility that the traveling control is being performed is calculated. Then, the convoy vehicle determination unit 14 determines, for each detected vehicle, whether the detected vehicle is in convoy travel control in the same convoy with the own vehicle 1A based on the calculated index value. When the number of detected vehicles is imax (vehicle number i = 1 to imax), it is possible to make imax pairs, and each pair is determined.

  In the present embodiment, as shown in FIG. 1, at least a vehicle speed sensor 17 and a wireless communication device 18 similar to those of the host vehicle 1 </ b> A are included in the host vehicle 1 </ b> A and other vehicles (communication device-equipped vehicles) 1 </ b> B capable of executing platooning control. Is installed. On the other hand, such a device may not be mounted on the own vehicle 1A and the other vehicle (general vehicle) 1B that does not execute the row running control. It is assumed that the other vehicle 1B capable of executing the row running control has the same configuration as the host vehicle 1A (the row vehicle determination device 10, the vehicle speed sensor 17, the wireless communication device 18, and the periphery monitoring sensor 19). Good. Moreover, it is good also as a premise that all the other vehicles 1B are provided with the structure similar to the own vehicle 1A.

[1-2. processing]
Next, the convoy vehicle determination process (convoy vehicle determination method) executed by the convoy vehicle determination unit 14 of the first embodiment will be described with reference to the flowchart of FIG. It should be noted that the convoy vehicle determination process of FIG. 3 is executed periodically (every fixed period described above).

First, the convoy vehicle determination unit 14 sets the value of the variable i representing the detected vehicle to be processed among the detected vehicles having the vehicle numbers i = 1 to imax to 1 (S101).
Subsequently, the convoy vehicle determination unit 14 uses the detected vehicle with the vehicle number i (hereinafter referred to as “detected vehicle i”) and the own vehicle 1A as an index value indicating the possibility that the convoy travel control is in progress. Then, correlation index value calculation processing for calculating the variance V described later is performed (S102). The variance V is calculated based on the temporal change in the speeds of the detected vehicle i and the host vehicle 1A. The speed of the detected vehicle i is the speed represented by the information received by the wireless communication device 18 or the speed detected by the surrounding monitoring sensor 19. The speed of the host vehicle 1 </ b> A is a speed detected by the vehicle speed sensor 17. Although details of the correlation index value calculation process will be described later (FIG. 6), the higher the possibility that the detected vehicle i and the own vehicle 1A are in the formation running control in the same formation, the lower the variance V value is calculated. Is done.

  In addition, when the speed is detected by both the wireless communication device 18 and the periphery monitoring sensor 19 for one other vehicle 1B, either one (speed detected by the wireless communication device 18 in the present embodiment) is used. It is done. The method for determining whether the other vehicle 1B whose speed is detected by the wireless communication device 18 and the other vehicle 1B whose speed is detected by the periphery monitoring sensor 19 is the same vehicle is not particularly limited. For example, on the assumption that the position information is transmitted and received together with the speed by wireless communication, is the same vehicle based on a comparison between the position information acquired by the wireless communication device 18 and the position information detected by the periphery monitoring sensor 19? May be determined. Further, for example, on the premise of a configuration including a camera as the periphery monitoring sensor 19, the same vehicle based on a comparison between identification information (for example, description of a license plate) specified from a captured image and identification information transmitted / received by wireless communication It may be determined whether or not.

  Subsequently, the convoy vehicle determination unit 14 determines whether or not the variance V calculated in S102 is less than the threshold value V1 (S103). If it is determined that the variance V is less than the threshold value V1 (S103: YES), the convoy vehicle determination unit 14 determines that the detected vehicle i and the own vehicle 1A are in convoy travel control. (S104), the process proceeds to S105. That is, the threshold value V1 is a value that serves as a criterion for determining that the detected vehicle i and the host vehicle 1A are in the platoon, and in this embodiment, the variance V is less than the threshold V1. If there is, it is considered that the convoy travel control is in progress.

  On the other hand, if the row vehicle determination unit 14 determines that the variance V is not less than the threshold value V1 (is equal to or greater than the threshold value V1) (S103: NO), S104 is skipped and the process proceeds to S105. Let In this case, it is determined that the detected vehicle i and the host vehicle 1A are not in the convoy travel control.

  In S105, the convoy vehicle determination unit 14 determines whether or not the value of the variable i is equal to or greater than the maximum number imax of detected vehicles. That is, in S105, it is determined whether or not the processing of S102 to S104 has been performed for all detected vehicles (i = 1 to imax).

  When determining that the value of the variable i is not equal to or greater than the maximum number imax of detected vehicles (less than the maximum number imax) (S105: NO), the convoy vehicle determination unit 14 adds 1 to the value of the variable i ( (S106), the process is returned to S102. That is, the detected vehicle to be processed is changed. On the other hand, if the row vehicle determination unit 14 determines that the value of the variable i is equal to or greater than the maximum number imax of detected vehicles (S105: YES), the row vehicle determination process in FIG. 3 ends.

  Next, details of the correlation index value calculation process performed in S102 of the convoy vehicle determination process (FIG. 3) will be described. In the correlation index value calculation process, the variance V is calculated based on the temporal change (speed behavior) of the speed of the detected vehicle and the temporal change of the speed of the host vehicle 1A.

  For example, as shown in FIG. 4 (A), in the state where the three vehicles 1L to 1N are executing platooning control in the same platoon, as shown in FIG. 4 (B), each vehicle (the preceding vehicle 1L and the following vehicle) There is a correlation between changes in the speed of the vehicles 1M, 1N) over time. On the other hand, for example, as shown in FIG. 5A, when the vehicle 1M stops (turns off) the row running control from the state of FIG. 4A, the vehicle 1M accelerates and decelerates regardless of the preceding vehicle 1L. For this reason, as shown in FIG. 5C, there is no correlation with the temporal change in the speed of the vehicle 1M. That is, the temporal change in the speed of the row control vehicle (the preceding vehicle 1L and the follower vehicle 1N) that is the vehicle that is executing the row running control, and the time change in the speed of the non-control vehicle 1M that is not executing the row running control. There is a difference between For example, as shown in FIG. 5B, in the state where the two vehicles 1L and 1N are executing the platooning control in the platoon, the other vehicles 1M that are not executing the platooning control are in the platoon. Even when an interruption occurs (between the vehicles 1L and 1N), the situation is the same as in FIG.

  Therefore, an index indicating the possibility that the detected vehicle and the own vehicle 1A are in platooning control in the same fleet by correlating the detected vehicle and the own vehicle 1A with a change in speed over time in a certain period. The value of variance V can be calculated. Note that the time-sequential information on the speed is synchronized with time as necessary. For example, the speed measured by the periphery monitoring sensor 19 may cause a delay compared to the speed information received by the wireless communication device 18 due to the difference in processing speed. By performing synchronization in consideration of such a delay, it is possible to more accurately determine whether or not there is a correlation with a change in speed over time.

Next, a specific processing procedure of the correlation index value calculation processing will be described using the flowchart of FIG.
First, the convoy vehicle determination unit 14 sets the value of the variable n to 0 (S201). Then, the convoy vehicle determination unit 14 calculates a speed ratio R ⁱ (t−n), which is a ratio of the speed of the host vehicle 1A to the speed of the detected vehicle i at time t−n, according to the equation (1) (S202). . In Expression (1), V _o (t−n) is the speed (absolute speed) of the host vehicle 1A at time t−n, and V ⁱ _p (t−n) is detected at time t−n. This is the vehicle speed (absolute speed). The time t−n means a time n times before (n cycles before).

  Subsequently, the convoy vehicle determination unit 14 adds 1 to the value of the variable n (S203), and determines whether or not the value of the variable n is equal to or greater than the value of the period T (S204). The period T is a period corresponding to the T times of information (from T-1 times before). That is, it is determined whether or not the process of S202 has been performed for all the T times of information stored in the speed information storage unit 11, the communication information storage unit 12, and the monitoring information storage unit 13. If the convoy vehicle determination unit 14 determines that the value of the variable n is not equal to or greater than the value of the period T (less than the value of the period T) (S204: NO), the process returns to S202.

On the other hand, if the row vehicle determination unit 14 determines that the value of the variable n is equal to or greater than the value of the period T (S204: YES), the process shifts to S205. In S205, the convoy vehicle determination unit 14 determines the variance V ⁱ (t) of the speed ratio R in the period T (variation of the speed ratio R ⁱ (t) between the speed of the detected vehicle i and the speed of the host vehicle 1A in the period T). Is calculated. The variance in the period T is a variance calculated using past information (information from T-1 times before) of the period T with the current time t as a reference, and is expressed by Expression (2). In Equation (2), R ⁱ _A is an average value of the speed ratio R ⁱ (t) in the period T.

When the detected vehicle i is in platooning control with the own vehicle 1A, the speed ratio R ⁱ (t) is a value close to a constant value. Therefore, it can be said that the smaller the variance V ⁱ (t) that is the variation of the speed ratio R ⁱ (t), the higher the possibility that the detected vehicle i is in platooning control with the own vehicle 1A. Even when there is a difference between the detected speed and the actual speed, the variation in the speed ratio R shows a value close to a certain value if the formation running control is being performed in the formation. As a factor that causes a deviation between the detected speed and the actual speed, for example, a change in the outer diameter due to wear of the tire can be cited.

Subsequently, the convoy vehicle determination unit 14 determines whether or not the value of the period T is greater than 0 (S206). If the convoy vehicle determination unit 14 determines that the value of the period T is larger than 0 (S206: YES), the correlative index value calculation process of FIG. On the other hand, if the convoy vehicle determination unit 14 determines that the value of the period T is not greater than 0 (0 or less) (S206: NO), the value of the variance V ⁱ (t) is set to infinity. After that, the correlation index value calculation process in FIG. 6 is terminated.

The value of the variance V ⁱ (t) being infinite means that the possibility that the detected vehicle i and the host vehicle 1A are in the formation running control in the same formation is the lowest (0). In the present embodiment, since the period T is a fixed value, the period T is basically not 0 or less. However, performing such a determination process is merely a process of setting the period T to 0 in the other processes, and it is determined that the detected vehicle i and the host vehicle 1A are not in a convoy travel control. There is an advantage that can be made. For example, in a state where there is a high possibility that the detected vehicle i and the own vehicle 1A are actually in the formation driving control in the formation, although they are not actually in the formation driving control in the formation, temporarily A process of setting the period T to 0 may be performed. Further, the processing of S206 to S207 is performed in advance (for example, before S201) (when the value of the period T is not larger than 0, the processing of S201 to S205 is not performed). May be. Further, the processing of S206 to S207 may not be performed.

[1-3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
[1A] In the convoy vehicle determination device 10 of the first embodiment, the two vehicles 1 (the own vehicle 1A and the other vehicle 1B) are correlated with each other by changing the speed with time. A variance V indicating the possibility that the formation is being controlled in the formation is calculated (S102). Then, based on the calculated variance V, it is determined whether the two vehicles 1 are in platoon travel control (S103 to S104). Therefore, according to the convoy vehicle determination device 10 of the first embodiment, since it is possible to accurately determine whether the two vehicles 1 are in convoy travel control in the same convoy, it apparently travels in the same convoy. It is possible to identify the vehicle 1 that is the vehicle 1 and that is not executing the convoy travel control.

  [1B] In the correlation index value calculation process, the variance V is calculated based on the variation in the speed ratio R of the two vehicles 1 in the period T (S202). Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to determine relatively easily the degree of correlation of the temporal change in speed for the two vehicles 1. In addition, even when there is a difference between the detected speed and the actual speed, a relatively accurate determination result can be obtained.

  [1C] In the convoy vehicle determination device 10 of the first embodiment, the threshold V1 indicates the possibility of the dispersion V (the possibility that two vehicles 1 are in convoy travel control in the convoy). If it is greater than the possibility, it is determined that the convoy travel control is in progress (S103 to S104). Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to determine whether or not the two vehicles 1 are in convoy travel control in the convoy by simple processing.

  [1D] The convoy vehicle determination device 10 of the first embodiment is mounted on the own vehicle 1A, and determines for each other vehicle 1B whether the other vehicle 1B is in convoy travel control with the own vehicle 1A. . Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to reduce the processing load as compared to the configuration in which it is determined whether the other vehicles 1B are in convoy travel control in the same convoy.

  [1E] The speed information accumulating unit 11 acquires a change in the speed of the host vehicle 1A with time by periodically acquiring a detection result obtained by detecting the speed of the host vehicle 1A. Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to acquire a temporal change in the speed of the host vehicle 1A with a simple configuration.

  [1F] The communication information accumulating unit 12 periodically acquires information indicating the speed of the other vehicle 1B transmitted from the other vehicle 1B, thereby acquiring a change with time in the speed of the other vehicle 1B. Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to acquire the temporal change in the speed of the other vehicle 1B with a simple configuration.

  [1G] The monitoring information accumulating unit 13 obtains a change in the speed of the other vehicle 1B with time by periodically obtaining a measurement result obtained by measuring the speed of the other vehicle 1B from the outside. Therefore, according to the convoy vehicle determination device 10 of the first embodiment, it is possible to acquire the temporal change in the speed of the other vehicle 1B with a simple configuration.

  In the first embodiment, the speed information storage unit 11, the communication information storage unit 12, and the monitoring information storage unit 13 correspond to an example of an acquisition unit. Further, S102 corresponds to an example of processing as a calculation unit, and S103 to S104 correspond to an example of processing as a determination unit. The variance V corresponds to an example of an index value, the host vehicle 1A corresponds to an example of a first vehicle, and the other vehicle 1B corresponds to an example of a second vehicle.

[2. Second Embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the description of the common configuration is omitted by using the same reference numerals.

[2-1. Constitution]
The convoy vehicle determination device 20 of the second embodiment shown in FIG. 7 is mounted on a roadside device 2 that includes a wireless communication device 18 and a periphery monitoring sensor 19. The roadside machine 2 is installed on the travel path of the vehicle 1 (see FIG. 8). The roadside machine 2 executes a formation vehicle determination process similar to that of the first embodiment in response to a determination request by wireless communication from the vehicle 1 traveling on the traveling road, and transmits the determination result to the requesting vehicle 1. In addition, in order to distinguish the vehicle 1 that is the request source of the determination request from the other vehicles 1 for convenience of explanation, the vehicle 1 that is the request source of the determination request is referred to as “request source vehicle 1A”, and other than the request source vehicle 1A. The vehicle 1 is referred to as “another vehicle 1B”.

The wireless communication device 18 has the same function as in the first embodiment. However, since the roadside device 2 does not travel unlike the vehicle 1, the wireless communication device 18 of the roadside device 2 does not transmit travel data.
The surrounding monitoring sensor 19 has the same function as that of the first embodiment. However, since the position of the roadside machine 2 is fixed unlike the vehicle 1, the vehicle 1 passing through a predetermined area on the traveling road is detected as a target.

  The convoy vehicle determination device 20 includes a communication information accumulation unit 12, a monitoring information accumulation unit 13, and a convoy vehicle determination unit 14. That is, the convoy vehicle determination device 20 is different from the convoy vehicle determination device 10 of the first embodiment in that it does not include the speed information storage unit 11. The communication information storage unit 12 and the monitoring information storage unit 13 have the same functions as in the first embodiment. The convoy vehicle determination unit 14 executes a convoy vehicle determination process (FIG. 9), which will be described later, instead of the convoy vehicle determination process (FIG. 3) of the first embodiment.

  In the present embodiment, at least the vehicle speed sensor 17 and the wireless communication device 18 that are the same as those of the request source vehicle 1A are mounted on the request source vehicle 1A and the other vehicle (vehicle equipped with the communication device) 1B that can execute the row running control. . The requesting vehicle 1A is equipped with a convoy vehicle information accumulating unit 15 that accumulates the determination result transmitted from the roadside machine 2. On the other hand, such a device does not need to be mounted on the requesting vehicle 1A and the other vehicle (general vehicle) 1B that does not execute the convoy travel control. In addition, it is good also as a premise that all the other vehicles 1B are provided with the structure similar to 1A of request origin vehicles.

[2-2. processing]
Next, the convoy vehicle determination process (convoy vehicle determination method) executed by the convoy vehicle determination unit 14 of the second embodiment will be described with reference to the flowchart of FIG. However, the processing of S301 to S306 shown in FIG. 9 is the same as the processing of S101 to S106 shown in FIG. 3 in which the host vehicle is replaced with the requesting vehicle. Omitted. The row vehicle determination process in FIG. 9 is executed when a determination request is received from the requester vehicle 1A.

  The convoy vehicle determination unit 14 sets the value of the variable i to 1 (S301), performs correlation index value calculation processing (S302), and then determines whether the calculated variance V is less than the threshold value V1. (S303). When determining that the variance V is less than the threshold value V1 (S303: YES), the convoy vehicle determination unit 14 determines that the detected vehicle i and the requesting vehicle 1A are in convoy travel control in the same convoy. (S304), and the process proceeds to S305. On the other hand, when determining that the variance V is not less than the threshold value V1 (S303: NO), the convoy vehicle determination unit 14 skips S304 and shifts the process to S305.

  In S305, the convoy vehicle determination unit 14 determines whether or not the value of the variable i is greater than or equal to the maximum number imax of detected vehicles. If it is determined that the value is not equal to or greater than the maximum number imax (S305: NO), the variable i 1 is added to the value of (S306), and the process returns to S302.

  On the other hand, when determining that the value of the variable i is equal to or greater than the maximum number imax of detected vehicles (S305: YES), the convoy vehicle determination unit 14 transmits the determination result to the requesting vehicle 1A (S307). Nine convoy vehicle determination processes are terminated.

[2-3. effect]
According to the second embodiment described in detail above, in addition to the effects [1A] to [1C] and [1F] to [1G] of the first embodiment described above, the following effects are obtained.

  [2A] The convoy vehicle determination device 20 according to the second embodiment is installed on the travel path of the vehicle 1, and in response to a determination request from the request source vehicle 1 </ b> A, the other vehicle 1 </ b> B corresponds to the request source vehicle. It is determined whether or not the row running control is in the same row as 1A. Therefore, according to the convoy vehicle determination device 20 of the second embodiment, it is possible to reduce the processing load as compared with the configuration in which it is determined whether the other vehicles 1B are in convoy travel control in the same convoy.

  [2B] The convoy vehicle determination device 20 of the second embodiment transmits the determination result by the convoy vehicle determination process in response to the determination request from the request source vehicle 1A to the request source vehicle 1A. Therefore, according to the convoy vehicle determination apparatus 20 of 2nd Embodiment, a determination result can be provided with respect to the vehicle 1 which is not provided with the structure for performing a convoy vehicle determination process. In other words, the system for the vehicle 1 can be reduced in weight, the processing load can be reduced, and the like, because there is no need to mount the configuration for performing the convoy vehicle determination process on the vehicle 1.

  In the second embodiment, the communication information storage unit 12 and the monitoring information storage unit 13 correspond to an example of an acquisition unit. S302 corresponds to an example of processing as a calculation unit, S303 to S304 correspond to an example of processing as a determination unit, and S307 corresponds to an example of processing as a transmission unit. The variance V corresponds to an example of an index value, the requester vehicle 1A corresponds to an example of a first vehicle, and the other vehicle 1B corresponds to an example of a second vehicle.

[3. Third Embodiment]
Since the basic configuration of the third embodiment is the same as that of the second embodiment, the description of the common configuration is omitted by using the same reference numerals.

  In the second embodiment, as shown in FIG. 8, the convoy vehicle determination device 20 mounted on the roadside machine 2 executes the convoy vehicle determination process. In contrast, in the third embodiment, as shown in FIG. 10, a convoy vehicle determination device 20 similar to that of the second embodiment is mounted on a vehicle 1P, and the convoy vehicle determination device 20 is connected to a vehicle 1 ( The convoy vehicle determination process is executed for the vehicles 1L to 1N) in FIG. That is, the third embodiment is a configuration in which the roadside machine 2 is replaced with the vehicle 1 (vehicle 1P in FIG. 10) in the configuration of the second embodiment shown in FIG. In addition, the content of the convoy vehicle determination process is basically the same as the convoy vehicle determination process (FIG. 9) of the second embodiment. According to such 3rd Embodiment, the effect similar to 2nd Embodiment mentioned above is acquired.

[4. Fourth Embodiment]
Since the basic configuration of the fourth embodiment is the same as that of the first embodiment, the description of the common configuration is omitted by using the same reference numerals.

[4-1. Constitution]
In the first embodiment, for each other vehicle 1B other than the own vehicle 1A, whether the other vehicle 1B is in the same row as the own vehicle 1A or in the same row as the other vehicle 1B other than the own vehicle 1A. The configuration for determining the above has been described. In the second embodiment, the roadside machine 2 responds to a determination request from the vehicle 1 (requesting vehicle 1A) that is in platooning control for each other vehicle 1B other than the requesting vehicle 1A. The configuration for determining whether or not the vehicle running control is being performed in the same row as the requesting vehicle 1A has been described. Further, in the third embodiment, the vehicle 1 outside the platoon, for each other vehicle 1B other than the requesting vehicle 1A, in response to a determination request from the vehicle 1 (requesting vehicle 1A) that is in platooning control. A configuration has been described in which it is determined whether the vehicle 1B is in a convoy travel control with the own vehicle 1A. In other words, in these embodiments, it is determined whether a specific vehicle 1 and a vehicle 1 other than the vehicle 1 are in the formation running control in the same formation.

  On the other hand, in the fourth embodiment, for all the combinations of the two vehicles 1 in the plurality of vehicles 1 (detected vehicles), it is determined whether the two vehicles 1 are in platooning control. The configuration will be described.

  For example, as shown in FIG. 11A, three vehicles 1L to 1N are apparently running in a platoon, and are traveling in a lane adjacent to the platooning (right side in this example). However, consider a situation in which a lane is changing to a lane where platooning is taking place. When the vehicles 1L to 1N are in the same row and are in the row running control, it is not preferable to change lanes within the row (in this example, between the vehicles 1L and 1M or between the vehicles 1M and 1N). Therefore, in the fourth embodiment, as shown in FIG. 11 (B), the vehicle 1Q acquires changes over time in the speeds of the vehicles 1L to 1N, and identifies a vehicle group that is in the convoy travel control. . As a result, for example, when it is specified that the vehicles 1L to 1N are in the convoy travel control, the vehicle 1Q changes the lane to the rear of the convoy as shown in FIG. Can be taken.

  A convoy vehicle determination device 40 according to the fourth embodiment shown in FIG. 12 is mounted on a vehicle 1 including a wireless communication device 18 and a periphery monitoring sensor 19. The wireless communication device 18 and the periphery monitoring sensor 19 have the same functions as in the first embodiment. In order to distinguish the vehicle 1 (vehicle 1Q in FIG. 11A) from other vehicles 1 (vehicles 1L to 1N in FIG. 11A) for convenience of explanation, the vehicle 1 is referred to as “own vehicle”. The vehicle 1 other than the host vehicle 1A is referred to as “another vehicle 1B”.

  The convoy vehicle determination device 40 includes a communication information accumulation unit 12, a monitoring information accumulation unit 13, and a convoy vehicle determination unit 14. That is, the convoy vehicle determination device 40 is different from the convoy vehicle determination device 10 of the first embodiment in that it does not include the speed information accumulation unit 11. The communication information storage unit 12 and the monitoring information storage unit 13 have the same functions as in the first embodiment. The convoy vehicle determination unit 14 executes convoy vehicle determination processing (FIG. 13), which will be described later, instead of the convoy vehicle determination processing (FIG. 3) of the first embodiment.

  In the present embodiment, at least the vehicle speed sensor 17 and the wireless communication device 18 are mounted on the other vehicle (communication device-equipped vehicle) 1B capable of executing the row running control. On the other hand, such a device may not be mounted on the other vehicle (general vehicle) 1B that does not execute the convoy travel control. In addition, it is good also as a premise that all the other vehicles 1B are provided with the structure similar to the vehicle 1B with a communication apparatus.

[4-2. processing]
Next, the convoy vehicle determination process (convoy vehicle determination method) executed by the convoy vehicle determination unit 14 of the fourth embodiment will be described with reference to the flowchart of FIG. Note that the convoy vehicle determination process of FIG. 13 is executed when a predetermined convoy determination operation is performed by the driver.

  First, the convoy vehicle determination unit 14 extracts two detection vehicles (a first detection vehicle and a second detection vehicle) as processing targets from among a plurality of detection vehicles from which a change in speed over time has been acquired. The values of variables i and j are set. Specifically, the convoy vehicle determination unit 14 sets the value of the variable i representing the first detected vehicle to be processed to 1 among the first detected vehicles having the vehicle numbers i = 1 to imax. Similarly, the convoy vehicle determination unit 14 sets the value of the variable j representing the second detected vehicle to be processed among the second detected vehicles with the vehicle numbers j = 1 to jmax to 2 (S401). The maximum number imax of the first detected vehicles and the maximum number jmax of the second detected vehicles are the same, and are equal to the total number of detected vehicles. In addition, the variable i and the variable j do not have the same value (the same detected vehicle is not processed as the first detected vehicle and the second detected vehicle at the same time).

  Subsequently, the convoy vehicle determination unit 14 is in the convoy travel control of the vehicle with the vehicle number i (the detected vehicle i) and the vehicle with the vehicle number j (hereinafter referred to as “detected vehicle j”). Correlation index value calculation processing for calculating the variance V indicating the possibility of being present is performed (S402). The correlation index value calculation process is a process (FIG. 6) described in the first embodiment, in which the own vehicle is replaced with the detected vehicle j.

  Subsequently, the convoy vehicle determination unit 14 determines whether or not the variance V calculated in S402 is less than the threshold value V1 (S403). When determining that the variance V is less than the threshold value V1 (S403: YES), the convoy vehicle determination unit 14 determines that the detected vehicle i and the detected vehicle j are in convoy travel control. (S404).

Subsequently, the convoy vehicle determination unit 14 determines whether or not the vehicle convoy number K ⁱ is Null (no value) (S405). Note that the initial values of the vehicle platoon numbers K ⁱ and K ^j (values at the time when the platoon vehicle determination process in FIG. 13 is started) are Null.

If the convoy vehicle determination unit 14 determines that the vehicle convoy number K ⁱ is Null (S405: YES), the convoy vehicle determination unit 14 updates the vehicle convoy numbers K ⁱ and K ^j of the vehicle numbers ⁱ and ^j to the value of the variable i. (S406), the process proceeds to S408. On the other hand, if it is determined that the vehicle platoon number K ⁱ is not Null (S405: NO), the platoon vehicle determination unit 14 updates the vehicle platoon number K ^j of the vehicle number ^j to the value of the vehicle platoon number K ⁱ ( S407), the process proceeds to S408. That is, the same vehicle platoon number is assigned to a detected vehicle that is executing platooning control in the same platoon. As a result, as shown in FIG. 14, even when a plurality of different platoons exist among the plurality of detected vehicles, each detected vehicle can be classified and identified into a plurality of platoons. Note that the vehicle with the final vehicle platoon number Null is identified as a non-control vehicle.

  On the other hand, if the row vehicle determination unit 14 determines in S403 described above that the variance V is not less than the threshold value V1 (is greater than or equal to the threshold value V1) (S403: NO), S404 to S407 are skipped. Then, the process proceeds to S408.

  In S408, the convoy vehicle determination unit 14 determines whether the value of the variable j is equal to or greater than the maximum number jmax. When determining that the value of the variable j is not equal to or greater than the maximum number jmax (less than the maximum number jmax) (S408: NO), the convoy vehicle determination unit 14 adds 1 to the value of the variable j (S409), The process returns to S402. That is, the second detection vehicle to be processed is changed.

  On the other hand, if the convoy vehicle determination unit 14 determines that the value of the variable j is greater than or equal to the maximum number jmax (S408: YES), is the value of the variable i greater than or equal to the value obtained by subtracting 1 from the maximum number imax? It is determined whether or not (S410). The convoy vehicle determination unit 14 determines that the value of the variable i is not equal to or greater than the value obtained by subtracting 1 from the maximum number imax (less than the value obtained by subtracting 1 from the maximum number imax) (S410: NO). 1 is added to the value of i (S411). Further, the convoy vehicle determination unit 14 sets the value of the variable j to a value obtained by adding 1 to the variable i (S412), and returns the process to S402. That is, the first detection vehicle and the second detection vehicle to be processed are changed. On the other hand, if the convoy vehicle determination unit 14 determines in S410 that the value of the variable i is equal to or greater than the maximum number imax of detected vehicles (S410: YES), the convoy vehicle determination process of FIG. 13 ends.

[4-3. effect]
According to the fourth embodiment described in detail above, in addition to the effects [1A] to [1C] and [1F] to [1G] of the first embodiment described above, the following effects are obtained.

  [4A] The convoy vehicle determination device 40 of the fourth embodiment determines whether the two vehicles are in convoy travel control for all combinations of two vehicles in the plurality of detected vehicles ( S401 to S412). Therefore, according to the convoy vehicle determination device 40 of the fourth embodiment, even when a plurality of different convoys are included in the plurality of detected vehicles, each vehicle can be classified and specified for each convoy.

  In the fourth embodiment, the communication information storage unit 12 and the monitoring information storage unit 13 correspond to an example of an acquisition unit. Further, S402 corresponds to an example of processing as a calculation unit, and S403 to S404 correspond to an example of processing as a determination unit. Further, the variance V corresponds to an example of an index value.

[5. Other Embodiments]
As mentioned above, although embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form, without being limited to the said embodiment.

  [5A] In the fourth embodiment, the vehicle 1 (own vehicle 1A) on which the convoy vehicle determination device 40 is mounted is configured to perform the convoy vehicle determination process when the own vehicle 1A is necessary. It is not something. For example, the host vehicle 1A may execute a platoon determination process in response to a determination request from the other vehicle 1B outside the platoon, and transmit the determination result to the requesting other vehicle 1B. In this case, the convoy vehicle determination device 40 does not need to be mounted on the vehicle 1 and may be mounted on the roadside machine 2 as in the second embodiment.

  [5B] In the above embodiment, the period T is a fixed value. However, the period T is not limited to this, and may be a value that is changed according to the status of the formation. For example, the period T may be set longer as the period during which no change has occurred in the formation is longer.

  [5C] The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

  [5D] The present invention is not limited to the convoy vehicle determination device described above, but includes various systems including the device as a constituent element, a program for causing a computer to function as the device, a medium storing the program, a convoy vehicle determination method, and the like. Can be realized.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10, 20, 40 ... Convoy vehicle determination apparatus, 11 ... Speed information storage part, 12 ... Communication information storage part, 13 ... Monitoring information storage part, 14 ... Convoy vehicle determination part, 17 ... Vehicle speed sensor, 18 ... Wireless communication device, 19: Perimeter monitoring sensor.

Claims (10)

Acquisition means (11-13) for acquiring a change with time of the speed of the vehicle (1);
By correlating the time-dependent change in speed for the two vehicles whose speed change over time has been acquired by the acquisition means, the possibility that the two vehicles are in row formation control in the same formation Calculation means (14, S102, S302, S402) for calculating the index value to be indicated;
Determination means (14, S103 to S104, S303 to S304, S403 to S404) for determining whether or not the two vehicles are in platooning control based on the index value calculated by the calculating means. When,
Equipped with a,
The convoy vehicle determination device (10, 20, 40) , wherein the calculation means calculates the index value based on a variation in a ratio of speeds of the two vehicles in a predetermined period . The convoy vehicle determination device according to claim 1,
The determination means determines whether the two vehicles indicated by the index value are in platooning control in the platoon if the predetermined threshold is greater than the possibility. It is determined that the vehicle is in the formation running control in the same formation. The convoy vehicle determination device according to claim 1 or 2 ,
The determination means (14, S103 to S104, S303 to S304) uses the specific one vehicle as a first vehicle and one or more vehicles other than the first vehicle as a second vehicle. It is determined for each of the two vehicles whether the second vehicle is in a convoy travel control in the same convoy as the first vehicle. It is a convoy vehicle determination device according to claim 3 ,
The convoy vehicle determination device (10, 40) is mounted on a vehicle,
The determination means (14, S103 to S104) uses the own vehicle as the first vehicle and one or more other vehicles other than the own vehicle as the second vehicle. A convoy vehicle determination device that determines whether convoy travel control is being performed in the same convoy as a vehicle. It is a convoy vehicle determination device according to claim 4 ,
The convoy vehicle determination device characterized in that the acquisition means (11) acquires a change in the speed of the own vehicle over time by periodically acquiring a detection result obtained by detecting the speed of the own vehicle. It is a convoy vehicle determination device according to claim 3 ,
The convoy vehicle determination device (20) is installed on the traveling path of the vehicle,
In response to a determination request from a vehicle, a transmission unit (14, S307) that transmits a determination result by the determination unit (14, S203 to S204) in which the requesting vehicle is the first vehicle to the first vehicle. A convoy vehicle determination device, further comprising: It is a convoy vehicle determination device according to claim 3 ,
The convoy vehicle determination device (20) is mounted on a vehicle,
In response to a determination request from the vehicle, the determination means (14, S203 to S204) in which the requesting vehicle is the first vehicle and the vehicle other than the first vehicle and the host vehicle is the second vehicle. A convoy vehicle determination device, further comprising: a transmission means (14, S307) for transmitting the determination result obtained by the above to the first vehicle. The convoy vehicle determination device according to claim 1 or 2 ,
The determination means (14, S403 to S404) determines, for all combinations of two vehicles in a plurality of vehicles, whether the two vehicles are in platooning control. Convoy vehicle determination device. A convoy vehicle determination device according to any one of claims 1 to 8 ,
The convoy vehicle determination device characterized in that the acquisition means (12) acquires the speed of the vehicle by periodically acquiring information indicating the speed of the vehicle transmitted by the vehicle. It is a convoy vehicle determination apparatus according to any one of claims 1 to 9 ,
The acquisition means (13) acquires a change with time of the speed of the vehicle by periodically acquiring a measurement result obtained by measuring the speed of the vehicle from the outside.