JP6748213B2 - Platooning management system - Google Patents

Description

The present invention relates to a platooning management system that manages the order of vehicles in platooning.

In recent years, for the purpose of smoothing traffic flow, saving energy, etc., a system for realizing platooning in which a plurality of vehicles form a platoon and travels has been developed. Vehicles forming a platoon travel so as to maintain a predetermined inter-vehicle distance while communicating with each other at short intervals. For example, in the field of physical distribution, a system for electronically connecting a leading truck driven by a driver and an unmanned truck is under consideration. When such a system is put to practical use as a commercial vehicle, it is assumed that a platoon is formed not only by vehicle type but also by vehicles having different specifications such as the size of the vehicle body, the drive source, and the configuration of the brake system.

Further, in platooning, it is known that shortening the inter-vehicle distance reduces the air resistance of each vehicle and improves fuel efficiency. When forming a platoon with vehicles of the same vehicle type, the vehicle order does not affect the fuel economy of the entire platoon because the air resistance of each vehicle is the same. However, when a platoon is formed by vehicles having different specifications such as the size of the vehicle body, the vehicle order in platooning affects the fuel consumption of the entire platoon. Therefore, even in the case of forming a platoon from vehicles having different specifications, studies are being made on a formation that can enhance the fuel consumption improving effect.

For example, Patent Document 1 proposes a system for forming a formation from a vehicle group including vehicles having a large projected area and a vehicle group including vehicles having a small projected area. The projected area corresponds to the product of the vehicle width and the total height. By including vehicles with a large projected area in the front vehicle group and vehicles with a small projected area in the rear vehicle group, the air resistance of the rear vehicle group is reduced and the energy consumption of the entire platoon is reduced.

JP, 2014-212714, A

On the other hand, the inter-vehicle distance assumed in platooning is as short as several meters to 10 meters, so that even if the leading vehicle suddenly brakes, each vehicle following it can decelerate or stop safely. It has been demanded. However, the system described in the above-mentioned patent documents does not take into consideration that the vehicle safely decelerates even during sudden braking. Further, in order to safely decelerate or stop the following vehicles during the sudden braking operation, for example, it is conceivable to arrange the vehicles in order of increasing braking distance from the head to the tail in the formation. However, in this case, the fuel efficiency improving effect may be reduced. As described above, it is the current situation that further consideration is required regarding the formation method of a formation when forming a formation with vehicles having different specifications.

It is an object of the present invention to provide a platooning management system capable of forming a platoon in a vehicle order according to a state predicted during platooning even when a platoon is formed by vehicles having different specifications.

In one aspect, the platooning management system is a platooning management system that manages the order of a plurality of vehicles in a platooning platoon, and a prediction that acquires prediction information that predicts at least one of time and environment during platooning An information acquisition unit, a vehicle information acquisition unit that acquires vehicle information including braking distances of vehicles forming a formation and vehicle body information of the vehicle, and the order of the vehicles in accordance with the acquired prediction information, A first vehicle order in which vehicles are arranged in order of increasing braking distance from the head to the tail in the row, or a vehicle having the largest air resistance among the plurality of vehicles based on the vehicle body information is placed at the head in the row. And a platoon formation unit set in the second vehicle order.

According to the above configuration, the platoon formation unit sets the vehicle order in the platoon traveling to the first vehicle order in which the vehicles are arranged in the platoon in order of increasing braking distance, or the first vehicle order to improve fuel efficiency by reducing air resistance of the following vehicles. Set to 2 vehicle order. In the case of the first vehicle order, for example, when the leading vehicle actuates the sudden braking, the vehicles can be prevented from colliding with each other by stopping in order from the vehicle at the tail. In the case of the second vehicle order, the air resistance of the following vehicle is reduced by the leading vehicle, so that the fuel efficiency of the entire formation can be improved. Therefore, by deciding the vehicle order according to the state predicted during platooning, even when forming a platoon with vehicles with different specifications such as the size of the vehicle body and the configuration of the brake system, there are advantages in each state. It is possible to perform platooning by high vehicle order.

In one embodiment, the vehicle learns by associating the gross vehicle weight with the braking distance, and the formation forming unit determines the order of the vehicles based on the braking distance associated with the gross vehicle weight of the vehicle. May be.

The braking distance tends to increase as the total vehicle weight increases. According to the above configuration, the braking distance is learned on the vehicle side in association with the gross vehicle weight that changes according to the load of the load, and the formation formation unit determines the vehicle order using the braking distance. Therefore, the braking distance predicted on the vehicle side can be made closer to the actual braking distance, so that a collision between vehicles can be more reliably avoided.

In one embodiment, when setting the order of the vehicles to the second vehicle order, the platoon formation unit arranges the vehicle having the highest air resistance based on the vehicle body information at the head and the other vehicles at the head. It is also possible to set the order in which the braking distance is arranged in the descending order from the rear to the rear.

According to the above configuration, in the case of the second vehicle order, the vehicles other than the leading vehicle are arranged in the platoon in descending order of the braking distance. Collisions can be avoided.

In one embodiment, when setting the order of the vehicles to the second vehicle order, the formation formation unit may set the vehicles to an order of arranging the vehicles in descending order of air resistance from the head to the tail. ..

According to the above configuration, in the case of the second vehicle order, all the vehicles are arranged in the platoon in descending order of air resistance, so that the fuel efficiency improvement effect of the entire platoon can be enhanced.
In one embodiment, the platoon formation unit sets the order of the vehicles to the first vehicle order or the second vehicle order, and then proceeds from the head vehicle of the platoon to the rear vehicle. Each vehicle may be instructed to increase the maximum deceleration.

According to the above-mentioned configuration, in the case of the first vehicle order, the vehicles are arranged in the formation in order of increasing braking distance from the leading vehicle to the trailing vehicle, and the maximum deceleration increases on the vehicle side. Thus, the collision between vehicles at the time of sudden braking can be avoided. Further, in the case of the second vehicle order, the vehicle having the highest air resistance is arranged at the head of the row to improve the fuel efficiency of the entire row, and the maximum deceleration is made as the vehicle heads toward the rear vehicle. By making the adjustment so that it becomes larger, it is possible to avoid collision between vehicles when sudden braking occurs. Therefore, it is possible to perform platooning in a vehicle order having a high merit in each state while improving safety when a sudden braking occurs.

According to the present invention, even when a formation is formed by vehicles having different specifications, the formation can be formed in a vehicle order according to a state predicted during traveling of the formation.

The conceptual diagram explaining the outline of platooning. The block diagram explaining the schematic structure of a platooning system. The flowchart explaining the procedure which organizes a formation.

Hereinafter, an embodiment of a platooning management system will be described.
An outline of platooning will be described with reference to FIG. Here, the vehicles 100 forming the platoon are trucks. A destination is set in the vehicle 100, and the vehicle 100 forms a platoon and travels in a predetermined section between the departure place and the destination.

The vehicle 100 passes through a hub base 101 for forming a platoon before arriving at a destination, that is, a hub base 101 that is a starting point of platooning. The hub base 101 is provided, for example, in the vicinity of an entrance/exit of a road such as a highway that can run in a row, or in a service area of the highway. Each vehicle 100 is driven by a driver from the place of departure to the hub base 101.

The vehicle 100 that has arrived at the hub base 101 communicates with the platoon management device 11. The platoon management device 11 only needs to be able to communicate with the vehicle 100 or the like at the hub base 101, and may be provided at the hub base 101 or at a place other than the hub base 101. Further, the platoon management device 11 may be provided for each hub base 101, or one platoon management device 11 may be provided corresponding to a plurality of hub bases 101. For example, the vehicle 100 has an authentication code for performing platooning, and the platoon management device 11 authenticates the vehicle 100.

When the platoon management device 11 authenticates the vehicle 100 that has arrived at the hub base 101, the platoon management device 11 collects information regarding the vehicle 100 and information regarding the route from the vehicle 100 and the like. The platoon management device 11 selects vehicles 100 that form a platoon based on route information such as information on a route from a departure point to a destination. Since the platoon management device 11 selects the vehicles 100 that form the platoon according to the destination and the like, the vehicle type of the selected vehicle, the load capacity, the vehicle body information such as the vehicle width and the total length, the total vehicle weight, and the configuration of the drive source The configurations of the brake systems are not necessarily the same, and often differ from each other. Further, the platoon management device 11 determines the order of vehicles in the platoon. When each vehicle 100 forming the platoon and the vehicle order are determined, the platoon management device 11 transmits information including the identifier of the vehicle 100 forming the platoon and the vehicle order to each vehicle 100. When the vehicle 100 receives these pieces of information, it forms a platoon based on the received information and travels on a road capable of platooning such as an expressway.

In platooning, the leading vehicle 100 at the beginning of the platoon is driven by a driver or monitored by an observer, and the vehicles 100 other than the leading vehicle run unmanned (automatic driving). The leading vehicle may also run unmanned. The vehicle 100 (forward vehicle) forming the platoon transmits information on speed and acceleration/deceleration to the following vehicle, for example, every several milliseconds to several tens of milliseconds. The following vehicle accelerates or decelerates based on the received speed and acceleration/deceleration so that the speed becomes the same as that of the preceding vehicle, so that the following distance between the preceding vehicle and the preceding vehicle becomes a predetermined distance. For example, the target inter-vehicle distance in the platoon is several meters to a dozen meters (for example, 1 m to 15 m), and the target speed maintained during platooning is, for example, 60 to 80 km/h.

When the vehicles 100 forming the platoon arrive at the hub base 101 which is the end point, they are driven by the driver and head to the destinations. The vehicle 100 forming the platoon may leave the platoon before the hub base 101 when the destination is before the hub base 101.

Next, the configuration of the platooning traveling management system 10 will be described with reference to FIG. The platooning management system 10 has a platooning management device 11 and a platooning control system mounted on the vehicle 100. The control system of the vehicle 100 includes a platooning control device 20, a vehicle information storage unit 21, and a communication unit 22, which are connected to each other via an in-vehicle network 29. The platooning control device 20 has a calculation unit, a volatile storage unit as a calculation region, and a non-volatile storage unit. The calculation unit performs various calculations for platooning according to a program stored in the nonvolatile storage unit. The platooning control device 20 performs road-vehicle communication, vehicle-vehicle communication, and the like via the communication unit 22.

A speed signal is input to the platooning control device 20 from the vehicle speed sensor 23. The platooning control device 20 calculates the speed and acceleration/deceleration of the vehicle 100 based on the speed signal, and transmits information including the speed and the acceleration/deceleration to the other vehicles 100 forming the platoon via the communication unit 22.

Further, the vehicle 100 includes a vehicle position detection unit 24 and a route guidance unit 25. The own vehicle position detection unit 24 is, for example, a GPS sensor or the like, and detects the own vehicle position such as latitude and longitude. The route guidance unit 25 searches for a route from a departure place to a destination and generates route information. The route guide unit 25 guides the vehicle 100 to travel along the searched route based on the vehicle position and the route information.

The vehicle information storage unit 21 stores vehicle information such as vehicle width and height, and vehicle information including a braking distance. The braking distance is information learned by the brake ECU 26 that controls the brake system of the vehicle 100. The braking distance is learned at a predetermined timing such as when the vehicle 100 stops, and is recorded in a state associated with the gross vehicle weight. The braking distance is a moving distance of the vehicle 100 from when the brake operates and the vehicle 100 starts decelerating to when the vehicle 100 stops. The total vehicle weight is calculated, for example, by adding the loaded weight to the vehicle weight in the unloaded state. The vehicle weight in the unloaded state is a fixed value, and the loaded weight can be obtained by, for example, detecting the pressure in the air circuit of the air suspension system or the load detection sensor. The braking distance may be learned in association with at least one of the speed when the vehicle 100 starts decelerating and the braking pressure, in addition to the gross vehicle weight. By learning the braking distance based on the speed or the brake pressure and the gross vehicle weight, the relationship between the speed or the brake pressure and the braking distance can be grasped, so that the braking distance at the maximum deceleration can be calculated accurately. it can. Further, the braking distance is learned by being associated with at least one of the road surface condition (curve radius of curvature, inclination angle, road friction coefficient, road surface temperature, etc.) and vehicle condition (tire pressure, tire temperature, brake shoe temperature, etc.). It may have been done. The state of the road surface can be obtained from road map data stored in the route guidance unit 25, an analysis result of imaging data of an infrared camera or a visible light camera provided in the vehicle 100, or information received from a roadside communication device. it can. Further, the state of the vehicle 100 can be acquired from a pressure sensor or a temperature sensor provided on the wheels.

The platooning control device 20 transmits vehicle information including the identifier of the vehicle 100, the braking distance, and the gross vehicle weight at a predetermined timing such as when the hub base 101, which is the starting point of the platooning, arrives, via the communication unit 22. It transmits to the platoon management device 11. Further, the platooning control device 20 manages the destination and the route information acquired from the route guidance unit 25 and the scheduled traveling time passing through a predetermined point such as the hub base 101 on the route via the communication unit 22. Send to device 11.

The vehicle information and the route information may be provided by the delivery management terminal 31 connected to the platoon management device 11 via the network 30. The delivery management terminal 31 is a terminal that manages the travel route, estimated travel time, driver, etc. of each vehicle 100, and has information regarding the delivery plan of the vehicle 100. The delivery management terminal 31 can transmit vehicle information and route information to the platoon management device 11 before the date when the vehicle 100 arrives at the hub base 101, for example. In this case, the platoon management device 11 can plan the formation of the platoon before the day of running the platoon.

The delivery management terminal 31 includes a delivery management unit 32, a vehicle information storage unit 33, and a route information storage unit 34. The delivery management unit 32 transmits and receives various information via the network 30. The vehicle information storage unit 33 stores the vehicle information of each vehicle 100 that is the management target of the delivery management terminal 31. This vehicle information is common to the information stored in the vehicle information storage unit 21 of the vehicle 100. Further, the route information storage unit 34 records the route information of each vehicle 100 to be managed. This route information is common to the information stored in the vehicle information storage unit 21 of the vehicle 100. The vehicle information and the route information may be stored in the same storage unit.

Next, the configuration of the platoon management device 11 will be described. The platoon management device 11 includes a control unit 12, a communication unit 16, and a platoon information storage unit 17. The control unit 12 includes a calculation unit, a volatile storage unit, and a non-volatile storage unit, and performs various calculations for formation of a formation and formation management according to a program stored in the non-volatile storage unit. The control unit 12 also communicates with the communication unit 22 and the delivery management terminal 31 of each vehicle 100 via the communication unit 16. The control unit 12 also communicates with an external server or the like that provides various information such as traffic information and weather information via the communication unit 16.

The control unit 12 includes a prediction information acquisition unit 13, a vehicle information acquisition unit 14, and a formation formation unit 15. The prediction information acquisition unit 13 uses the external server or the control unit itself to calculate prediction information that predicts the state during platooning from the hub base 101, which is the starting point for platooning, to the hub base 101, which is the ending point for platooning. It is acquired from the storage unit. The prediction information includes information about the time of arrival at the hub base 101 at the end point, information about the traveling environment between the hub bases 101, and the like. The information about the traveling environment includes static information such as road shape information that does not change and dynamic information such as weather and traffic information. Specifically, the prediction information includes time zones such as daytime and nighttime, weather information such as sunny weather and rainy weather, road surface conditions such as whether there is freezing, road information indicating vertical gradient and curvature of the road, congestion and congestion, road There is traffic information regarding the presence or absence of regulations.

In addition, the vehicle information acquisition unit 14 collects vehicle information from each vehicle 100 and the delivery management terminal 31 gathered at the hub base 101, and records the collected vehicle information in the platoon information storage unit 17. Further, the vehicle information acquisition unit 14 collects the destination, route information, estimated travel time, etc. for each vehicle from each vehicle 100 and the delivery management terminal 31, and records the information in the platoon information storage unit 17.

The platoon formation unit 15 selects the vehicles 100 that form a platoon based on the route information and the like. The platoon formation unit 15 selects a vehicle 100 that is scheduled to start platoon traveling later than the time when the vehicle 100 is selected, out of the vehicles passing through one hub base 101. The platoon formation unit 15 passes the same hub base 101 excluding the start point of platooning based on the destination, route information, scheduled travel time, etc., and the scheduled time of passing through the hub base 101 is the same time zone. The vehicle 100 is selected on the condition that it is. The number of vehicles forming the platoon may be a fixed number or may be within a predetermined range. At this time, if more candidates than the planned number of trains to be formed are detected, the train forming unit 15 may select the vehicles 100 having the same maximum load capacity, or specifications such as a brake system. It is also possible to select the vehicles 100 that are similar to each other or the vehicles 100 that are the same manufacturer. In addition, the platoon formation unit 15 may transmit a notification that the platoon is not formed to the vehicle 100 or the delivery management terminal 31 when the number of candidates for the vehicle 100 is less than the planned number.

When the vehicles 100 that form a platoon are selected, the platoon formation unit 15 determines the vehicle order based on the prediction information acquired by the prediction information acquisition unit 13.
A plurality of vehicle order determination standards (regulations) are set, and one of them is a standard in which the vehicles 100 are arranged in descending order of braking distance from the head to the tail of the formation. For example, when it is predicted that sudden braking is likely to occur, the vehicle order of the formation is set to the order of longer braking distance (first vehicle order). At this time, it is preferable to use the braking distance at the maximum deceleration as the braking distance information. Since the inter-vehicle distance, speed, and acceleration/deceleration are transmitted and received between vehicles during platooning, when a leading vehicle starts decelerating, other vehicles also start decelerating following the leading vehicle. Since the time difference between the timing when the leading vehicle starts decelerating and the timing when the following vehicle starts decelerating is very short, during normal deceleration for speed adjustment, there is a change in the inter-vehicle distance, but the vehicles collide with each other. I can't do it.

On the other hand, when the leading vehicle activates the sudden braking, it is necessary to perform control to avoid collision between the vehicles. At this time, when each vehicle 100 forming the platoon stops in the order from the last vehicle 100 to the first vehicle 100 of the platoon, it is possible to prevent the vehicle 100 from colliding with the vehicle 100 in front of it. it can. As a method for stopping the vehicle 100 in such an order, there is a method of adjusting the pressure of the brake system of each vehicle so that the braking force increases from the leading vehicle toward the trailing vehicle.

However, although the safety can be improved only by adjusting the braking force, when a platoon is formed from vehicles 100 having different vehicle types, the specifications of the braking system of each vehicle 100 are different, and the adjustment of the braking force is intended. There is a possibility that it will not go along. Therefore, a mechanism to improve safety is needed. Therefore, in a state where it is predicted that sudden braking is likely to occur, the braking force is adjusted and then the vehicle order of the formation is set in the order of longer braking distance.

Further, it is known that the braking distance tends to increase as the total vehicle weight increases. Since the total vehicle weight greatly differs depending on the presence or absence of a load and the type of the load, for example, the braking distance of the vehicle 100 measured without the load deviates from the braking distance of the vehicle 100 with the load. .. On the other hand, the total vehicle weight alone does not reflect the braking characteristics of the vehicle 100, so the braking distance cannot be properly estimated. Therefore, the braking distance associated with the gross vehicle weight is used to determine the vehicle order. In this way, by using the braking distance that reflects the gross vehicle weight to determine the vehicle order, even when a platoon is formed by vehicles 100 without a load and vehicles 100 with a load, it is possible to prevent It is possible to suppress collision between vehicles. In addition, when it is predicted that the vehicle will stop due to sudden braking, for example, when the weather information is rainy weather, snowfall, fog, etc., when the time when platooning is performed is at night, when the road surface is frozen When the road in the traveling section has a large ups and downs, when the traveling section includes a sharp curve, when there are road restrictions, etc., it may be other than this.

Further, as a criterion for determining the vehicle order, there is a criterion for arranging the vehicles 100 in the row so that the fuel efficiency of the entire row is improved. In this standard, for example, among the vehicles forming the platoon, the vehicle having the highest air resistance is arranged at the head of the platoon (second vehicle order). Air resistance is proportional to the product of the front projected area of the vehicle and the square of the speed. The front projection area is an area when viewed from the front of the vehicle 100, and can be roughly estimated by a product value of the vehicle width and the total height. Further, among the vehicles forming the platoon, the order of the vehicles other than the leading vehicle is set in the order of longer braking distance. By forming the formation in such a vehicle order, the air resistance of each vehicle behind is reduced by the leading vehicle, and the fuel consumption of each vehicle behind is improved. As a result, the fuel economy of the entire formation is improved. Also, by arranging each vehicle except the leading vehicle in the platoon in descending order of braking distance, even if the leading vehicle suddenly brakes, each vehicle except the leading vehicle will stop in order from the vehicle on the rear side of the platoon. You can

Further, as another vehicle order in which the fuel economy is improved in the entire platoon, for example, all the vehicles 100 forming the platoon may be arranged in descending order of front projection area. The platoon formation unit 15 calculates the front projection area of each vehicle 100 by multiplying the vehicle width and the total height included in the vehicle information. Then, the vehicle order is set in descending order of the front projection area. Note that the vehicle information may include the front projection area and the magnitude of the air resistance of the vehicle 100. When the magnitude of air resistance is included in the vehicle information, the vehicle order may be set in descending order of air resistance.

When the platoon management device 11 determines the vehicles 100 forming the platoon and their order in the platoon, the identifiers and the order of the vehicles 100 forming the platoon together with the scheduled time of departure from the hub base 101 and those vehicles 100. Alternatively, it is transmitted to an unspecified number of vehicles 100 at the hub base 101.

Further, the platoon management device 11 adjusts the maximum deceleration of each vehicle 100. The platoon management device 11 sets a maximum deceleration for each vehicle 100 that increases from the leading vehicle 100 to the trailing vehicle 100 in the determined vehicle order, and sets the set maximum deceleration as an identifier of the corresponding vehicle 100. Associate and send.

The brake system of the vehicle 100 is, for example, a pneumatic brake system that operates a brake using compressed air, and a valve mechanism and a pressure sensor that adjust the air pressure are provided in an air circuit in which the compressed air flows. The brake ECU 26 of the vehicle 100 stores the pressure of the air circuit and the deceleration in association with each other. During platooning, the brake ECU 26 targets the deceleration received from the other vehicles 100 forming the platoon, and refers to the pressure information associated with the deceleration to associate the pressure in the air circuit with the target deceleration. The valve mechanism is controlled so that the pressure becomes the set pressure. For example, when an instruction to decelerate at maximum deceleration is received from another vehicle 100, deceleration is performed at the maximum deceleration received from the platoon management device 11.

Next, with reference to FIG. 3, a procedure of formation of the formation of the formation management apparatus 11 will be described together with its operation. For example, the vehicle 100 performing platooning has an authentication code for performing platooning. The platoon management device authenticates the vehicle 100 when the vehicle 100 arrives at the hub base 101.

The vehicle information acquisition unit 14 of the platoon management device 11 acquires vehicle information (step S1). For example, the platoon management device 11 acquires the vehicle information by communicating with the vehicles 100 gathered at the hub base 101. Alternatively, the platoon management device 11 acquires vehicle information from the delivery management terminal 31 via the network 30.

Further, the vehicle information acquisition unit 14 of the platoon management device 11 acquires the route information, the destination, and the scheduled traveling time (step S2). For example, the platoon management device 11 acquires route information and the like from the vehicle 100 after authenticating the vehicle 100. Alternatively, the platoon management device 11 acquires route information and the like from the delivery management terminal 31 via the network 30.

Furthermore, the prediction information acquisition unit 13 of the platoon management device 11 acquires the prediction information from the external server or its own storage unit (step S3). The platoon management device 11 acquires all prediction information between the hub bases 101 that can be a start point or an end point of platooning. Alternatively, the platoon management device 11 may acquire prediction information between predetermined hub bases.

Next, the platoon formation unit 15 of the platoon management device 11 selects the vehicles 100 that form the platoon (step S4). The platoon formation unit 15 selects the vehicles 100 whose route information includes the hub base 101 at the start point and the hub base 101 at the end point based on the route information transmitted from each vehicle 100 as candidates. For example, when the number of the selected candidates exceeds the predetermined number range, the vehicles 100 forming the formation may be further narrowed down based on the vehicle information and the like. For example, a formation is formed from vehicles of the same manufacturer and the same specifications.

Further, the platoon formation unit 15 determines the order of the vehicles in the platoon based on the prediction information and the like when selecting the vehicles 100 forming the platoon (step S5). When it is predicted that the state of the platoon running section is a state in which sudden braking is likely to occur, the vehicle order is set based on the vehicle information in order of increasing braking distance. If it is predicted that the platooning section is not in a state where sudden braking is likely to occur, the vehicle with the largest front projection area is placed at the beginning of the platoon, and vehicles other than the leading vehicle are arranged in order of increasing braking distance They are arranged or arranged in descending order of front projection area.

When the vehicle order is determined, the platoon formation unit 15 transmits the identifier of each vehicle 100 forming the platoon and the information about the vehicle order together with the scheduled departure time of the hub base 101 which is the start point (step S6). At this time, the platoon management device 11 may transmit information about the identifier of each vehicle 100 forming the platoon and the information about the vehicle order to each vehicle 100 arriving at the hub base 101 and planning to form the platoon. Alternatively, it may be transmitted to the delivery management terminal 31. When the information regarding the identifier of each vehicle 100 forming the platoon and the vehicle order is transmitted to the delivery management terminal 31, the delivery management terminal 31 uses the received information as a target of the platoon formation. Deliver to 100.

Upon receiving the identifier of each vehicle 100 forming the platoon and the information about the vehicle order, the vehicle 100, which is a target of the platoon formation, forms the platoon in the vehicle order specified by the platoon management device 11, and is the hub base that is the starting point. Depart 101 at the scheduled departure time.

As described above, according to the above embodiment, the effects listed below can be obtained.
(1) The platoon management device 11 arranges the vehicle order in platoon traveling in the first vehicle order in which the vehicles 100 are arranged in the platoon in the order of longer braking distance, or in the second order to improve fuel efficiency by reducing air resistance of the following vehicles. Set to the vehicle order. In the case of the first vehicle order, for example, when the leading vehicle actuates the sudden braking, the vehicles 100 at the rear can be stopped in order to avoid collision between the vehicles 100. In the case of the second vehicle order, the leading vehicle reduces the air resistance of the following vehicles, so that the fuel efficiency of the entire formation can be improved. Therefore, even if a platoon is formed by vehicles 100 having different specifications such as the size of the vehicle body and the configuration of the brake system by determining the vehicle order according to the state predicted during platooning, there are advantages in each state. It is possible to perform platooning by the order of vehicles with high.

(2) The braking distance is learned on the vehicle side in association with the total vehicle weight that changes according to the load of the load, and the platoon management device 11 determines the vehicle order using the braking distance. Therefore, the braking distance predicted on the vehicle 100 side can be made closer to the actual braking distance, so that the collision between the vehicles 100 can be more reliably avoided.

(3) In the case of the second vehicle order in which the vehicle 100 having the highest air resistance is arranged at the head, the vehicles 100 other than the leading vehicle are arranged in the formation in the order of longer braking distance or larger air resistance. By arranging the vehicles 100 in order of increasing braking distance, it is possible to improve fuel efficiency of the entire formation and avoid collision between the vehicles 100 when sudden braking occurs. When the vehicles 100 are arranged in the descending order of the air resistance, all the vehicles 100 are arranged in the convoy in descending order of the air resistance, so that the fuel consumption improving effect of the entire consort can be enhanced.

(4) In the case of the first vehicle order in which the vehicles 100 are arranged in the formation in descending order of the braking distance, the vehicles 100 are arranged in the formation in descending order of the braking distance as the vehicle 100 moves from the first vehicle 100 to the rear vehicle 100. By both the adjustment of the maximum deceleration on the vehicle 100 side and the adjustment of the maximum deceleration on the vehicle 100 side, it is possible to avoid the collision between the vehicles 100 when the sudden braking occurs. Further, in the case of the second vehicle order, the vehicle 100 having the maximum air resistance is arranged at the head of the row to improve the fuel efficiency of the entire row, and as the head vehicle 100 moves toward the tail vehicle 100, By adjusting the maximum deceleration to be large, it is possible to avoid the collision between the vehicles 100 when the sudden braking occurs. Therefore, it is possible to perform platooning in a vehicle order having a high merit in each state while improving safety when a sudden braking occurs.

(Other embodiments)
In addition, the above-described embodiment can be implemented with appropriate modifications as follows.
In the above embodiment, the vehicle 100 learned the braking distance in association with the gross vehicle weight. Instead of this, the total vehicle weight at that time is calculated by an arithmetic expression for calculating the braking distance at the maximum deceleration based on the braking distance and the total vehicle weight when the vehicle 100 has no load (non-loaded state). The braking distance may be calculated according to In this way, the braking distance at the maximum deceleration can be acquired without learning the braking distance.

In the above-described embodiment, the vehicle order is determined in the first vehicle order or the second vehicle order, and then the maximum deceleration is adjusted to increase from the head toward the tail. Instead of this, when the vehicles 100 are only arranged in the descending order of the braking distance, and the inter-vehicle distance is maintained such that the collision of the vehicle 100 is avoided when the vehicle 100 is stopped at the maximum deceleration, etc., It is not necessary to adjust the maximum deceleration.

In the above embodiment, the platoon management device 11 is provided in addition to the vehicle 100. Instead of this, the platoon management device 11 may be provided in the vehicle 100. In this case, each vehicle 100 performs inter-vehicle communication to form a convoy, and determines whether to set the vehicle order to the first vehicle order or the second vehicle order based on the prediction information. .. Further, when the first vehicle order is selected, the vehicle 100 compares the braking distance of the own vehicle with the braking distance of the other vehicle, and if the braking distance of the own vehicle is shorter than the braking distance of the other vehicle. , Line up behind other vehicles. By repeating this in sequence, the vehicles 100 are arranged in the order of longer braking distance. When the second vehicle order is selected, for example, the front projected area of the own vehicle is compared with the front projected area of another vehicle, and the front projected area of the own vehicle is higher than the front projected area of the other vehicle. If smaller, line up behind other vehicles. By repeating this in sequence, the vehicles 100 are arranged in the descending order of the front projection area. For vehicles other than the leading vehicle, compare the braking distance of the own vehicle with the braking distance of the other vehicle, and if the braking distance of the own vehicle is smaller than the braking distance of the other vehicle, arrange it behind the other vehicle. May be. In this case, each vehicle 100 may start formation of a platoon while traveling alone.

In the above-described embodiment, the vehicles 100 gather at the hub base 101 that is the start point and perform platooning from the hub base 101 that is the start point to the hub base 101 that is the end point. Alternatively, the vehicle 100 traveling alone may communicate with another vehicle 100 or the platoon management device 11 during traveling to form a platoon with a vehicle having a common route. Alternatively, each time the vehicle passes through the hub base 101, the vehicle 100 newly joins the platoon or the vehicle 100 leaves the platoon, and thus the platoon travel may be performed in a mode other than the predetermined platoon travel between the hub bases 101. Good.

In the above embodiment, when the platoon management device 11 determines the vehicle order, the vehicle order is transmitted to the vehicle 100. Instead of this, the determined vehicle order and the estimated traveling time are output to an output device such as a display and a printer, and the driver drives the vehicle 100 based on the output result, and the vehicle 100 is driven in the specified vehicle order. May be arranged.

In the above embodiment, the vehicle 100 is described as a truck, but the vehicle 100 may be another freight vehicle or a passenger vehicle.

10... Platoon running management system, 11... Platoon management device, 12... Control unit, 13... Prediction information acquisition unit, 14... Vehicle information acquisition unit, 15... Platoon formation unit, 16... Communication unit, 17... Platoon information storage unit, 20... platooning control device, 21... vehicle information storage unit, 22... communication unit, 23... vehicle speed sensor, 24... own vehicle position detection unit, 25... route guidance unit, 26... brake ECU, 31... delivery management terminal.

Claims (3)

A platooning management system for managing the order of a plurality of vehicles in a platooning platoon,
A vehicle information acquisition unit that acquires vehicle information including a braking distance of each vehicle forming a platoon and body information of the vehicle,
Place an order of the vehicle, the vehicle air resistance is the maximum among the plurality of vehicles based on the vehicle information is arranged at the top in the convoy, the braking distance is long forward toward to the end of another vehicle from the head A platooning management system that includes a platoon formation unit. The vehicle learns by associating the gross vehicle weight with the braking distance,
The platooning management system according to claim 1, wherein the platoon formation unit determines the order of the vehicles based on a braking distance associated with a total vehicle weight of the vehicles. The platoon formation unit instructs each vehicle so that the maximum deceleration increases as the vehicle forming the platoon is arranged in the order and the vehicle from the head vehicle to the tail vehicle of the platoon increases. Or the platooning management system described in 2 .

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