JP6919578B2 - Formation separation facility, formation separation system, formation method, and formation separation method - Google Patents

Description

The present invention relates to a platooning separation facility, a platooning separation system, a platooning method, and a platooning separation method.

In recent years, many proposals have been made for platooning technology. The platooning technique is a technique for forming a platoon with a plurality of vehicles traveling in the same direction. If vehicles heading in the same direction can form a platoon, it will support smooth driving and help alleviate traffic congestion. Furthermore, if a vehicle traveling alone can participate in platooning when desired, it will contribute to traffic safety because it can support stable driving. Therefore, it has been desired to develop a technology that enables vehicles wishing to run in a platoon to smoothly and surely participate in the formation of a platoon.

In Patent Document 1, while acquiring the basic plan indicating the starting point and the destination of the own vehicle, the traveling plan of the other vehicle is acquired, and the own vehicle and the other vehicle can travel in a platoon. A travel plan generation system that generates a travel plan for the own vehicle is disclosed. According to the travel plan generation system described in Patent Document 1, it is possible to generate an own vehicle travel plan indicating a travel schedule route and a travel schedule time during which platooning is possible, and platooning becomes possible.

Japanese Unexamined Patent Publication No. 2016-355628

However, in the above-mentioned prior art, although it is planned to enable platooning, the actual waiting time, waiting place, handling of the vehicle after arriving at the destination, etc. regarding the vehicles forming the platoon are not considered. .. For example, a vast parking lot is required to form a platoon, but it may be difficult to secure a parking lot near a highway or a highway interchange, which is suitable as a parking lot. In addition, even if an appropriate parking lot is secured, in order to form a platoon, it is necessary to consolidate the vehicles into one place, recognize each other's vehicles, and set automatic tracking.

Furthermore, it is assumed that the driver is not on board the individual vehicles to be tracked during the formation of the platoon. Therefore, in platooning, even if a vehicle other than the preceding vehicle performs tracking travel unmanned, it is necessary for the driver of the preceding vehicle to consolidate all the vehicles that are tracking traveling into one place. become. In this case, problems may occur in vehicle management and driving safety management. Similarly, relying on human resources to form a platoon of vehicles makes it extremely difficult to form a platoon quickly and flexibly. These are problems that also occur when the formed platoon is separated into each vehicle.

The present invention has been made in view of the above, and is capable of easily forming and separating platoons of vehicles used for logistics and the like, a platooning separation facility, a platooning separation system, a platooning method, and a platooning method. The purpose is to provide a platooning separation method.

In order to solve the above-mentioned problems and achieve the above-mentioned object, the platoon formation separation facility according to one aspect of the present invention includes a storage unit capable of storing a plurality of vehicles, a traveling vehicle as a leading vehicle, and the leading vehicle. Based on at least one platoon vehicle configured to automatically track and run the vehicle, a recording medium that stores platoon formation information about the platoon formed from, and the platoon formation information stored in the recording medium. Then, a platoon formation instruction unit that selects a platoon vehicle that forms the platoon from a plurality of platoon vehicles stored in the storage unit, carries out the platoon vehicle that forms the platoon, and outputs instruction information for forming the platoon. The storage unit is configured to carry out the platoon vehicle in a state in which the platoon can be formed based on the instruction information supplied from the platoon formation instruction unit. It is characterized by being.

In the above invention, the platooning separation facility according to one aspect of the present invention further includes a communication unit configured to be able to communicate with the outside by connecting to a network, and the facility control unit is provided from the outside through the communication unit. It is characterized in that the supplied formation information is stored in the recording medium.

In the platooning separation facility according to one aspect of the present invention, in the above invention, the storage unit includes a vehicle loading / unloading management unit that manages loading / unloading of a plurality of vehicles, and the vehicle loading / unloading management unit is the vehicle loading / unloading management unit. When the platoon vehicle is brought into the storage unit, control is performed to store the platoon vehicle at an appropriate storage position in at least one of the removal of the platoon vehicle and the formation of the platoon performed after the platoon vehicle is brought in. It is characterized by. In the platoon formation separation facility according to one aspect of the present invention, in this configuration, the platoon formation information includes information on the scheduled unloading time when the platoon vehicle is carried out from the storage unit, and the vehicle loading / unloading management unit includes information on the scheduled unloading time. It is characterized in that control is performed to start carrying out the platoon vehicle at the scheduled carry-out time.

In the platooning separation facility according to one aspect of the present invention, in the above invention, when the platoon arrives at the platooning separation facility, the facility control unit controls each of the platooning vehicles forming the platoon. It is characterized in that a command signal for separating the formation is transmitted.

The platooning separation system according to one aspect of the present invention can travel by tracking the leading vehicle and the leading vehicle, with the platooning separation facility according to the above invention, the network network, and the vehicle that can travel as the leading vehicle. It is characterized in that it has a central management center that creates platoon formation information regarding platoons formed from the platoon vehicles configured in the above and transmits the platoon formation information to the platoon formation separation facility through the network. ..

In the above invention, the platoon formation separation system according to one aspect of the present invention further includes a facility for transmitting platoon participation request information requesting participation in the platoon to the central management center. ..

The platoon formation method according to one aspect of the present invention is a platoon relating to a platoon composed of a traveling vehicle as a leading vehicle and at least one platooning vehicle configured to automatically track and travel the leading vehicle. Based on the formation information creation step for creating the formation information and the formation information, the formation vehicle for forming the formation is selected from the plurality of formation vehicles stored in the storage unit in the formation separation facility, and the formation is selected. It is characterized by including a vehicle unloading step for carrying out a platoon vehicle to be formed, and a platoon formation step for controlling at least one platooned vehicle to be carried out so as to automatically track the leading vehicle. ..

In the above invention, the platooning method according to one aspect of the present invention is placed in a storage position suitable for processing at least one of the vehicle unloading step and the platooning step in the storage unit before the vehicle unloading step. It is characterized by further including a vehicle carry-in step for storing the platoon vehicle.

The platoon formation separation method according to one aspect of the present invention applies to each of the platoon vehicles forming the platoon after the platoon formed by the platoon formation method according to the above invention arrives at the platoon formation separation facility. On the other hand, it is characterized by including a platoon separation step for separating the platoon.

The platooning separation facility, the platooning separation system, the platooning method, and the platooning separation method according to the present invention make it possible to easily form and separate the platooning of vehicles used for logistics and the like.

FIG. 1 is a block diagram showing a formation separation system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a central management center in a platooning separation system according to an embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of a platooning separation facility in a platooning separation system according to an embodiment of the present invention. FIG. 4 is a block diagram showing a configuration of a luggage collecting facility in a platooning separation system according to an embodiment of the present invention. FIG. 5 is a block diagram showing the configuration of each company's logistics facility in the platoon formation separation system according to the embodiment of the present invention. FIG. 6 is a block diagram showing a vehicle configuration in a platooning separation system according to an embodiment of the present invention. FIG. 7 is a block diagram showing a configuration of a terminal device in a platooning separation system according to an embodiment of the present invention. FIG. 8 is a flowchart for explaining the departure process of the platoon formation separation method according to the embodiment of the present invention. FIG. 9 is a flowchart for explaining the departure process of the platoon formation separation method according to the embodiment of the present invention. FIG. 10 is a diagram showing an example of platooning participation request information in the platooning separation method according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of formation information in the formation separation method according to the embodiment of the present invention. FIG. 12 is a diagram showing an example of vehicle storage position information in a platoon formation separation facility according to an embodiment of the present invention. FIG. 13 is a diagram showing an example of platooning participation request information in which luggage needs to be organized in the platooning separation method according to the embodiment of the present invention. FIG. 14 is a diagram showing an example of platoon formation information after the luggage has been organized in the platoon formation separation method according to the embodiment of the present invention. FIG. 15 is a schematic diagram for explaining the removal of the vehicle from the platoon formation separation facility according to the embodiment of the present invention. FIG. 16 is a schematic diagram for explaining the removal of the vehicle from the platoon formation separation facility according to the embodiment of the present invention. FIG. 17 is a schematic diagram for explaining the removal of the vehicle from the platoon formation separation facility according to the embodiment of the present invention. FIG. 18 is a schematic diagram for explaining the removal of the vehicle from the platoon formation separation facility according to the embodiment of the present invention. FIG. 19 is a schematic diagram for explaining the removal of the vehicle from the platoon formation separation facility according to the embodiment of the present invention. FIG. 20 is a flowchart for explaining the arrival process of the platoon formation separation method according to the embodiment of the present invention. FIG. 21 is a diagram showing an example of separate storage vehicle information in the platoon formation separation method according to the embodiment of the present invention. FIG. 22 is a diagram showing an example of the watermark information according to the first modification in the platoon formation separation method according to the embodiment of the present invention. FIG. 23 is a diagram showing an example of non-stationary information according to a second modification in the formation separation method according to the embodiment of the present invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all the drawings of the following embodiment, the same or corresponding parts are designated by the same reference numerals. Further, the present invention is not limited to one embodiment described below.

First, a platooning separation system according to an embodiment of the present invention will be described. FIG. 1 is a block diagram showing a formation separation system according to an embodiment of the present invention. As shown in FIG. 1, in the platoon formation separation system 1 according to this embodiment, the central management center 10, the A regional facility group 20, the B regional facility group 30, the C regional facility group 40, the platoon vehicle 50, and the terminal device. It is configured with 60. The network network 70 is an internet network or a mobile phone capable of communicating between the central management center 10, the A area facility group 20, the B area facility group 30, the C area facility group 40, the platoon vehicle 50, and the terminal device 60. It consists of a line network and so on. That is, in the platoon formation separation system 1 according to this embodiment, the central management center 10, the A regional facility group 20, the B regional facility group 30, the C regional facility group 40, the platoon vehicle 50, and the terminal device 60 are connected to the network. They are communicably connected to each other via 70.

The A area facility group 20 is a facility group consisting of facilities provided in the A area, and is a platoon formation separation A facility 21, luggage collection A facility 22, X company logistics A facility 23, Y company logistics A facility 24, and Z. Company logistics A facility 25 is provided. The B area facility group 30 is a facility group provided in the B area, and is a group formation separation B facility 31, luggage collection B facility 32, X company logistics B facility 33, Y company logistics B facility 34, and Z company logistics B. Facility 35 is provided. The C area facility group 40 is a facility group provided in the C area, and is a platooning separation C facility 41, a luggage collection C facility 42, a company X logistics C facility 43, a company Y logistics C facility 44, and a company Z logistics C. Facility 45 is provided. In the following description, when a single regional facility group is described, the A regional facility group 20 will be taken as an example. Further, the respective baggage collection facilities 22, 32, 42 and the distribution facilities of each company 23 to 25, 33 to 35, 43 to 45 do not necessarily have to be provided. Further, the logistics facilities of each company 23 to 25, 33 to 35, 43 to 45 are not limited to three companies, and may be one or more companies.

(Central management center)
FIG. 2 is a block diagram showing a configuration of the central management center 10 according to this embodiment. As shown in FIG. 2, the central management center 10 includes at least a communication unit 11, a central management control unit 12, and a recording medium 13. The central management center 10 may include a display unit for displaying information data and the like, and an input unit for inputting information data from the outside, if necessary. The central management center 10 is a server that controls and manages various types of information in the formation separation system 1 and transmits command signals through the network 70. The communication unit 11 in the central management center 10 is connected to the network network 70 via a communication line constructed in the central management center 10. The communication unit 11 connected to the network 70 communicates with the A area facility group 20, the B area facility group 30, the C area facility group 40, the platoon vehicle 50, and the terminal device 60.

The central management control unit 12 includes a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) as a main component. The central management control unit 12 as a control means controls and manages various types of information in the formation separation system 1, and further controls the operation of transmitting a command signal. The recording medium 13 includes a recording medium such as a hard disk or a semiconductor memory, and a drive device for these recording media, and various programs and various data are stored in a writable and readable manner. The recording medium 13 includes an information management database 13a in which various information necessary for the operation of the formation separation system 1 is searchably stored. The information management database 13a contains map information, traffic information, weather information, vehicle information, luggage loading information, vehicle entry / exit information, automatic tracking instruction information, driver information, platoon participation request information, platoon formation information, and travel planning information. Etc. are stored so that they can be searched.

(Formation separation facility)
FIG. 3 is a block diagram showing the configuration of the formation separation facility in the regional facility group of the formation separation system 1 according to this embodiment. In FIG. 3, the platoon formation separation A facility 21 is taken as an example. As shown in FIG. 3, the platoon formation separation A facility 21 includes a facility control unit 211, a recording medium 212, a communication unit 213, a storage unit 214, a display unit 215, and an input unit 216. The storage unit 214 includes a parking lot 217 and a vehicle loading / unloading management unit 218. The platoon formation separation A facility 21 according to this one embodiment can manage the platoon vehicles 50 by assembling the platoon vehicles 50 belonging to the logistics A facilities 23, 24, 25 of each company in the A area facility group 20. It is a so-called automated warehouse that temporarily parks and stores in a state of being in a state of being.

The facility control unit 211 is configured with the above-mentioned microcomputer as a main component. The facility control unit 211 as the facility management control means controls and manages various information in the platoon formation separation A facility 21, and further controls the operation of transmitting a command signal to the storage unit 214. The facility control unit 211 has a platoon formation instruction unit 211a.

The platoon formation instruction unit 211a transmits a command signal to the storage unit 214 to form a platoon of each platoon vehicle 50 stored in the storage unit 214. The platoon formation instruction unit 211a issues an instruction signal for a plurality of platoon vehicles 50 to form a platoon including the carried-out platoon vehicle 50 to recognize each other's platoon vehicles 50 and execute a series of operations to form a platoon by automatic tracking. Output. The platoon formation instruction unit 211a may have a function of confirming that a series of operations in which a plurality of platoon vehicles 50 form a platoon has been normally completed. Specifically, first, behind the preceding platoon vehicle 50, the succeeding platoon vehicles 50 are carried out from the storage unit 214 of the platoon formation separation A facility 21 so that the positional relationship with each other is appropriate. .. After the unloading of the succeeding platoon vehicle 50 is completed, the automatic tracking is started to supply the command signal for forming the platoon to the preceding platoon vehicle 50 and the succeeding platoon vehicle 50. The platoon formation instruction unit 211a can also receive information from the platoon vehicle 50 that the platoon formation instruction unit 211a has completed when a plurality of platoon vehicles 50 have normally formed a platoon and started automatic tracking.

The recording medium 212 is configured in the same manner as the recording medium 13 described above, and includes a platooning database 212a in which various information necessary for operation in the platooning separation A facility 21 is searchably stored. Various information such as travel plan information, platoon formation information, and vehicle information are searchably stored in the platoon formation database 212a.

The communication unit 213 in the platooning separation A facility 21 is connected to the network network 70 via a communication line constructed in the platooning separation A facility 21. The communication unit 213 connected to the network 70 communicates with the central management center 10, the B area facility group 30, the C area facility group 40, the platoon vehicle 50, and the terminal device 60.

The display unit 215 is configured to be able to display the information supplied from the facility control unit 211, and displays various information such as the accumulation status of the platoon vehicles 50 in the storage unit 214 and the operation status of the platoon vehicles 50. The input unit 216 is an input means for inputting information on the platoon vehicle 50 and other emergency vehicles to the facility control unit 211 from the outside.

In the platoon formation separation A facility 21, the platoon vehicle 50 carried in can be automatically stored in an appropriate parking position in the parking lot 217 under the control of the vehicle loading / unloading management unit 218. The vehicle loading / unloading management unit 218 manages the loading / unloading of the platoon vehicles 50 in the parking lot 217 in order to form a platoon of a plurality of platooning vehicles 50. That is, when the vehicle loading / unloading management unit 218 loads the platoon vehicle 50 into the parking lot 217 of the storage unit 214, the platoon vehicle is placed in a storage position suitable for the unloading and formation of the platoon performed after the platoon vehicle 50 is loaded. Control to store 50 is performed. As a result, when the platoon vehicle 50 is carried out, the predetermined platoon vehicle 50 can be carried out in a state in which the platoon can be formed. If the formation of the platoon is not performed after the platoon vehicle 50 is carried out, the platoon vehicle 50 is stored at a storage position suitable for carrying out the platoon vehicle 50. Further, the platoon vehicle 50 that is carried in and stored in the platoon formation separation A facility 21 is a platoon vehicle 50 in a state where a predetermined load has been loaded.

Here, the appropriate storage position for carrying out the platoon vehicle 50 and forming the platoon is, for example, storing the platoon vehicle 50, which is the leading vehicle when forming the platoon, near the carry-out exit of the platoon formation separation A facility 21. It may be a position, or the platoon vehicles 50 other than the leading vehicle may be stored at a storage position farther from the carry-out port in the order of forming the platoon. Further, when forming a formation based on a predetermined optimization algorithm, the storage position may be set so as to minimize the energy consumption in the formation separation A facility 21. In addition, the appropriate storage position for carrying out the platoon vehicle 50 and forming the platoon can be set for each hour, type, and freight company. That is, in the case of time, the platoon vehicles 50 are stored by classifying them according to the time of carrying out or by the time zone, regardless of the type of the platoon vehicle 50. By type, lanes and floors are set according to the type of platoon vehicle 50 that is the first vehicle, the platoon vehicle 50 that follows, and the platoon vehicle 50 that is separated and temporarily stored after arriving at the destination described later. It is a distinct storage position. By freight company, for example, the storage positions of the platoon vehicles 50 of companies A, B, and C are the parking lots on the 1st, 2nd, and 3rd floors, respectively, and the platoon vehicles of other freight companies. It is possible to set the storage position of the platoon vehicle 50 separately for each freight company, such as setting the storage position of the 50 to the parking lot on the 4th floor.

The vehicle loading / unloading management unit 218 has at least one, preferably a plurality of platoon vehicles, stored in the storage unit 214 based on the travel plan information, the vehicle information, the platoon formation information, and the like stored in the platoon formation database 212a. Select a predetermined platoon vehicle 50 from 50. The vehicle loading / unloading management unit 218 manages loading / unloading of the selected platoon vehicle 50. The vehicle loading / unloading management unit 218 includes a collation determination unit 218a provided with a sensor for identifying the platoon vehicle 50 to be loaded / unloaded, a communication device, and the like. The collation determination unit 218a is provided at the carry-in / out entrance and the gate (none of which are shown) of the storage unit 214 of the formation separation A facility 21. Specifically, for example, when the platoon vehicle 50 passes through the carry-in / exit port in the storage unit 214, the license plate of the platoon vehicle 50 is read by using a sensor or the like, or the vehicle unique ID of the platoon vehicle is read by using a communication device. Or After that, by collating the read information with the recorded information of the platoon vehicle 50, the loading and unloading of the platoon vehicle 50 is managed. Various information is supplied from the central management center 10. In addition, as the management method by the vehicle loading / unloading management unit 218, other conventionally known methods can be adopted. Further, it may be managed by communicating with the corresponding platoon vehicle 50 by radio or the like. Further, when the platoon vehicle 50 is brought in, it is also possible to add platoon formation information or the like to each platoon vehicle 50 and manage it.

(Luggage collection facility)
FIG. 4 is a block diagram showing the configuration of the luggage collection facility in the regional facility group of the platoon formation separation system 1 according to this embodiment. In FIG. 4, the cargo collection A facility 22 is taken as an example. As shown in FIG. 4, the baggage collection A facility 22 includes a control unit 221, a recording medium 222, a communication unit 223, a work unit 224, a display unit 225, and an input unit 226. The work unit 224 includes a vehicle carry-in / out control unit 227 and a work place 228. Luggage collection A facility 22 according to this one embodiment is a work facility for organizing the platoon vehicles 50 constituting the platoon in the A area facility group 20. At the luggage collection A facility 22, when there are a plurality of platoon vehicles 50 whose load capacity is not full, it is possible to perform the work of collecting the luggage within the allowable range of the load capacity of the platoon vehicles 50. .. By collecting the luggage, the platooning vehicles 50 forming the platoon can be arranged and the number of platooning vehicles can be reduced.

The work place 228 in the work unit 224 is a parking lot in which a plurality of platoon vehicles 50 can be parked, and is a place where a driver or a worker can perform various tasks. The various operations are, for example, the operations of collecting the respective luggage mounted on the plurality of platoon vehicles 50 into one or a smaller number of platoon vehicles 50. The work performed at the work place 228 is not limited to the collection of luggage, and various other work by the driver or the worker can be performed. The vehicle loading / unloading management unit 227 manages loading / unloading of the platoon vehicle 50 at the workshop 228. The vehicle loading / unloading management unit 227 may be configured in the same manner as the vehicle loading / unloading management unit 218 described above. In this case, the vehicle loading / unloading management unit 227 includes a collation determination unit (not shown) similar to the collation determination unit 218a provided with a sensor for identifying the platoon vehicle 50 to be loaded / unloaded, a communication device, and the like.

The control unit 221 is configured with the above-mentioned microcomputer as a main component. The control unit 221 controls and manages various types of information in the cargo collection A facility 22, and further controls the operation of transmitting a command signal to the work unit 224. The control unit 221 supplies the vehicle loading / unloading management unit 227 of the work unit 224 with information on the collection of luggage in the work unit 224. The recording medium 222 is configured in the same manner as the recording media 13 and 212 described above, and various information necessary for operation in the baggage collection A facility 22 is searchably stored. The communication unit 223 is configured in the same manner as the communication unit 213 in the platooning separation A facility 21 described above, and is connected to the network network 70 via a communication line.

The display unit 225 is configured to be able to display the information supplied from the control unit 221 and displays various information such as the accumulation status of the platoon vehicles 50 in the work unit 224 and the operation status of the platoon vehicles 50. The input unit 226 is an input means for inputting information on the platoon vehicle 50 and information indicating the status of cargo collection to the control unit 221 from the outside.

At the luggage collection A facility 22, the vehicle loading / unloading management unit 227 manages the loading / unloading of vehicles at the workplace 228. The platoon vehicle 50 to be carried into the luggage collection A facility 22 is a platoon vehicle 50 in which luggage is collected, but is not limited. The management method by the vehicle loading / unloading management unit 227 can be the same management method as the management method in the vehicle loading / unloading management unit 218 described above, but other management methods may be used. In addition, various information is supplied from the central management center 10 and the distribution A facilities 23 to 25 of each company.

(Logistics A facility of each company)
Logistics A facilities 23 to 25 of each company are logistics facilities of a freight business company. FIG. 5 is a block diagram showing the configuration of each company's logistics facility in the regional facility group of the platoon formation separation system 1 according to this one embodiment. In FIG. 5, the logistics A facility 23 of company X is taken as an example. As shown in FIG. 5, the configuration of the logistics A facility 23 of the company X has the same configuration as the luggage collection facility shown in FIG. 4 described above. That is, the logistics A facility 23 of company X includes a control unit 231, a recording medium 232, a communication unit 233, a work unit 234, a display unit 235, and an input unit 236. The work unit 234 has a vehicle loading / unloading control unit 237 and a work area 238 which is also a parking lot. The control unit 231 and the recording medium 232, the communication unit 233, the work unit 234, the display unit 235, the input unit 236, the vehicle loading / unloading management unit 237, and the work place 238 are the control unit 221 and the recording medium in the luggage collection A facility 22, respectively. It is configured in the same manner as 222, communication unit 223, work unit 224, display unit 225, input unit 226, vehicle loading / unloading management unit 227, and workplace 228.

In the logistics A facility 23 of the company X, the recording medium 232 stores the platoon participation request database 232a that stores the platoon participation request information. The platoon participation request information includes information such as the destination of the platoon vehicle 50, the desired arrival time, vehicle information, the cargo load capacity, and whether or not the driver is dispatched. The display unit 235 is configured to be able to display the information supplied from the control unit 231 and displays various information such as the operation status of the platoon vehicle 50. The input unit 236 is an input means for inputting the status of the platoon vehicle 50 that has applied for participation in the platoon. The platoon participation request information stored in the platoon participation request database 232a is supplied to the central management center 10 through the communication unit 233 and the network network 70.

(Formation vehicle)
FIG. 6 is a block diagram showing a configuration of vehicles in which platoons are formed in the platoon formation separation system 1 according to this embodiment. The platoon vehicle 50 has various functions necessary for automatic tracking running by a conventionally known platoon. As shown in FIG. 6, the platoon vehicle 50 includes a vehicle control unit 501 having a recording medium 501a, a GPS (Global Positioning System) unit 502, a communication unit 503 having a network communication unit 504 and an inter-vehicle communication unit 505, and a navigation unit. It is configured to include 506, a sensor group 507 having a vehicle speed sensor 508 and a gyro sensor 509, an imaging unit 510, and an operation terminal 51 having a display unit 511 and an input unit 512.

The vehicle control unit 501 is composed of a microcomputer including a CPU, a ROM, and a RAM as a main component, and is an ECU (Electronic Control Unit) that controls each component such as an engine, a motor, and a steering device in the platoon vehicle 50. And so on. Specifically, the vehicle control unit 501 is configured to be able to control the vehicle speed and steering angle of the platoon vehicle 50. The vehicle control unit 501 controls the vehicle speed by adjusting the throttle opening of the engine and the braking force of the brake. The vehicle control unit 501 steers the platoon vehicle 50 by adjusting the steering angle of the wheels that rotate during traveling.

The vehicle control unit 501 is configured to be capable of inputting and outputting predetermined signals between the GPS unit 502, the communication unit 503, the navigation unit 506, the sensor group 507, the imaging unit 510, the display unit 511, and the input unit 512. There is. The vehicle control unit 501 acquires the traveling route of the platoon vehicle 50 based on the output signals output from the vehicle speed sensor 508, the gyro sensor 509, the GPS unit 502, the navigation unit 506, and the like in the sensor group 507, and the platoon vehicle. Acquire various information in 50.

The recording medium 501a is configured in the same manner as the recording medium 13 and the like described above. Various information required for automatic tracking running, such as map information, is readable and stored in the recording medium 501a. The map information includes, for example, node data indicating the positions of nodes such as intersections, interchanges, or junctions set on the road on which the platoon vehicle 50 travels. In addition, the map information includes shape interpolation data indicating the position of the shape interpolation point for specifying the shape of the road section between nodes, link data indicating various information such as the required time and section length in the road section, and the like. include.

The GPS unit 502 receives radio waves from GPS satellites and outputs a signal for calculating the current position of the platoon vehicle 50 to the vehicle control unit 501 via a predetermined interface (not shown). In addition to the traveling route, the shape of the traveling section may be acquired based on the node data and the link data of the map information. The vehicle control unit 501 specifies a position corresponding to the traveling path of the platoon vehicle 50 as a traveling section, and specifies the current position of the platooning vehicle 50.

The communication unit 503 includes a network communication unit 504 and an inter-vehicle communication unit 505. The network communication unit 504 is connected to the external network network 70 by wireless communication or the like. The network communication unit 504 enables the platoon vehicle 50 to transmit and receive various information between the central management center 10, the facilities in each of the regional facility groups 20, 30, and 40, and the respective terminal devices 60. The inter-vehicle communication unit 505 is configured to be connectable to the inter-vehicle communication unit 505 of another external platoon vehicle 50 by wireless communication or the like. The vehicle control unit 501 communicates with another platoon vehicle 50 by controlling the inter-vehicle communication unit 505.

The navigation unit 506 is mounted on the platoon vehicle 50 that performs automatic tracking travel. The navigation unit 506 inputs / outputs data such as map information and travel route information, a navigation program, and the like to and from the vehicle control unit 501. As a result, the vehicle control unit 501 runs the platoon vehicle 50 by supplying various command signals to each component constituting the platoon vehicle 50. The navigation unit 506 itself may include a control unit and a recording medium such as a CPU, RAM, and ROM.

The vehicle speed sensor 508 in the sensor group 507 outputs a signal corresponding to the rotation speed of the wheels driven during the traveling of the platoon vehicle 50 to the vehicle control unit 501. The vehicle control unit 501 acquires the signal supplied from the vehicle speed sensor 508 and acquires the vehicle speed of the platoon vehicle 50. The gyro sensor 509 in the sensor group 507 detects the angular acceleration of the turning of the platoon vehicle 50 in the horizontal plane, and outputs a signal corresponding to the direction of the platoon vehicle 50. The vehicle control unit 501 acquires the signal supplied from the gyro sensor 509 and acquires the traveling direction of the platoon vehicle 50.

The image pickup unit 510 is composed of an image pickup element that photographs the periphery of the platoon vehicle 50. The imaging unit 510 supplies the captured peripheral image data to the vehicle control unit 501. The vehicle control unit 501 performs image recognition of the peripheral image, acquires the own vehicle, another vehicle, and the relative positional relationship between the own vehicle and the other vehicle.

The operation terminal 51 is an interface unit for inputting a driver's operation and guiding the driver on a planned travel route. The operation terminal 51 has at least a display unit 511 and an input unit 512. The display unit 511 and the input unit 512 may be integrated to form a touch panel display or the like. Further, the display unit 511 may further include an output unit for output sound such as a speaker. The planned travel route is a route composed of a plurality of constituent road sections, which are road sections on which the platoon vehicle 50 is scheduled to travel. The vehicle control unit 501 displays a map on which the planned travel route is superimposed on the display unit 511 by executing the navigation program in the navigation unit 506. As the navigation program, a conventionally known navigation program can be adopted.

(Terminal device)
FIG. 7 is a block diagram showing a configuration of a terminal device in the formation separation system 1 according to this embodiment. As shown in FIG. 7, the terminal device 60 includes a control unit 61, a display unit 62, an input unit 63, a communication unit 64, and a recording medium 65, which are communicatively connected to each other. The control unit 61 is configured with the above-mentioned microcomputer as a main component. The control unit 61 comprehensively controls the operations of the display unit 62, the input unit 63, the communication unit 64, and the recording medium 65 by executing various application programs.

The display unit 62 is composed of, for example, a liquid crystal panel, and displays information such as characters and figures on the display panel to notify the information to the outside. The input unit 63 includes, for example, a keyboard, a touch panel that detects a touch operation on the panel of the display unit 62, a voice input device capable of voice input, and the like. The communication unit 64 is connected to the network 70, and is connected to the central management center 10, the formation separation facilities 21, 31, 41, the luggage collection facilities 22, 32, 42, and the distribution facilities of each company 23 to 25, 33 to 35, 43 to 43. Various information is transmitted and received to and from 45. The recording medium 65 stores an operating system (OS) for the control unit 61 to comprehensively control the operation of the terminal device 60, various application programs including an application application (hereinafter, application application), and various data. Specifically, the terminal device 60 may be a mobile phone such as a smartphone, an information terminal such as a tablet type, a personal computer, or a fixed telephone. Further, the driver is a person who rides on the first platoon vehicle 50 in the platoon of the plurality of platoon vehicles 50 and drives.

(Formation separation method)
Next, a platooning separation method executed by the platooning separation system 1 according to the embodiment configured as described above will be described. The platooning separation method described below includes a departure process by the platooning method at the departure point of the platooning vehicle 50 and an arrival process of the platooning separation method at the destination which is the arrival point of the platooning vehicle 50.

(Formation method)
First, a platooning method according to one embodiment will be described. 8 and 9 are flowcharts for explaining the departure process of the formation separation method according to this embodiment. In addition, in FIG. 8 and FIG. 9, A, B, and C indicate a binder. Further, in FIGS. 8 and 9, the processes in the central management center 10 are referred to as steps ST1 to ST12. Similarly, the processes at the distribution facilities 23 to 25, 33 to 35, 43 to 45 of each company are referred to as steps ST101 to ST104. The processing at the platooning separation facilities 21, 31, and 41 is referred to as steps ST201 to ST206. Further, the process in the platoon vehicle 50 is referred to as step ST301. In the following description, the departure point of the platoon vehicle 50 will be mainly referred to as the A area facility group 20, and the destination will be described as the B area facility group 30.

As shown in FIG. 8, first, in step ST101, the respective company X logistics A facility 23, Y company logistics A facility 24, and Z company logistics A facility 25 (hereinafter, each company logistics A facility 23 to 25) participate in the platoon. Create request information. Logistics A facilities 23 to 25 of each company transmit the created platoon participation request information to the central management center 10. Next, in the central management center 10, in step ST1, the platoon participation request information received from the physical distribution A facilities 23 to 25 of each company is accumulated and stored in the recording medium 13.

FIG. 10 shows an example of the accumulated platoon participation request information. As shown in FIG. 10, the platoon participation request information includes at least the requester name, departure place, destination, scheduled delivery time, desired arrival time, luggage load capacity, vehicle used, and driver of each company's logistics A facility 23 to 25. Includes information on the presence or absence of dispatch. For example, in FIG. 10, from company X as a client, the departure point is "formation separation facility A 21 (hereinafter referred to as automated warehouse A)" and the destination is "platoon formation separation facility 31 (hereinafter referred to as automated warehouse)". Information that the scheduled delivery time is "10:00", the desired arrival time is "13:00", the luggage load capacity is "for one 4-ton vehicle", and the driver dispatch is "Yes". It is supplied to the central management center 10. Further, although not shown in FIG. 1, Company P is, for example, a company that has a company P logistics A facility in the A area facility group 20 but a company that has a logistics facility outside the A area facility group 20. There may be. In addition, in the case of each company's logistics A facility 23 to 25, other logistics facilities and client companies (not shown in FIG. 1) are also included.

Next, in step ST2, the central management control unit 12 of the central management center 10 creates a platoon formation plan. Specifically, the central management center 10 performs calculations by a predetermined algorithm based on information such as traffic information and weather information that are sequentially supplied, and accumulated platoon participation request information, and performs an appropriate travel route and travel. Calculate the time. The central management center 10 plans a platoon formation including a plurality of platoon vehicles 50 from the calculated travel route and travel time. When the central management center 10 determines that it is possible to form a platoon with a plurality of platoon vehicles 50 of each company, information regarding the formation of a platoon of a plurality of platoon vehicles 50 (platoon formation information) is provided to each company's logistics A facility 23. ~ 25 and formation separation A facility 21 is transmitted.

FIG. 11 is a diagram showing an example of platoon formation information created by the central management center 10. As shown in FIG. 11, the platoon formation information includes the platoon formation ID, the vehicle unique ID, the client, the process, the scheduled carry-in time, the scheduled carry-out time, the scheduled departure time, the scheduled arrival time, the driver, and the information on the vehicle used. including. Although the information on the vehicle used is omitted in FIG. 11, the number of the platoon vehicle 50 or the like may be added as the information on the vehicle ID used. Of these platoon formation information, the client, the scheduled delivery time, and the vehicle used are the information included in the platoon participation request information. That is, it is the scheduled time when the client company will bring the platoon vehicle 50 into the platoon formation separation A facility 21. Among the platoon formation information, the platoon formation ID, the vehicle unique ID, the process, the scheduled unloading time, the scheduled departure time, the scheduled arrival time, and the person in charge of operation are information created by the central management center 10.

The platoon formation ID is identification information unique to the platoon composed of a plurality of platoon vehicles 50. The vehicle unique ID is unique identification information for each of the platoon vehicles 50 constituting the platoon. The itinerary includes an operation plan and a travel route from the departure point to the destination, which are created by the central management center 10 based on the information of each platoon participation request. The scheduled unloading time is the scheduled time for starting the unloading of the platoon vehicle 50 from the platoon formation separation A facility 21, and is preferably at least after the scheduled loading time. The scheduled departure time is the scheduled departure time after forming a platoon with a plurality of platoon vehicles 50. The estimated time of arrival is the estimated time of arrival at the destination calculated by the central management center 10 based on the planned process. The driver is the driver who is in charge of driving the leading vehicle of the platoon consisting of a plurality of platoon vehicles 50. Although the name of the client to which the driver belongs is shown in FIG. 11, it may be an individual name. Further, the person in charge of operation may be a driver who does not belong to any of the client companies, and is not particularly limited.

In step ST3 shown in FIG. 8, the central management center 10 may determine that it is impossible to form a platoon by a plurality of platoon vehicles 50 based on the accumulated platoon participation request information. In addition, the central management center 10 may determine that it is possible to form a platoon up to the front of the destination based on the platoon participation request information. In these cases, the central management center 10 provides the platoon formation information including the information that the platoon cannot be formed and the information that the platoon can be formed to the front of the destination from each company's logistics A facility 23 to. It is transmitted to 25 and the formation separation A facility 21. In this case, the changed platoon participation request information may be transmitted again from the logistics A facilities 23 to 25 of each company to the central management center 10.

After that, the logistics A facilities 23 to 25 of each company that received the platoon formation information from the central management center 10 set the platoon vehicle 50 (hereinafter, also referred to as the platoon vehicle 50) that forms the platoon included in the platoon formation information in step ST102. Preparations for transporting to the formation separation A facility 21 are started.

At the same time, the control unit 211 of the platoon formation separation A facility 21 performs a process of examining the storage position of the platoon vehicle 50 in step ST201. Here, the platoon formation separation A facility 21 examines a position where the platoon vehicle 50 is most easily carried out as a storage position of each of the plurality of platoon vehicles 50 according to a predetermined algorithm.

The formation separation A facility 21 determines an appropriate storage position for at least one of the carrying out of the formation vehicle 50 and the formation of the formation. Specifically, for example, the storage position of the platoon vehicle 50 is determined and the storage position information is created so that the platoon with the earliest scheduled departure time can be carried out first in a plurality of platoons. The mode for determining the storage position of the platoon vehicle 50 so that the platoon with the earliest scheduled departure time can be carried out first is hereinafter referred to as the platoon storage mode. FIG. 12 is a diagram showing an example of storage position information in the formation storage mode. As shown in FIG. 12, the storage position information includes, for example, platoon formation ID, vehicle-specific ID, process, scheduled unloading time, scheduled departure time, estimated arrival time, driver, and storage position information. Of these, the formation ID, the vehicle-specific ID, the process, the scheduled delivery time, the scheduled departure time, the scheduled arrival time, and the driver are based on the formation information. The storage position information is information created by the formation separation A facility 21. The central management center 10 adds the storage position information transmitted from the formation separation A facility 21 to the formation information to obtain new formation information. The storage position information described above can also be created by the central management center 10. That is, the storage position information created by the central management center 10 may be transmitted to the formation separation A facility 21. On the other hand, the storage position of the platoon vehicle 50 may be determined so that the platoon vehicle 50 is sequentially stored in the parking lot 217 in the order of arrival at the platoon formation separation A facility 21. The mode in which the parking lot 217 is sequentially stored in the order of arrival is hereinafter referred to as a random storage mode.

Further, as shown in FIG. 8, in parallel with steps ST102 and ST201, in step ST4, the central management center 10 examines the load capacity of each of the plurality of platoon vehicles 50 based on the platoon participation request information. conduct. FIG. 13 shows an example of the accumulated platoon participation request information when the cargo needs to be transshipped.

That is, the central management center 10 extracts the platoon vehicles 50 judged to have a small load capacity based on the load capacity of the plurality of platoon vehicles 50 forming the same platoon included in the platoon formation information. In the example shown in FIG. 13, for example, the platoon vehicle 50 of company Z, which has a load of 0.5 2-ton vehicles, and the platoon of company Q, which has a load of 0.5 4-ton vehicles. Vehicles are extracted. It should be noted that the criterion for determining that the cargo load capacity is small can be determined for each individual platoon vehicle 50.

In step ST5 shown in FIG. 8, the central management center 10 sends a command signal instructing the platoon vehicle 50, which is determined to have a small cargo load, or the logistics A facilities 23 to 25 of each company to which the platoon vehicle 50 belongs, to transship the cargo. Send. In this case, the central management center 10 designates the platoon vehicle 50 with a small load capacity and the platoon vehicle 50 with a small load capacity as the platoon vehicle 50 or the logistics A facilities 23 to 25 of each company, and of the luggage. Send command information instructing mixed loading. In the example shown in FIG. 13, for example, the central management center 10 sends a command signal for transshipping luggage from the platoon vehicle 50 of company Z to the platoon vehicle 50 of company Q, and the platoon vehicle 50 of company Q and the logistics A facility of company Z. Send to 25. In this way, from the plurality of platoon vehicles 50, the platoon vehicle 50 from which the luggage is taken out and the platoon vehicle 50 on which the luggage is mixedly loaded are selected.

On the other hand, the central management center 10 transmits information to the platoon formation separation A facility 21 which of the plurality of platoon vehicles 50 the platoon vehicle 50 is to be transshipped. In other words, the platoon formation separation A facility 21 receives the information of the platoon vehicle 50 to be excluded from the platoon from the plurality of platoon vehicles 50.

After that, in step ST202, the formation separation A facility 21 confirms the formation vehicle information transmitted from the central management center 10. In step ST202, the platooning separation A facility 21 that has received the information of the platooning vehicle 50 to be excluded from the platooning deletes the platooning vehicle 50 excluded from the platooning information. As a result, a plurality of platoon vehicles 50 forming a platoon are determined. After that, in step ST203, the storage position information in the determined plurality of platoon vehicles 50 is created in the same manner as in step ST201. The created storage position information is transmitted from the formation separation facility 21 to the central management center 10. After that, in step ST203, the platoon formation separation A facility 21 determines the storage position of the platoon vehicle.

In step ST103, the physical distribution A facilities 23 to 25 of each company transship the cargo based on the command signal from the central management center 10. The transshipment of the cargo by the platoon vehicle 50 instructed to transship the cargo is performed at the cargo collection facilities 22, 32, 42. Specifically, each company's logistics A facility 23 to 25 transships luggage between a plurality of platoon vehicles 50 at each company's logistics A facility 23 to 25 or the luggage collection A facility 22.

In step ST104, the logistics A facilities 23 to 25 of each company transmit the vehicle transport information for transporting the platoon vehicle 50 to the platoon formation separation A facility 21 to the central management center 10 after the transshipment work of the cargo is completed.

In step ST6, the central control center 10 monitors the transport status of each platoon vehicle 50 in the platoon formation separation facility 21 so that the platoon departs at the scheduled departure time. In addition, the central management center 10 performs a process of readjusting the formation of the formation as necessary, and creates the formation information of the formation again. Specifically, when the above-mentioned transshipment of luggage is performed in some of the platoon vehicles 50 among the plurality of platoon vehicles 50, the central management center 10 is a plurality of platoon vehicles 50 excluding the platoon vehicles excluded from the platoon. The platoon formation information for the platoon vehicle 50 is recreated.

FIG. 14 is an example of platoon formation information when the luggage of company Z is transshipped to the platoon vehicle 50 of company Q with respect to the platoon participation request information shown in FIG. As shown in FIG. 14, the platoon vehicle 50 in which the luggage has been transshipped is grouped by the client companies as company Z and company Q, and the vehicle used is determined to be owned by company Q. In step ST7, the central management center 10 determines the formation information of the formation shown in FIG. 11 and the formation information of the formation shown in FIG. 14, and determines the departure information of the formation. The central management center 10 transmits the confirmed formation information to the formation separation A facility 21. In the platoon formation separation A facility 21, the platoon formation information is readable and stored in the platoon formation database 212a.

In step ST204, the platoon formation separation facility 21 that has received the platoon formation information transmits the vehicle carry-in information as to whether or not it has been carried into the platoon formation separation A facility 21 to the central management center 10. That is, the platoon vehicle 50 that has finished loading the cargo at the logistics A facilities 23 to 25 of each company or the cargo collection facility 22 is carried in to the designated platoon formation separation A facility 21.

When the platoon vehicle 50 is brought in, for example, the collation determination unit 218a provided in the vehicle carry-in / out management unit 218 reads information such as a vehicle unique ID that identifies the plurality of platoon vehicles 50 from each other. Specifically, when the platoon vehicle 50 is brought in, at the gate serving as the entrance, the vehicle unique ID of each platoon vehicle 50 is identified by the collation determination unit 218a and collated with the platoon formation information.

In this collation, first, in step ST204, wireless communication is performed between the communication unit 503 of each platoon vehicle 50 and the collation determination unit 218a provided in the platoon formation separation A facility 21. The collation determination unit 218a reads the identification vehicle unique ID (see FIGS. 11 and 14) given to each platoon vehicle 50 by wireless communication. After that, the vehicle-specific ID information is transmitted from the vehicle carry-in / out management unit 218 to the central management center 10 as vehicle carry-in information through the facility control unit 211 and the communication unit 213. In the central management center 10, in step ST8, by comparing the vehicle-specific ID information of the received vehicle carry-in information with the platoon formation information stored in the information management database 13a, the carried-in platoon vehicle 50 can be collated. Will be done. The result of collation of the vehicle carry-in information is transmitted to the platoon formation separation A facility 21.

In step ST205, the platoon formation separation A facility 21 that has received the result of collation of the vehicle carry-in information stores the platoon vehicle 50 in the storage unit 214 based on the information of the storage position of the platoon formation information in the order in which the collation is completed. .. As for the method of storing the platoon vehicle 50 in the storage unit 214, various methods can be adopted. Specifically, a predetermined division or storage location allocation may be determined for each group of platoon vehicles 50 forming a platoon, and the lanes may be automatically aligned at the time of loading. As a result, the platoon vehicle 50 can be smoothly carried out later. Further, a deadline may be set, and when the platoon vehicle 50 is brought in, the platoon vehicle 50 that misses the delivery deadline may be dealt with by another method. The other method is, for example, a method of adding the platoon formation separation A facility 21 to another platoon departing at a later time, or accepting the platoon vehicle 50 without going through the above-mentioned procedure for bringing in the platoon vehicle 50.

Next, as shown in FIG. 9, in step ST9, the central management center 10 transmits a departure command signal of a plurality of platoon vehicles 50 forming a platoon to the platoon formation separation A facility 21 based on the platoon formation information. do. Upon receiving the departure command signal from the central control center 10, the platoon formation separation A facility 21 recognizes that the current time is close to the scheduled departure time of the platoon, and from the predetermined storage position in the parking lot of the storage unit 214, each of them We will start preparing to carry out the platoon vehicle 50.

After that, in step ST206, the formation separation A facility 21 starts carrying out the formation vehicle 50 forming the formation. Here, a specific method of carrying out will be described. 15, FIG. 16, FIG. 17, FIG. 18, and FIG. 19 are schematic diagrams for explaining the carrying-out of the vehicle in the platoon formation separation method according to this embodiment.

As shown in FIG. 15, first, the first platoon vehicle 53 as the leading vehicle is moved from the predetermined storage position to the mobile device in the vehicle moving device 217a. The vehicle moving device 217a has a configuration in which a moving device that moves along the rail is provided on the rail.

After that, as shown in FIG. 16, the platoon vehicle 53 on the mobile machine is moved along the rail to the carry-out entrance 214a of the platoon formation separation A facility 21. The platoon vehicle 53 that has been moved to the carry-out entrance 214a performs wireless communication with the collation determination unit 218a by the communication unit 53a corresponding to the communication unit 503. As a result, the collation determination unit 218a reads the vehicle-specific ID of the platoon vehicle 53. The read vehicle-specific ID is transmitted to the central management center 10 via the network 70 as vehicle carry-out information. Here, the platoon vehicle 53 that is first carried out is a manned platoon vehicle 53 driven by the driver. The manned platoon vehicle 53, which is the head of the platoon, may join the platoon from another location. Further, the leading platoon vehicle 53 may be an independently unmanned vehicle that can be automatically driven.

Next, as shown in FIG. 17, the second platoon vehicle 54 is moved from the predetermined storage position to the carry-in / out port 214a by the vehicle moving device 217a in the same manner as the platoon vehicle 53. The platoon vehicle 54 moved to the carry-out entrance 214a wirelessly communicates with the collation determination unit 218a by the communication unit 54a. The collation determination unit 218a reads the vehicle unique ID of the platoon vehicle 54 and transmits it to the central management center 10 via the network 70. On the other hand, when the communication unit 54a performs inter-vehicle communication with the communication unit 53a of the platoon vehicle 53, the platoon recognition process by the platoon vehicle 53 is executed. Information that can be automatically tracked is set or given to the succeeding platoon vehicle 54 following the leading platoon vehicle 53. As a result, the platoon vehicle 54 is recognized by the platoon vehicle 53 as a subsequent vehicle following the platoon vehicle 53. The platoon vehicle 54 is a so-called unmanned platoon vehicle 54 on which the driver does not board. As for the platoon recognition process by the platoon vehicle 53, a conventionally known method can be adopted.

Next, as shown in FIG. 18, the third platoon vehicle 55 is moved from the predetermined storage position to the carry-in / out port 214a by the vehicle moving device 217a in the same manner as the platoon vehicle 54. The platoon vehicle 55 wirelessly communicates with the collation determination unit 218a by the communication unit 55a. The collation determination unit 218a reads the vehicle unique ID of the platoon vehicle 55 and transmits it to the central management center 10 via the network 70. On the other hand, when the communication unit 55a performs inter-vehicle communication with the communication unit 54a of the platoon vehicle 54, the platoon recognition process by the platoon vehicle 54 is executed. Information that can be automatically tracked is set or given to the succeeding platoon vehicle 55 following the first platoon vehicle 53 and the succeeding platoon vehicle 54. The platoon recognition process of the platoon vehicle 54 simultaneously executes the platoon recognition process of the platoon vehicle 55 by the platoon vehicle 53. By these platoon recognition processes, the platoon vehicle 55 is recognized by the platoon vehicles 53 and 54 as subsequent vehicles following the platoon vehicle 54. As for the platoon recognition process by the platoon vehicle 54, a conventionally known method can be adopted.

After that, as shown in FIG. 19, in the platoon vehicle 56 as well as the platoon vehicles 54 and 55, wireless communication with the collation determination unit 218a and the platoon recognition process are executed. As a result, a platoon consisting of a plurality of platooning vehicles 53, 54, 55, 56 in this embodiment is formed. In parallel with the above-mentioned unloading of the platoon vehicles 53 to 56, or after unloading the platoon vehicles 53 to 56, in step ST10 shown in FIG. Performs collation processing to collate with the vehicle unique ID included in the platoon formation information. When the platoon formation information (see FIGS. 11 and 14) and the platoon vehicles 53 to 56 carried out by the collation process match, the central management center 10 proceeds to step ST11. If the platoon formation information and the platoon vehicles 53 to 56 carried out do not match, the central management center 10 repeatedly executes step ST9.

After that, in step ST11, the central management center 10 transmits a departure command signal to the leading platoon vehicle 53 or the respective platoon vehicles 53 to 56 in the formed platoon 100 via the network network 70. As shown in FIG. 19, the platoon vehicle 53 that has received the departure command signal departs from the platoon formation separation A facility 21 and enters the road 80 on which the vehicle can travel. Road 80 is a variety of roads on which platooning vehicles 53 to 56 can travel. As a result, the central management center 10 can incorporate any road 80 on which the platoon vehicles 53 to 56 can travel into the itinerary plan as a travel route.

While the platoon 100 is traveling, the leading platoon vehicle 53 driven by the driver and the subsequent platoon vehicles 54 to 56 in which unmanned automatic driving is performed communicate with each other. As a result, the platoon 100 travels to the destination according to the process included in the platoon formation information while the platoon vehicles 53 to 56 automatically recognize each other's platoon vehicles 53 to 56. While the platoon 100 is traveling, the leading platoon vehicle 53 or the respective platoon vehicles 53 to 56 appropriately transmit operation information to the central management center 10 in step ST301.

The central management center 10 monitors the running status of the platoon 100 based on the operation information supplied from the platoon vehicles 53 to 56. The central control center 10 monitors the operation status so that the platooning vehicles 53 to 56 forming the platoon 100 can arrive at the destination at the estimated time of arrival. The central management center 10 may recreate the formation information based on the traffic information and the weather information that are periodically received, and change the estimated arrival time as appropriate. In this case, the changed platoon formation information is transmitted to the platoon vehicles 53 to 56, the logistics A facilities 23 to 25 of each company at the departure point, and the logistics B facilities 33 to 35 of each company at the destination.

After that, in step ST12, the central management center 10 transmits the current position information of the platoon vehicles 53 to 56 to the physical distribution A facilities 23 to 25 of each company at the departure point and the physical distribution B facilities 33 to 35 of each company at the destination. With the above, the departure process by the formation method is completed.

(Method of separating platoons)
Next, a platoon separation method according to an embodiment of the present invention will be described. FIG. 20 is a flowchart for explaining the arrival process of the platoon formation separation method according to this embodiment. In FIG. 20, the processes in the central management center 10 are referred to as steps ST13 to ST18. Similarly, the processes at the distribution facilities 23 to 25, 33 to 35, 43 to 45 of each company are referred to as steps ST105 to ST107. The processing at the platooning separation facilities 21, 31, and 41 is referred to as steps ST207 to ST208. Further, the process in the platoon vehicle 50 is referred to as step ST302. Further, in the following description, the destination is the B area facility group 30.

As shown in FIG. 20, in the arrival process according to this embodiment, first, in step ST13, the central management center 10 includes the arrival time for the physical distribution B facilities 33 to 35 of each company and the platooning separation B facility 31. Send arrival time information. In step ST105, the physical distribution B facilities 33 to 35 of each company that received the arrival time information transmit the storage or separation information of the platoon vehicle 50 to the central management center 10. The storage of the platoon vehicle 50 means that the platoon vehicle 50 arriving at the platoon formation separation B facility 31 is temporarily stored in a predetermined storage position in the platoon formation separation B facility 31 until the pick-up time. Separation of the platoon vehicle 50 means that the platoon vehicle 50 arriving at the platooning separation B facility 31 is taken back to the logistics B facilities 33 to 35 of each company without being stored in the platooning separation B facility 31.

At the same time, based on the operation plan created by the central management center 10, the platoon 100 consisting of platoon vehicles 53 to 56 arrives at the platoon formation separation B facility 31. In step ST207, the platooning separation B facility 31 transmits vehicle arrival information including the platooning vehicle 50 that has arrived to the central management center 10.

In step ST14, the central management center 10 collates the vehicle arrival information received from the formation separation B facility 31 with the formation information based on the formation information stored in the information management database 13a of the recording medium 13.

After that, in step ST15, the central management center 10 creates the separated storage vehicle information based on the storage or separation information of the platoon vehicle 50 received from the distribution B facilities 33 to 35 of each company. FIG. 21 is a diagram showing an example of separate storage vehicle information created by the central management center 10 according to this embodiment. As shown in FIG. 21, the separated storage vehicle information includes information such as a formation ID, a vehicle unique ID, an estimated arrival time, a separation / storage instruction, a scheduled pick-up time, and a storage position. After that, the central management center 10 transmits the separated storage information created in the formation separation B facility 31.

In step ST208, the platoon formation separation B facility 31 that has received the separation storage information performs the storage work or the separation work of the arriving platoon vehicle 50 based on the separation storage information. That is, first, the facility control unit of the platoon formation separation B facility 31 transmits a command signal for disconnecting the inter-vehicle communication to each platoon vehicle 50 through the communication unit. As a result, the platoon vehicle 50 ends the inter-vehicle communication by the communication unit 503, ends the automatic tracking, and separates the platoon. Further, the platoon formation separation B facility 31 stores the platoon vehicle 50 to be stored according to the separation storage information, and the platoon vehicle 50 having vehicle unique IDs AB001Z and AB001P in FIG. 21 at a predetermined storage position included in the storage position information. do. Except for the stowed platoon vehicle 50, they are separated.

In step ST302, each of the separated platoon vehicles 50 transmits the separated vehicle traveling information to the central management center 10. In step ST16, the central management center 10 transmits the received separated vehicle traveling information to the physical distribution B facilities 33 to 35 of each company. The central management center 10 may transmit only to the distribution facility of the trader who owns the separated platoon vehicle 50.

Next, in step ST106, when the separated platoon vehicles 50 arrive at the physical distribution B facilities 33 to 35 of each company, the physical distribution B facilities 33 to 35 of each company perform the receiving work. After that, in step ST107, the physical distribution B facilities 33 to 35 of each company transmit the acceptance information including the acceptance of the separated platoon vehicle 50 to the central management center 10.

In step ST17, the central management center 10 confirms the received reception information and stores it in the information management database 13a of the recording medium 13. Subsequently, in step ST18, the central control center 10 confirming the received acceptance information receives that the separated platoon vehicle 50 has been carried into the distribution B facilities 33 to 35 of each company as a signal of completion of the acceptance procedure, and the distribution B of each company. It is transmitted to facilities 33 to 35 and platoon formation separation B facility 31.

Further, in the platoon vehicle 50 stored in the platooning separation B facility 31, when the scheduled pick-up time arrives, the same processing as the above-mentioned unloading from the platooning separation B facility 31 (steps ST10, ST206) and the same processing and The same operation as the above-mentioned separation operation (steps ST16, ST106, ST208) is performed. As described above, the arrival process in the platoon separation method according to this embodiment is completed.

(First modification)
Next, a first modification of the above-described embodiment will be described. In the above-described embodiment, the central management control unit 12 of the central management center 10 plans the formation of the formation based on the formation request information, but other methods can also be adopted. Specifically, for example, in the first modification, the central management center 10 and the formation separation facilities 21, 31, and 41 regularly set a predetermined scheduled delivery time, a predetermined departure time, and a predetermined arrival time. You may create a set diagram. FIG. 22 is a diagram showing an example of the watermark information according to the first modification.

As shown in FIG. 22, the timetable information includes information such as a process, a scheduled departure time, a deadline for loading, a scheduled time for unloading, a scheduled arrival time, a person in charge of operation, and a formation ID. The itinerary, the scheduled departure time, the scheduled delivery time, the scheduled arrival time, the driver, and the formation ID are the same as the formation information. The carry-in deadline is a time before the scheduled carry-out time, and is the final time when the platoon vehicle 50 can be carried into the platoon formation separation facilities 21, 31, and 41. In this case, each company's logistics facilities 23 to 25, 33 to 35, 43 to 45 separate the platoon vehicles 50 into platoons before the time according to the timetable information as shown in FIG. 22, specifically, the unloading deadline. It will be delivered to facilities 21, 31, and 41. Further, it is possible to recreate or change the above-mentioned watermark information according to the demand such as, for example, a busy season, a quiet season, or a special flight.

(Second modification)
Next, a second modification of the above-described embodiment will be described. The second modification assumes a case where a non-steady state different from the normal state occurs. FIG. 23 is a diagram showing an example of non-stationary information including information regarding the unsteady state. As shown in FIG. 23, the non-stationary information includes information such as a formation ID, a vehicle-specific ID, a client, a process, a scheduled delivery time, a scheduled departure time, a driver, and remarks. The platoon formation ID, vehicle-specific ID, client, process, scheduled delivery time, scheduled departure time, and driver are the same as those for platoon formation information. The remarks information includes the unsteady state situation.

As shown in FIG. 23, when there is a delayed platoon vehicle 50 or the like, the delayed platoon vehicle 50 (in FIG. 23, vehicle-specific ID: BC500X) does not go through the platoon formation separation facilities 21, 31 and 41. ) May be directly participated in the carried-out platoon 100. At that time, for example, the platoon vehicles 50 may be made to recognize each other by using inter-vehicle communication, and when the platoon vehicles 50 are collated, they may be joined to the platoon 100. Further, it may be determined from the departure signal transmitted from each platoon vehicle 50 to the central management center 10 at the time of departure of the platoon vehicle 50.

Further, as shown in the case where the platoon formation ID is CA800 in FIG. 23, it is also possible to change the scheduled unloading time of the platoon vehicle 50 in accordance with the arrival of the platoon vehicle 50 that is delayed. If the scheduled departure time is not met, a cancellation signal may be transmitted from the distribution facilities 23 to 25, 33 to 35, 43 to 45 of each company to the central management center 10 to accept the cancellation. The non-stationary information is set so that it can include cancellation information.

Although the embodiments of the present invention have been specifically described above, the present invention is not limited to the above-described embodiments, and various modifications based on the technical idea of the present invention are possible. For example, the numerical values and data tables given in the above-described embodiment are merely examples, and different numerical values and data tables may be used as necessary, forming a part of the disclosure of the present invention according to the present embodiment. The description and drawings do not limit the invention.

For example, in the above-described embodiment, the transshipment of the cargo is executed among the plurality of platoon vehicles 50, but the transshipment of the cargo may not be executed. In this case, the processing of steps ST4, ST5, ST103, and ST202 can be omitted.

In one embodiment described above, the central management center 10 is composed of independent servers and the like, but the formation separation facilities 21, 31, 41 and the like may be provided with the functions of the central management center 10. Further, in the above-described embodiment, the cargo collecting facilities 22, 32, 42 are provided independently from the logistics facilities 23 to 25, 33 to 35, 43 to 45 of each company, but the cargo collecting facilities are provided separately. It is also possible to provide 22, 32, and 42 at each company's logistics facilities 23 to 25, 33 to 35, 43 to 45, respectively.

In the above-described embodiment, in the operation between the platoon formation separation facilities 21, 31, and 41, the driver who drives the platoon vehicle 50 at the head of the platoon is the driver who belongs to each company's logistics facility, but it is not always requested. You don't have to be a driver who belongs to a trader. As the driver of the platoon vehicle 50 at the head of the platoon, for example, a sole proprietor may be registered, and a predetermined driver may be arranged and operated from among the drivers registered on the day when the platoon runs. .. As a result, the possibility of securing a driver is increased, and the possibility of stagnation in the distribution of luggage can be reduced. The registration of these drivers may be carried out by the company that operates the distribution facilities of each company, by the company that operates the central management center 10, or by the company that operates the platooning separation facility. In this case, as a driver, only drivers who meet certain conditions such as qualifications, skills, or experience may be able to register. As a result, safety can be improved in the running of the platoon.

Further, in the above-described embodiment, it may take more time to carry out the facilities, or the platooning separation facilities 21, 31, and 41 may be full. In this case, it is also possible to transmit a full full information signal from the formation separation facilities 21, 31, and 41 to the central management center 10. In this case, for example, the central management center 10 transmits a carry-out stop signal for stopping the carry-out of the platoon vehicle 50 to each company's logistics facilities 23 to 25, 33 to 35, 43 to 45 and the cargo collection facilities 22, 32, 42. , The platooning vehicle 50 may be stopped from being carried out at each facility.

Further, in the above-described embodiment, when setting a charge or the like, it is preferable that the transportation charge is automatically charged. For example, when the platoon participation request information is transmitted from the logistics facilities 23 to 25, 33 to 35, 43 to 45 of each company, when the platoon vehicle 50 is carried out, when the platoon vehicle arrives, etc. It is preferable to be able to respond as appropriate. In addition, the transportation fee and the reward for the driver may be changed depending on the busy season, the normal season, the off-season, the time zone such as daytime and nighttime, and the day of the week such as weekdays and holidays.

Further, in the above-described embodiment, the client company to participate in the platoon is determined in advance, but any logistics company can participate in the platoon. In this case, the transportation charge can be set to various charges for each distribution company. Specifically, for example, a logistics company that is confirmed to participate regularly can have a lower transportation fee than other logistics companies that participate irregularly. In addition, by adopting the membership system, a logistics company that has become a member can make the transportation fee cheaper than that of a non-member. In addition, even non-member logistics companies, like the member logistics companies, use the logistics facilities 23 to 25, 33 to 35, 43 to 45 of each company and the cargo collection facilities 22, 32, 42 to transship luggage, etc. You can work.

Further, in the above-described embodiment, each platoon vehicle 50 may have a control mechanism for controlling the platoon vehicles 50 forming the platoon so as to be arranged at appropriate positions. Further, the platoon vehicle 50 may be provided with a position sensor, a camera, or the like that can confirm that the platoon vehicles 50 forming the platoon are arranged at appropriate positions with each other.

Further, in the above-described embodiment, the operation terminal 51 in the platoon vehicle 50 and the terminal device 60 can also create and store the platoon participation request information and transmit the platoon participation request information to the central management center 10. Is. That is, it is possible to request participation in the platoon from the platoon vehicle 50 or the terminal device 60 owned by an individual.

Further, in the above-described embodiment, it is assumed that even if the load capacity of the load is small, the load is not suitable for mixed loading, specifically, for example, a case where the load is frozen and the load is at room temperature. In this case, it is also possible to add information on whether or not mixed loading is possible, including information that mixed loading with other luggage is not possible, to the information on requesting participation in the formation. It is also possible to send the possibility of mixed loading from each company's distribution facility to the central management center 10 or set it in the platoon participation request information. Further, the vehicle type such as for freezing or normal temperature of the platoon vehicle 50, the type of luggage, and the like may be registered in the platoon participation request information and the like.

1 Formation separation system 10 Central management center 12 Central management control unit 13a Information management database 21, 31, 41 Formation separation facility 22, 32, 42 Luggage collection facility 23-25, 33-35, 43-45 Logistics facilities of each company 60 Terminal equipment 70 Network network 80 Roads 100 platoons

Claims (11)

A storage unit that can store multiple vehicles and
And drivable the beginning vehicle, and a recording medium for storing the convoy organization information about the convoy organized that the leading vehicle and at least one convoy vehicle is travelable constructed by tracking automatically, from,
Based on the platoon formation information stored in the recording medium, the platoon vehicles that form the platoon are selected from the plurality of platoon vehicles stored in the storage unit, and the platoon vehicles that form the platoon are carried out and described. A facility control unit that has a platoon formation instruction unit that outputs platoon formation instruction information,
It is a formation separation facility equipped with
The storage unit is configured to carry out the platoon vehicle in a state in which the platoon can be formed based on the instruction information supplied from the platoon formation instruction unit, and also to carry out the plurality of vehicles. Equipped with a vehicle loading / unloading control department that manages entry
When the platoon vehicle is brought into the storage unit, the vehicle carry-in / out management unit performs in at least one of the platoon vehicle unloading and the platoon formation performed after the platoon vehicle is brought in, in the order of forming the platoon. At least one storage position selected from a storage position far from the carry-out port, a storage position that minimizes energy consumption in the platooning separation facility, and a storage position preset by time, type, or company. A platoon formation separation facility characterized by controlling the storage of the platoon vehicles. The storage position for each time is a storage position set separately for each time or time zone to be carried out.
The platoon formation separation facility according to claim 1, wherein the facility is characterized by the above. The storage position for each type is a storage position set separately for each type of vehicle in the leading vehicle, the following platoon vehicle, and the platoon vehicle that is separated and temporarily stored after arriving at the destination.
The platoon formation separation facility according to claim 1, wherein the facility is characterized by the above. The storage position for each company is a storage position that is separately set for each company.
The platoon formation separation facility according to claim 1, wherein the facility is characterized by the above. A communication unit configured to be connected to a network and to be able to communicate with the outside is further provided, and the facility control unit is configured to store the formation information of the formation supplied from the outside through the communication unit in the recording medium. The platooning separation facility according to any one of claims 1 to 4, wherein the facility is formed. The platoon formation information includes information on the scheduled unloading time when the platoon vehicle is carried out from the storage unit, and the vehicle loading / unloading management unit controls to start carrying out the platoon vehicle at the scheduled unloading time. The platoon formation separation facility according to any one of claims 1 to 5, wherein the platoon formation separation facility is characterized. When the platoon arrives at the platoon formation separation facility, the facility control unit transmits a command signal for separating the platoon to each of the platoon vehicles forming the platoon. The formation separation facility according to any one of claims 1 to 6. The platooning separation facility according to any one of claims 1 to 7.
Network network and
With the runnable vehicle as the lead vehicle, the platoon formation information regarding the platoon formed from the lead vehicle and the platoon vehicle configured to be able to run by tracking the lead vehicle is created, and the platoon formation information is created through the network. A platooning separation system characterized by having a central control center that sends to the formation separation facility. The platoon formation separation system according to claim 8 , further comprising a facility for transmitting platoon participation request information requesting participation in the platoon to the central management center. And drivable the beginning vehicles, and scheduling information generating step of generating a convoy organization information about the convoy organized from the said top at least one convoy vehicle is travelable configured to track the vehicle automatically,
Vehicle loading and unloading management unit included in the storage unit in the platoon knitting separation facility, on the basis of the convoy scheduling information, select the platoon vehicle to organize the convoy from a plurality of ranks vehicles stored in the storage unit, the convoy A vehicle unloading step that controls the platooning of vehicles to be unloaded.
A platoon formation step that controls the leading vehicle to automatically track the at least one platoon vehicle that has been carried out.
In the storage unit, the vehicle loading / unloading management unit has a storage position farther from the carry-out outlet in the order of forming the platoon for at least one step of the vehicle unloading step and the platooning step, and the platooning separation facility. A vehicle carry-in step that controls to store the platoon vehicle in at least one storage position selected from a storage position that minimizes energy consumption and a storage position preset by time, type, or company.
A platooning method characterized by including. After the platoon formed by the platooning method according to claim 10 arrives at the platooning separation facility, the facility control unit of the platooning separation facility attaches to each of the platooning vehicles forming the platoon. On the other hand, a platoon formation separation method including a platoon separation step for controlling the platoon separation.

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