JP7240629B2 - 運行制御装置及び車両 - Google Patents
運行制御装置及び車両 Download PDFInfo
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- JP7240629B2 JP7240629B2 JP2019037425A JP2019037425A JP7240629B2 JP 7240629 B2 JP7240629 B2 JP 7240629B2 JP 2019037425 A JP2019037425 A JP 2019037425A JP 2019037425 A JP2019037425 A JP 2019037425A JP 7240629 B2 JP7240629 B2 JP 7240629B2
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- 238000012806 monitoring device Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000010365 information processing Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 3
- 229910052739 hydrogen Inorganic materials 0.000 description 2
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Description
上述したように自動運転車両10等は、電動モータを駆動源とする電気自動車であるから、バッテリー70の充電等のために車両を巡回経路から外れさせる跳ね出しと逆に車両を巡回経路に投入することを頻繁に行わなければならない。
図7A及び図7Bは、投入時の運行制御方法を示す模式図である。
20 制御装置
22 情報管理部
24 位置推定部
26 制御命令生成部
30 周辺監視装置
40 衛星通信装置
50 無線通信装置
60 入出力装置
70 バッテリー
80 車両状態検出装置
90 駆動装置
100 運行管理センタ
140A 他車両
140B 他車両
140C 他車両
140N 他車両
150 運行管理室端末
160 車庫端末
170 情報提供用Webサーバ
180 情報処理端末
Claims (5)
- 巡回経路を自律走行で走行する複数の車両の車間間隔を制御する運行制御装置であって、
少なくとも一台の前記車両が前記巡回経路から外れる跳ね出しの際に、跳ね出し対象となる前記車両である跳ね出し車両を除く少なくとも三台の前記車両に対し、それぞれ、将来の時刻情報及びその時刻情報に示される時刻におけるその車両の目標位置を示す位置情報を送信可能に構成される送信手段と、を備え、
前記運行制御装置は、少なくとも一台の前記車両に対し、前記巡回経路から外れる前記跳ね出しを指令し、
前記跳ね出し車両が、跳ね出されることが決まってから、前記巡回経路を少なくとも一周した後に、前記巡回経路から跳ね出されるように制御する、運行制御装置。 - 前記車両の現在の車間間隔を示す車間間隔情報を取得する車間間隔取得手段を更に備え、
前記送信手段は、少なくとも3つの前記車間間隔情報に基づいて取得された前記時刻情報及び前記位置情報を送信するように構成される請求項1に記載の運行制御装置。 - 前記車間間隔取得手段は、前記跳ね出し車両が前記巡回経路を走行中に、前記跳ね出し車両に先行する前記車両と、前記跳ね出し車両に後続する前記車両との現在の間隔を示す第2車間間隔情報を更に取得可能に構成され、
前記送信手段は、更に前記第2車間間隔情報に基づいて、前記時刻情報及び前記位置情報を送信するように構成される請求項2に記載の運行制御装置。 - 前記送信手段は、前記跳ね出し車両に先行する前記車両に対し、この車両とこの車両に先行する前記車両との車間間隔と、この車両と前記跳ね出し車両に後続する前記車両との間隔が等しくなるように、前記車間間隔情報及び前記第2車間間隔情報に基づいて、前記時刻情報及び前記位置情報を送信するように構成される請求項3に記載の運行制御装置。
- 巡回経路を自律走行で走行する車両であって、
前記巡回経路を自律走行で走行する前記車両及び他の車両を含む複数の車両の車間間隔を制御する、請求項1に記載の運行制御装置に対し、前記車両の位置情報を送信する手段と、
前記他の車両のうち少なくとも一台の前記車両が前記巡回経路から外れる跳ね出しの際に、又は、少なくとも一台の車両が前記巡回経路に投入される際に、前記運行制御装置から、将来の時刻情報及びその時刻情報に示される時刻におけるその車両の目標位置を示す位置情報を受信する手段と、
前記時刻情報に示される時刻に前記目標位置に到達するために前記車両を制御する制御命令を生成する制御手段と、
を備える車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2019037425A JP7240629B2 (ja) | 2019-03-01 | 2019-03-01 | 運行制御装置及び車両 |
US16/778,615 US11493935B2 (en) | 2019-03-01 | 2020-01-31 | Operation control device and vehicle |
CN202010123515.6A CN111640324B (zh) | 2019-03-01 | 2020-02-27 | 运行控制装置以及车辆 |
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JP2019037425A JP7240629B2 (ja) | 2019-03-01 | 2019-03-01 | 運行制御装置及び車両 |
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JP2020140616A JP2020140616A (ja) | 2020-09-03 |
JP7240629B2 true JP7240629B2 (ja) | 2023-03-16 |
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US (1) | US11493935B2 (ja) |
JP (1) | JP7240629B2 (ja) |
CN (1) | CN111640324B (ja) |
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US11897468B2 (en) * | 2020-03-03 | 2024-02-13 | Ford Global Technologies, Llc | Vehicle control system |
JP7396245B2 (ja) * | 2020-10-22 | 2023-12-12 | トヨタ自動車株式会社 | 運行管理方法、サーバ、及びシステム |
Citations (3)
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JP2000264210A (ja) | 1999-03-12 | 2000-09-26 | Toshiba Corp | 車両交通システム |
JP2004362022A (ja) | 2003-06-02 | 2004-12-24 | Toyota Motor Corp | 移動体 |
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- 2019-03-01 JP JP2019037425A patent/JP7240629B2/ja active Active
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2020
- 2020-01-31 US US16/778,615 patent/US11493935B2/en active Active
- 2020-02-27 CN CN202010123515.6A patent/CN111640324B/zh active Active
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US11493935B2 (en) | 2022-11-08 |
CN111640324B (zh) | 2023-02-17 |
US20200278694A1 (en) | 2020-09-03 |
CN111640324A (zh) | 2020-09-08 |
JP2020140616A (ja) | 2020-09-03 |
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