JP7241642B2 - 隊列走行システム - Google Patents
隊列走行システム Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0293—Convoy travelling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
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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
- H04W4/30—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]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
- B60W2050/048—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS] displaying data transmitted between vehicles, e.g. for platooning, control of inter-vehicle distance
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Description
3 :車両
3L :先導車
3F :後続車
6 :車両管理サーバ(管理装置)
34 :外界認識装置
35 :通信装置(送信装置、及び受信装置)
37 :制御装置
Claims (8)
- 先導車に後続車を追従させることで、前記後続車が前記先導車の後方に一列に並ぶ縦隊列と、前記先導車及び前記後続車とからなる車両がN列(N>1)の走行車線にそれぞれ列をなして並ぶ横隊列とを含む複数の隊列で、前記車両を走行させる隊列走行システムであって、
前記隊列の形態及び前記縦隊列における前記車両の順序を設定する管理装置と、
前記車両それぞれに設けられ、前記車両の走行状態に関する走行情報を送信する送信装置と、
前記車両それぞれに設けられ、他の前記車両の前記走行情報を受信する受信装置と、
前記先導車に設けられ、前記先導車の作動を制御する先導車制御装置と、
前記後続車それぞれに設けられ、前記先導車からの前記走行情報を自らが設けられた前記後続車の前記受信装置によって受信し、受信した前記走行情報に基づいて、自らが設けられた前記後続車の作動を制御する後続車制御装置とを有し、
前記管理装置は、前記順序を進行方向に沿って先頭から後方に向かって、走行性能の低い順に設定し、且つ、与えられた目的地に至る複数の走行経路を取得して取得された前記走行経路の内の前記隊列が通行可能な経路を選択し、
前記縦隊列の2番目からN番目までに位置する前記後続車がそれぞれ前記先導車の前記走行車線とは異なり、且つ、互いに異なる前記走行車線に移動する移動処理の後、前記先導車と、前記縦隊列の2番目からN番目までに位置する前記後続車とがそれぞれ対応する前記走行車線の先頭となることによって、前記隊列が前記縦隊列から前記横隊列に変更される隊列走行システム。 - 前記縦隊列の2番目からN番目までに位置する前記後続車がそれぞれ対応する前記走行車線に移動した後に、前記縦隊列のN+1番目に位置する前記後続車から前記縦隊列の最後尾に位置する前記後続車まで前記移動処理が繰り返されることによって、前記隊列が前記縦隊列から前記横隊列に変更される請求項1に記載の隊列走行システム。
- 前記走行性能が、制動性能、最小旋回半径、加速性能、前記車両の大きさの少なくとも1つを含む車両諸元に基づく請求項1又は請求項2に記載の隊列走行システム。
- 前記管理装置は、前記走行性能が所定の基準を下回る車両の前記隊列への加入を拒否する請求項1~請求項3のいずれか1つの項に記載の隊列走行システム。
- 前記管理装置は走行する通路の幅を最大限に利用するように、前記隊列の形態、及び前記車両の位置を設定する請求項1~請求項4のいずれか1つの項に記載の隊列走行システム。
- 前記管理装置が、前記隊列が通過可能な時間が制限された所定の区間に至る直前及び前記所定の区間を通過するときに、前記隊列の全長を減少させるべく、前記隊列の形態及び前記車両の配置を変更する請求項1~請求項5のいずれか1つの項に記載の隊列走行システム。
- 前記隊列の先頭を走行する前記車両には乗員に通知する通知装置が設けられ、
前記管理装置が、前記隊列が前記所定の区間に至る直前及び前記所定の区間を通過するときに前記隊列の形態及び前記車両の配置の少なくとも一方を変更する場合には、前記乗員への通知を行う請求項6に記載の隊列走行システム。 - 前記後続車それぞれに設けられ、自らが設けられた前記車両の前方を認識する外界認識装置を含み、
前記後続車制御装置は、前記外界認識装置において進行方向における前方に前記車両が認識された場合には、自らが設けられた前記車両の前記受信装置によって受信された信号と、進行方向における前方に位置する前記車両の位置に基づいて、前記車両を制御することを請求項1~請求項7のいずれか1つの項に記載の隊列走行システム。
Priority Applications (3)
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JP2019147306A JP7241642B2 (ja) | 2019-08-09 | 2019-08-09 | 隊列走行システム |
US16/985,689 US11709504B2 (en) | 2019-08-09 | 2020-08-05 | Platooning system |
CN202010783468.8A CN112435459B (zh) | 2019-08-09 | 2020-08-06 | 编队行驶系统 |
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JP2019147306A JP7241642B2 (ja) | 2019-08-09 | 2019-08-09 | 隊列走行システム |
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JP2021028748A JP2021028748A (ja) | 2021-02-25 |
JP7241642B2 true JP7241642B2 (ja) | 2023-03-17 |
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WO2021149253A1 (ja) * | 2020-01-24 | 2021-07-29 | 三菱電機株式会社 | 制御装置、移動体、管理サーバ、基地局、通信システム及び通信方法 |
US11495131B2 (en) * | 2020-02-21 | 2022-11-08 | Qualcomm Incorporated | Vehicle to vehicle safety messaging congestion control for platooning vehicles |
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JP2023008213A (ja) * | 2021-07-05 | 2023-01-19 | 株式会社Subaru | 車両制御システム |
CN113997945A (zh) * | 2021-11-25 | 2022-02-01 | 东风悦享科技有限公司 | 一种基于v2x的车辆编队行驶系统及方法 |
JP7482103B2 (ja) | 2021-12-27 | 2024-05-13 | 株式会社ブロードリーフ | 車両管理装置、車両管理方法、車両管理システム及び車両管理プログラム |
JP7224564B1 (ja) * | 2022-06-24 | 2023-02-17 | 三菱電機株式会社 | 隊列管理装置及び隊列管理方法 |
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US11709504B2 (en) | 2023-07-25 |
JP2021028748A (ja) | 2021-02-25 |
US20210041893A1 (en) | 2021-02-11 |
CN112435459B (zh) | 2023-05-02 |
CN112435459A (zh) | 2021-03-02 |
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