JPH10105885A - Self-traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid giving anxiety to a vehicle crew because its own self- traveling vehicle unexpectedly takes an action by providing a means information the crew of an action based on a traveling plan applied to the vehicle next. SOLUTION: This vehicle is provided with an operation part 9 previously setting a target place on a road map and instructions such as lane change at a joining point or a branching point for self-traveling to the target place through a prescribed route according to the road map as a previous traveling plan under the control of an arithmetic control part 8. The vehicle is also provided with a display part 10 informing the crew of an action such as lane change taken next by his own vehicle self-traveling on a road according to the scheduled traveling plan, a speech synthesizing part 11 and a speaker 12. At the time, the part 8 receives information on the position of other vehicle self-traveling around it by vehicle-to-vehicle communication and shows each mark of its own vehicle and other vehicles in a relative positional relation on the picture of the part 10 of its own vehicle to display the next action of its own vehicle by simulation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling vehicle that travels on a road by automatic driving.

[0002]

2. Description of the Related Art Recently, on a dedicated road on which facilities for automatic driving are installed, information on the position on the road is independently detected, and information on the position is exchanged by vehicle-to-vehicle communication. On the other hand, there has been developed a vehicle that follows a predetermined speed while keeping a constant inter-vehicle distance and automatically travels.

Conventionally, in such an autonomous vehicle,
When traveling automatically based on a planned travel plan to the destination, the driver takes actions such as joining a line of vehicles that are automatically traveling on a dedicated lane or leaving the line of vehicles, Is unable to grasp the next action of the self-running vehicle and surrounding vehicles.

[0004]

The problem to be solved is that during automatic driving, the occupant cannot grasp the actions of the own vehicle and surrounding vehicles in advance, and these vehicles are exclusively used. This is to give the occupant anxiety or discomfort, because sudden actions such as merging and departure with the row of vehicles that are automatically traveling on the lane are given. Another problem is that it is not possible to confirm whether the behavior is normal during automatic driving.

[0005]

SUMMARY OF THE INVENTION According to the present invention, the position of an own vehicle on a road map is set so that the automatically running own vehicle does not suddenly behave and give an occupant an uneasy feeling. Means for notifying an occupant of an action that accompanies the next travel plan to be taken by the own vehicle in an autonomous vehicle that automatically travels on a road with a planned travel plan to a destination set on the road map while detecting To take.

Further, in the self-propelled vehicle according to the present invention, it is ensured that vehicles around the self-propelled self-vehicle do not suddenly behave and give an occupant a sense of anxiety. Means for mutually communicating vehicle position and travel plan information by inter-vehicle communication, and receiving the information of the position and travel plan of another vehicle that is automatically traveling around the vehicle, and taking the next travel plan Means to notify the occupant of the own vehicle of the action accompanying the vehicle.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Now, while detecting a magnetic nail driven at a constant interval (1 m interval) to guide the vehicle on a road surface dedicated to automatic driving, a magnetic sensor provided on the vehicle side detects the magnetic nail. For automatic driving at the speed of
This will be described below.

FIG. 1 shows an automatic traveling vehicle according to the present invention.
As shown in FIG. 1, the basic configuration of the magnetic sensor 1 is to detect a magnetic nail driven at a constant interval (1 m interval) to guide the vehicle on a road surface dedicated to automatic driving.
A position detecting unit 2 for detecting a position on a road on which the vehicle is traveling, a speed detecting unit 3 for detecting a traveling speed of the vehicle,
Communication unit 4 for transmitting and receiving information on the position of the vehicle between the vehicles
And a driving command for steering is appropriately given to the steering drive unit 5 of the own vehicle so as to follow the running while detecting the row of magnetic nails by the magnetic sensor 1, and the vehicle is traveling on the same automatic traveling lane received by the inter-vehicle communication. The inter-vehicle distance to the own vehicle is obtained based on the position information of the preceding vehicle, and the obtained inter-vehicle distance becomes a predetermined inter-vehicle distance,
Determining a control target amount of a speed at which the vehicle travels following the preceding vehicle, giving appropriate drive commands to the accelerator driving unit 6 and the brake driving unit 7 of the vehicle to control the traveling speed of the vehicle, and And an arithmetic control unit 8 for performing overall control.

The position detecting unit 2 may be, for example, a self-contained navigation device that accumulatively obtains a position on a road map by a predetermined calculation process while detecting a traveling distance and a traveling direction from a departure point, or a road device using a GPS. The one that determines the position on the map is used. In this case, it goes without saying that the position information of the own vehicle in the on-vehicle navigation device can be used.

In addition, the vehicle automatically travels while detecting magnetic nails driven at a constant interval (1 m interval) to guide the vehicle on a road surface dedicated to automatic traveling by a magnetic sensor provided on the vehicle side. In that case, the position on the road can be determined by counting the number of magnetic nails from the starting point whose position is known.

According to the present invention, in particular, in the present invention, under the control of the arithmetic and control unit 8, a travel plan is set in advance as a travel plan, and a destination is set on the road map according to the road map. An operation unit 9 that can set an instruction such as a lane change at a junction or a branch point for performing automatic traveling along a predetermined route, and an own vehicle that automatically travels on a road based on the planned traveling plan are: A display unit 10, a voice synthesizing unit 11, and a speaker 12 are provided to notify an occupant of an action such as changing lanes.

At this time, the arithmetic and control unit 8 receives information on the position of the other vehicle that is automatically traveling around by inter-vehicle communication, and displays the information on the screen of the display unit 10 of the own vehicle and the other vehicles in the vicinity. Are indicated in a relative positional relationship so as to simulate the next action of the vehicle.

FIG. 2 shows an example of the contents displayed on the screen of the display unit 10 at that time. In this case, in order to join the line of vehicles running on the main driving lane L1 for automatic driving, the display is shown. The content of notification when the own vehicle M traveling on the adjacent lane L2 is about to enter between other vehicles A and B traveling on the main traveling lane L1 is shown.

FIG. 3 shows another example of the contents displayed on the screen of the display unit 10 at that time. In this example, the display unit 10 is to be disengaged from the line of vehicles running on the main driving lane L1 for automatic driving. The notification content when the own vehicle M traveling in the main traveling lane L1 is about to move to the adjacent lane L2 from between the other vehicles A and B.

It is needless to say that the display of only the own vehicle may be performed without displaying the surrounding other vehicles.

FIG. 4 shows still another example of the contents displayed on the screen of the display unit 10 at that time. In this example, a preset stop point (destination) is set on a road map.
P indicates the content of notification when the vehicle M is about to stop.

At this time, the arithmetic and control unit 8 obtains an actual distance between the planned stop point and the position of the own vehicle on the road map and displays the distance to the planned stop point on the screen.

The arithmetic control unit 8 includes a voice synthesizing unit 11
Then, through the speaker 12, the next action of the vehicle is notified by voice as, for example, “join the right lane”, “move to the left lane”, or “stop 100 m ahead”.

Further, according to the present invention, under the control of the arithmetic and control unit 8, information on the respective positions and travel plans is received from other vehicles that are automatically traveling around the own vehicle by inter-vehicle communication, and the other vehicles receive the information. The system informs the occupants of their own vehicles of the actions involved in the next travel plan.

At this time, the marks of the own vehicle and other surrounding vehicles are shown in a relative positional relationship on the screen of the display unit 10 of the own vehicle so as to simulate the next action of the other vehicle. To

FIG. 5 shows an example of the display contents of the screen on the display unit 10 at that time. In this case, in order to join the line of vehicles running on the main driving lane L1 for automatic driving, the display is shown. Own vehicle M traveling on main traveling lane L1
In front of, the notification content when another vehicle A traveling in the adjacent lane L2 is about to enter is shown.

Further, the arithmetic and control unit 8 uses the voice synthesizing unit 11 and the loudspeaker 12 to output the next action of the other vehicle by voice, for example, "the vehicle at the left front merges".
"The vehicle ahead will move to the left lane."

In the case where the other vehicle that is automatically traveling around notifies the occupant of the vehicle of the next action, the vehicle may be running manually. Needless to say, the driver of the own vehicle may be notified of an action to be taken next to other vehicles during automatic driving around the vehicle without having the function of automatic driving.

Further, according to the present invention, in the arithmetic control unit 8,
Information on the position of another vehicle that is automatically traveling around the own vehicle is received by inter-vehicle communication, and the same traveling lane is formed in a row to recognize each vehicle that is traveling automatically. Then, each vehicle in the row is ranked, and the occupant is notified of the position of the vehicle in the row.

FIG. 6 shows an example of the display contents of the screen on the display unit 10 at that time.
The vehicle M which automatically travels by forming a line in the same traveling lane and the marks of the other vehicles A and B before and after the vehicle M are displayed in a simulated manner, and then the respective vehicles M and other vehicles A and B are displayed. The mark is given the number of the rank in the column.

Also, as shown in FIG. 7, when the vehicle M is traveling on a lane L2 adjacent to the main traveling lane L1, the main traveling lane L1 forms a row and automatically travels. It is also possible to rank and display vehicles.

Thus, the occupant (driver) of the own vehicle forms a line in the main traveling lane including the own vehicle and ranks the respective vehicles that automatically travel, or the own vehicle is traveling on an adjacent lane. By knowing the rank of each vehicle that automatically travels by forming a row on the main driving lane at that time, it becomes possible to grasp the traveling state of the own vehicle with respect to the row. Therefore, in the case of taking an action for leaving or merging with the line of the own vehicle, it is possible to determine that the action is appropriate, and the sense of security is increased.

When several vehicles in the same group are to be automatically driven in a row from the beginning, the leading cars are ranked in advance to each vehicle in the row, and the rank of each vehicle is determined by inter-vehicle communication. Can also be notified.

Further, according to the present invention, the arithmetic and control unit 8 receives information on the position of another vehicle that is automatically traveling around its own vehicle by inter-vehicle communication, forms the same traveling lane in a row, and Each traveling vehicle is recognized, and the occupant is notified that the vehicle is in a state where it can join the line or leave the line.

FIG. 8 shows an example of the contents displayed on the screen of the display unit 10 at this time. In this example, the vehicle M running on the adjacent lane L2 is a train of vehicles automatically running on the main driving lane L1. Is notified to the occupant that the vehicle is ready to join after the last vehicle C in the row.

At this time, not only when the vehicle joins after the last vehicle in the line, but also when the own vehicle joins in front of the xth vehicle in the line of vehicles running on the main traveling lane, communication between vehicles is performed. It is also possible to notify that the own vehicle joins the x-th vehicle, and accordingly, the x-th vehicle can increase the distance from the preceding vehicle and accept the merge of the own vehicle. In this case, the occupant of the own vehicle is notified that the vehicle is ready to join before the xth vehicle.

Further, information on the position of each vehicle that is automatically traveling on the main traveling lane is intensively received at the management center, and the state of each vehicle that is automatically traveling on the main traveling lane is managed at the management center. In such a case, the management center is configured to prioritize the rows of vehicles and to increase the distance from the preceding vehicle so that other vehicles can merge with the rows of vehicles so that the vehicles can be merged. It is also possible.

[0033]

As described above, according to the present invention, there is provided an autonomous vehicle that automatically travels on a road with a planned travel plan to a destination set on the road map while detecting the position of the vehicle on the road map. Therefore, a means is provided to notify the occupant of the action associated with the next travel plan of the own vehicle, so that the occupant can know the next action of the own vehicle following the automatic travel, and There is an advantage that the own vehicle does not suddenly behave and give occupants anxiety or discomfort.

Further, it is possible to judge whether or not the next action of the own vehicle is normal based on the running condition of the own vehicle visually obtained by the occupant, and if the next action of the own vehicle is abnormal. If it is determined, automatic driving can be stopped in advance and manual driving can be switched.

Further, the present invention receives information on the position and travel plan of another vehicle that is automatically traveling around by employing means for mutually communicating the information on the position and travel plan of the vehicle by inter-vehicle communication. As a result, other vehicles are notified to the occupants of their own vehicles about the actions to be taken by the next occupant. There is an advantage that the user does not feel uneasy.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of an automatic traveling vehicle according to the present invention.

FIG. 2 is a diagram illustrating an example of display contents of a screen on a display unit when the own vehicle attempts to join a line of vehicles that are automatically traveling.

FIG. 3 is a diagram illustrating an example of display contents of a screen on a display unit when the own vehicle is about to leave a row of vehicles that are automatically traveling.

FIG. 4 is a diagram illustrating an example of display contents of a screen on a display unit when the own vehicle attempts to stop at a scheduled stop point.

FIG. 5 is a diagram illustrating an example of display contents of a screen on a display unit when another vehicle is about to enter the host vehicle.

FIG. 6 is a diagram showing an example of display contents of a screen on a display unit when numbers of ranks of the own vehicle and other vehicles that automatically travel by forming a row in the same travel lane are assigned to the row.

FIG. 7 shows an example of display contents of a screen on a display unit when a lane adjacent to a lane in which the own vehicle is traveling is formed in a row and other vehicles that are automatically traveling are numbered in order of the row. FIG.

FIG. 8 is a diagram illustrating an example of display contents of a screen on a display unit when notifying that the own vehicle is in a state in which it can join a line of vehicles that are automatically traveling.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Magnetic sensor 2 Position detection part 3 Speed detection part 4 Communication part 5 Steering drive part 6 Accelerator drive part 7 Brake drive part 8 Operation control part 9 Operation part 10 Display part 11 Voice synthesis part 12 Speaker

Claims (9)

[Claims] An autonomous vehicle that automatically travels on a road according to a planned travel plan to a destination set on the road map while detecting the position of the vehicle on the road map. An automatic traveling vehicle characterized in that means for informing an occupant of an action according to a next traveling plan is taken. 2. Receiving information on the position of another vehicle that is automatically traveling around by inter-vehicle communication, and displaying, on a screen of the own vehicle, respective marks of the own vehicle and other surrounding vehicles with a relative positional relationship. 3. The self-driving vehicle according to claim 1, wherein the next action of the vehicle is simulated. 3. The self-driving vehicle according to claim 1, wherein the next action of the own vehicle is notified by voice. 4. An autonomous vehicle that automatically travels on a road according to a planned travel plan to a destination set on the road map while detecting the position of the vehicle on the road map. Means for mutually communicating information on the position and the travel plan, and receiving information on the position and the travel plan of another vehicle that is automatically traveling around the vehicle, and taking action on the next travel plan that the other vehicle takes with the own vehicle. A self-driving vehicle characterized in that means for informing the occupant are taken. 5. The screen of the own vehicle, wherein marks of the own vehicle and other surrounding vehicles are shown in a relative positional relationship, and the next action of the other vehicle is displayed in a simulated manner. An automatic traveling vehicle according to the above item 4, 6. The self-driving vehicle according to claim 4, wherein another action taken by another vehicle is notified by voice. 7. A means for detecting a position on a road on which the vehicle is automatically traveling, means for performing inter-vehicle communication of information on the detected position, and a position of another vehicle automatically traveling around by inter-vehicle communication. Means to form a row on the same driving lane to rank the vehicles that automatically travel, and to notify the occupant of the position of the vehicle in the row. And an autonomous vehicle composed of: 8. On the screen, the same running lane is formed in a row to form a line, and the marks of the own vehicle and the other vehicle that are automatically driven are displayed in a simulated manner. 9. The self-driving vehicle according to the above item 7, wherein the numbers of the rankings are assigned. 9. A means for detecting a position on a road on which a vehicle is automatically traveling, means for performing inter-vehicle communication of information on the detected position, and a position of another vehicle which is automatically traveling around by inter-vehicle communication. Means that recognizes each vehicle that automatically travels by forming a line on the same driving lane, and that the own vehicle is in a state where it can join or leave the line. An autonomous vehicle constituted by means for notifying an occupant.