JPS6037883Y2 - Vehicle automatic driving control device - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an automatic driving control device for multiple vehicles.

Conventionally, as disclosed in Japanese Patent Publication No. 48-13032, for example, in speed control in automatic driving control of a vehicle, vehicle tracking is performed on the ground side for each section of vehicle position detection, and The system detects when a vehicle passes through a control point, and uses the vehicle's destination information to determine speed commands such as deceleration and stop, and gives them to the vehicle.

For this reason, as the number of vehicles increases, the processing time from detecting the vehicle passing a control point to determining the speed command and transmitting it to the vehicle becomes longer, causing control delays and hindering smooth automated driving. .

This control delay has a particularly large effect on the stopping accuracy of the vehicle, making it difficult to stop the vehicle at a predetermined location.

That is, due to the presence of a large number of vehicles, for example, if a point signal for changing the speed level (increasing or decelerating) is generated simultaneously for a plurality of vehicles, a processing delay naturally occurs.

In order to eliminate control delays in this method, there is no choice but to prepare two types of point signals, one for the advance notice point and one for the control point, or to provide an arithmetic and control device for each vehicle, which does not result in complications.

This invention determines the speed level of each section from the positional relationship between the first destination of each vehicle and each applicable section, as seen from the side of each section, and presets the speed command long before the vehicle reaches its destination. This enables automatic driving control with extremely small transmission delay of speed commands.

In this invention, for sections divided along the track,
At a predetermined period, the first destination section of the vehicle seen from each section is detected as a code, compared with each corresponding section code, the speed level of each section is determined, and the speed level is preset as a speed control signal for each section. This is what I did.

An embodiment of the present invention will be described below.

FIG. 1 is an example in which the present invention is applied to automatic vehicle operation on a loop track.

The loop trajectory is composed of a plurality of sections 1, and each section is given a code, for example, a consistent number from 1 to n, that allows identification of each section according to the direction of travel of the vehicle from the base point.

The vehicles 2a and 2b are always given a destination section number, and after reaching the destination section, they are rewritten to a new destination section and depart.

The positions of the vehicles 2a and 2b are reflected in the section relay 3 that corresponds to each section with l:1, and the destination of each vehicle is registered in the destination shift register 5 that corresponds to each section with 1=1. A shift circuit 4 detects a change in a section relay 3 that changes as the vehicle moves, and shifts the destination of the corresponding vehicle in a destination shift register 5.

As described above, the destination section number assigned to a vehicle is always registered in the destination shift register 5 corresponding to the section in which the vehicle is located.

The speed level determination for each section is triggered by the section number being set by the counter 8.

When the set section number is registered in the section register 7, the leading vehicle destination detection circuit 6 operates and updates the section number in the counter-vehicle traveling direction from the section number in the section register 7, while updating the destination shift register 5. The destination section number of the leading vehicle is searched and registered in the leading vehicle destination register 9.

When this registration is completed, the comparator 10 calculates the difference between the section register 7 and the leading vehicle destination register 9, and determines a speed level corresponding to the difference, as will be described later. Registered as an upward speed command.

Let a certain section number be SNo, and DN is the destination section number of the first vehicle that comes from that section.

Then, the difference between the two and the speed level are determined as follows.

5No=DN.

Stop 5 No = DN.

-1 deceleration SNo≧DN.

-2 or SNo>DN. High Speed Figure 2 shows a specific example of the vehicle position, destination, and speed command contents for each section.

According to the present invention, the speed command for each section can be preset long before the vehicle arrives, based on the relationship between the code that can identify each section and the destination code of each vehicle that comes first from the perspective of each section. , speed control with high response without delay in transmitting speed commands is possible.

[Brief explanation of drawings]

FIG. 1 shows the constituent countries in an embodiment of the present invention, and FIG. 2 shows the relationship between vehicle position, destination, and speed commands for each section. 1...Section, 2...Vehicle, 3.
... Section relay, 4 ... Shift circuit, 5 ... Destination shift register, 6 ...
... Leading vehicle destination detection circuit, 7... Section register, 8... Counter, 9...
First vehicle destination register, 10... Comparator, 11
...Speed command register.

Claims (1)

[Scope of utility model registration request] In an automatic driving control device for a vehicle that automatically operates a plurality of vehicles traveling in a single direction on a loop-shaped endless track by dividing the track itself or a signal line provided along the track into multiple sections, means for detecting the destination section of the first vehicle seen from each section as a code for each section at a period of , means for comparing the detected destination section code with each section code, and based on the comparison result 1. An automatic driving control device for a vehicle, comprising: means for determining a speed level in each section; and means for presetting a speed control signal for each section according to the speed level.