WO2010100743A1 - 車群形成装置及び車群形成方法 - Google Patents
車群形成装置及び車群形成方法 Download PDFInfo
- Publication number
- WO2010100743A1 WO2010100743A1 PCT/JP2009/054184 JP2009054184W WO2010100743A1 WO 2010100743 A1 WO2010100743 A1 WO 2010100743A1 JP 2009054184 W JP2009054184 W JP 2009054184W WO 2010100743 A1 WO2010100743 A1 WO 2010100743A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- vehicle group
- ecu
- priority lane
- information
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- 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
Definitions
- the present invention relates to a vehicle group forming device and a vehicle group forming method.
- priority lanes for example, HOV [High Occupancy Vehicles] lanes (commonly known as car pool lanes) where only vehicles satisfying predetermined driving conditions can be operated are used.
- the predetermined traveling condition includes a vehicle on which a plurality of passengers are boarded, a low environmental load vehicle such as a hybrid car or an electric vehicle, etc. Select a vehicle that forms a vehicle group at a destination or the like as in the above device.
- an object of the present invention is to provide a vehicle group formation device and a vehicle group generation method that can effectively use priority lanes.
- a vehicle group formation device is a vehicle group formation device for forming a vehicle group with a plurality of vehicles, and selects or configures a vehicle that forms a vehicle group based on the degree of conformity to the traveling condition of the priority lane.
- Vehicle group forming means for determining the order of the vehicle group.
- the vehicle group forming means selects the vehicle forming the vehicle group or determines the order of the vehicles based on the degree of conformity with respect to the conditions for traveling in the priority lane for each vehicle.
- the vehicle lanes are formed in consideration of the traveling conditions of the priority lanes, so that the priority lanes can be effectively used in the formed vehicle groups. For example, even when a priority lane is set from a road for which priority lanes are not set while traveling in a vehicle group, the priority lane can be continuously traveled in that vehicle group. As a result, the distance (time) for traveling in the priority lane in the vehicle group can be made as long as possible, and the merits of the priority lane (for example, avoiding traffic congestion) can be enjoyed in the vehicle group.
- the vehicle group forming means selects a vehicle forming the vehicle group or determines the order of the vehicles based on whether or not the traveling condition of the priority lane is met.
- the vehicle group forming means selects the vehicle forming the vehicle group or determines the order of the vehicles based on whether or not the conditions for traveling in the priority lane for each vehicle are met.
- the processing is facilitated and the processing load can be reduced by determining the vehicles forming the vehicle group based on whether or not the traveling condition of the priority lane is met.
- the vehicle group formation means selects a vehicle that forms a vehicle group based on the destination of the vehicle.
- the vehicle group forming means selects vehicles that form a vehicle group based on the destination in addition to the traveling conditions of the priority lane for each vehicle.
- the vehicle group formation device by forming the vehicle group in consideration of the destination, the distance (time) traveled by the vehicle group can be made longer, and the merit of traveling by the vehicle group can be enjoyed longer.
- a vehicle group formation method is a vehicle group formation method for forming a vehicle group with a plurality of vehicles, and selects a vehicle that forms a vehicle group based on a degree of conformity to a traveling condition of a priority lane or a vehicle.
- a vehicle group formation step for determining the order of the vehicle group.
- the vehicle forming the vehicle group is selected or the order of the vehicles is determined based on whether or not the traveling condition of the priority lane is met. Furthermore, in the vehicle group formation step of the vehicle group formation method of the present invention, it is preferable to select a vehicle that forms the vehicle group based on the destination of the vehicle.
- This vehicle group formation method has the same operations and effects as the vehicle group formation devices described above.
- the priority lane by forming the vehicle group in consideration of the traveling conditions of the priority lane, the priority lane can be effectively used in the formed vehicle group.
- SYMBOLS 1 ... ACC apparatus, 10 ... GPS receiver, 11 ... Front camera, 12 ... Millimeter wave radar, 13 ... Communication apparatus, 14 ... Seat sensor, 15 ... Vehicle speed sensor, 16 ... ACC switch, 20 ... Brake actuator, 21 ... Throttle Actuator, 30 ... ECU, 31 ... Storage device, 31a ... Map information database
- the present invention is applied to an ACC [Adaptive Cruise Control] device mounted on a vehicle.
- the ACC device according to the present embodiment controls the driving force and the braking force in order to maintain the inter-vehicle distance or the vehicle speed, and supports the driver's accelerator operation and brake operation.
- the ACC device according to the present embodiment performs inter-vehicle distance control (preceding vehicle tracking control) when a tracking target vehicle exists, and performs constant speed control when a tracking target vehicle exists.
- FIG. 1 is a configuration diagram of an ACC device according to the present embodiment.
- ACC device 1 selects a preceding vehicle to be followed when activated by the driver.
- a priority lane priority lane
- the vehicle also selects a vehicle that meets the driving conditions of the priority lane.
- Priority lane driving conditions include two or more passengers, low fuel consumption vehicles (for example, 10 mode or 15 mode fuel consumption of Akm / l or more), low environmental load vehicles (for example, hybrid cars), etc.
- a vehicle that conforms to the condition may be able to travel in the priority lane, or may be a plurality of conditions, or a vehicle that conforms to at least one of the plurality of conditions or In some cases, a vehicle that meets a plurality of conditions can travel in the priority lane.
- the ACC device 1 includes a GPS [Global Positioning System] receiver 10, a front camera 11, a millimeter wave radar 12, a communication device 13, a seat sensor 14, a vehicle speed sensor 15, an ACC switch 16, a brake actuator 20, a throttle actuator 21, an ECU [ Electronic Control Unit] 30 and storage device 31 (map information database 31a).
- the GPS receiver 10 is a device for estimating the current position of the host vehicle using GPS.
- the GPS receiver 10 receives a GPS signal from each GPS satellite by a GPS antenna at regular intervals, demodulates each GPS signal, and based on the demodulated position data of each GPS satellite, The position (latitude, longitude), traveling direction, etc. are calculated. Then, the GPS receiver 10 transmits the current position and traveling direction of the host vehicle to the ECU 30 as a current position signal.
- the GPS receiving device of the navigation system may be shared, or the current position and the traveling direction (may be a destination) may be acquired from the navigation system.
- the front camera 11 is a camera for imaging the front of the host vehicle.
- the front camera 11 is attached to the front center of the host vehicle.
- the front camera 11 captures an image of the front of the host vehicle at regular time intervals and transmits the image information to the ECU 30 as an image signal.
- Millimeter wave radar 12 is a radar for detecting an object using millimeter waves.
- the millimeter wave radar 12 is attached to the front center of the host vehicle.
- the millimeter wave radar 12 transmits the millimeter wave forward from the own vehicle while scanning the millimeter wave in a horizontal plane at regular intervals, and receives the reflected millimeter wave.
- the millimeter wave radar 12 transmits the millimeter wave transmission / reception information to the ECU 30 as a radar signal.
- the communication device 13 is a wireless communication device for communicating between vehicles.
- the communication device 13 receives the inter-vehicle transmission signal from the ECU 30, the communication device 13 modulates information included in the inter-vehicle transmission signal and transmits the modulated signal to a vehicle existing within a predetermined distance. Further, when receiving a signal from a vehicle existing within a predetermined distance, the communication device 13 demodulates the received signal to extract information, and transmits the information to the ECU 30 as an inter-vehicle reception signal.
- the seat sensor 14 is a sensor that is provided in each seat and detects whether a person is sitting on the seat. Each seat sensor 14 detects the seat pressure of the seat at regular intervals, and transmits the detected seat pressure to the ECU 30 as a seat pressure signal.
- the vehicle speed sensor 15 is a wheel speed sensor that is provided on each wheel and detects the rotational speed of the wheel. Each vehicle speed sensor 15 detects the rotational speed of the wheel at regular intervals, and transmits the detected rotational speed to the ECU 30 as a vehicle speed signal. In addition, ECU30 calculates the vehicle speed of the own vehicle from the rotational speed of each wheel. Further, the ECU 30 calculates acceleration and deceleration from the time change of the vehicle speed. The acceleration (deceleration) may be detected by an acceleration sensor.
- the ACC switch 16 is a switch for performing operations such as on (start) / off (stop) of the ACC device 1.
- the ACC switch 16 transmits operation information performed by the driver to the ECU 30 as an ACC switch signal.
- the brake actuator 20 is an actuator that adjusts the brake hydraulic pressure of a wheel cylinder (not shown) of each wheel.
- the brake actuator 20 operates according to a target hydraulic pressure signal from the ECU 30 to adjust the brake hydraulic pressure of the wheel cylinder.
- the target hydraulic pressure When the target hydraulic pressure is reached, the vehicle has the target deceleration set by the ECU 30 and the target vehicle speed.
- the throttle actuator 21 is an actuator that adjusts the opening of a throttle valve (not shown).
- the throttle actuator 21 operates according to a target throttle opening signal from the ECU 30 to adjust the opening of the throttle valve.
- the vehicle has the target acceleration set by the ECU 30 and the target vehicle speed.
- a map information database 31a is constructed in a predetermined area of the storage device 31 (for example, a hard disk).
- the map information database 31a stores road information, lane information, intersection shape information, and the like.
- the road information includes information such as the presence / absence of a priority lane, a priority lane setting section, a priority lane application time, and a priority lane travel condition.
- the ECU 30 is an electronic control unit including a CPU [Central Processing Unit], ROM [Read Only Memory], RAM [Random Access Memory], and the like, and controls the ACC device 1 in an integrated manner.
- the ECU 30 activates the ACC device 1 when the driver turns on the ACC switch 16 based on the ACC switch signal from the ACC switch 16, and the driver activates the ACC switch 16 while the ACC device 1 is operating. When the off operation is performed on the ACC device 1, the ACC device 1 is stopped.
- the ECU 30 While the ACC device 1 is operating, the ECU 30 takes in various signals from the various devices and sensors 10 to 16, and performs communication control, preceding vehicle selection control, preceding vehicle follow-up control, constant speed control, and the like based on the various signals. Then, the ECU 30 sets a target acceleration / deceleration and transmits a control signal to the brake actuator 20 or the throttle actuator 21 based on the target deceleration or the target acceleration.
- the target acceleration / deceleration is expressed as a positive value / negative value. When the value is positive, acceleration control (driving force control) is performed using the target acceleration. When the value is negative, deceleration control (braking force control) is performed using the target deceleration. It is.
- the preceding vehicle selection control in the ECU 30 corresponds to the vehicle group forming means described in the claims.
- the ECU 30 When receiving the inter-vehicle reception signal from the communication device 13, the ECU 30 extracts information contained in the inter-vehicle reception signal.
- the received inter-vehicle information includes information on the current position of other vehicles in the vicinity, the traveling direction (may be a destination) and the driving conditions of the priority lane (for example, whether the number of passengers, fuel consumption information, low environmental load vehicle). Etc. are included.
- the ECU 30 generates information on the own vehicle to be transmitted to other nearby vehicles, and transmits an inter-vehicle transmission signal including the information to the communication device 13.
- the vehicle-to-vehicle information to be transmitted includes information on the current position of the host vehicle, the traveling direction (may be a destination), and traveling conditions of the priority lane.
- Information from the GPS receiver 10 is used for the current position and traveling direction of the host vehicle.
- the information for determining the driving condition of the priority lane uses the number of passengers determined based on the seat pressure from the seat sensor 14 of each seat and the specification information of the own vehicle. Note that this communication control may be performed by an ECU dedicated to communication.
- the ECU 30 acquires information related to the traveling conditions of the priority lane for the host vehicle. Specifically, the ECU 30 acquires information on whether or not the vehicle is a low environmental load vehicle such as a hybrid car and 10-mode and 15-mode fuel efficiency information from the specification information of the host vehicle. In addition, the ECU 30 determines whether or not an occupant is seated on the basis of the seat pressure from the seat sensor 14 for each seat, and acquires the number of passengers in the host vehicle.
- a low environmental load vehicle such as a hybrid car and 10-mode and 15-mode fuel efficiency information from the specification information of the host vehicle.
- the ECU 30 determines whether or not an occupant is seated on the basis of the seat pressure from the seat sensor 14 for each seat, and acquires the number of passengers in the host vehicle.
- the ECU 30 obtains information on priority lanes on the currently running road (may be each road to the destination) from the map information database 31a. Then, the ECU 30 determines whether or not the host vehicle conforms to the driving condition of the priority lane based on the information related to the driving condition of the priority lane for the host vehicle. In this determination, when a priority lane is set at a point where the vehicle is currently traveling, not only the determination is made based on the driving condition of the priority lane, but a priority lane is not set at the point where the vehicle is currently traveling. When a priority lane is set at a point where the vehicle travels, the determination is made based on the traveling condition of the priority lane.
- the ECU 30 When it is determined that the host vehicle meets the driving conditions of the priority lane, the ECU 30 turns off the pedestrian detection mode when the pedestrian detection mode is on. Further, the ECU 30 acquires information related to the traveling conditions of the priority lanes for each surrounding vehicle from the information about each vehicle around the host vehicle received by the communication device 13. Then, the ECU 30 determines, for each surrounding vehicle, whether or not the surrounding vehicle conforms to the traveling condition of the priority lane based on the information regarding the traveling condition of the priority lane for the surrounding vehicle (that is, the surrounding vehicle Is the same condition as
- the determination target vehicle is at least a vehicle having the same traveling direction as the own vehicle (when the destination of the vehicle is known, the destination is preferably close).
- the ECU 30 selects the surrounding vehicle as a preceding vehicle to be followed.
- the vehicle having the closest relative distance to the host vehicle is selected (in this case, a vehicle that exists in front of the host vehicle is desirable).
- the degree of conformance to the condition for each surrounding vehicle is obtained, and the parameter value is obtained by weighting the degree of conformity and the relative distance between the host vehicle and the respective parameters.
- the surrounding vehicle having the highest value may be selected.
- the ECU 30 turns on the pedestrian detection mode when the pedestrian detection mode is OFF.
- the pedestrian detection mode is ON, the sensitivity for detecting pedestrians around the host vehicle is improved.
- the detection range of the pedestrian is expanded (for example, from the roadway and the vicinity of the roadway to the entire sidewalk), or the detection threshold (for example, the threshold of the moving speed of the detection target pedestrian) is decreased.
- a detection method a conventional method is applied. For example, a pedestrian is detected by pattern matching by image processing using an image captured by the front camera 11. In particular, when a pedestrian who desires a glue is detected and a desired pedestrian is detected, the driver is notified.
- the determination as to whether or not the user is an ainori is made based on the posture of the pedestrian by pattern matching. In this way, the reason for searching for a person who wants to fly is to actively carry out the fight is to make the number of passengers of the own vehicle a plurality of passengers and to adapt the own vehicle to the driving conditions of the priority lane.
- the ECU 30 selects the preceding vehicle by a normal preceding vehicle selection method.
- this selection method for example, based on transmission / reception information from the millimeter wave radar 12, it is determined whether or not there is a vehicle to be followed ahead of the host vehicle, and if there is, the preceding vehicle is selected. To do. Further, even when the priority lane is not set on the road on which the host vehicle is traveling or the road on which the vehicle is traveling, the preceding vehicle is selected by the conventional method of selecting the preceding vehicle.
- the ECU 30 calculates the inter-vehicle distance between the selected preceding vehicle and the host vehicle based on the radar signal, and calculates the relative speed between the host vehicle and the preceding vehicle from the time change of the inter-vehicle distance. To do. Then, the ECU 30 divides the inter-vehicle distance to the preceding vehicle by the relative speed, and sets the divided value as TTC [Time To Collision]. TTC represents the time until the host vehicle reaches the preceding vehicle. Further, the ECU 30 sets a target acceleration / deceleration necessary for the TTC with the preceding vehicle to become the target TTC.
- the ECU 30 sets a target acceleration, sets a target opening of a throttle valve necessary to reach the target acceleration, and uses the target opening as a target throttle opening signal as a throttle actuator.
- the target acceleration / deceleration is a negative value
- the ECU 30 sets the target deceleration, sets the brake hydraulic pressure of each wheel cylinder necessary for achieving the target deceleration, and uses the brake hydraulic pressure as a target hydraulic pressure signal for braking. It transmits to the actuator 20.
- the target TTC may be a fixed value set in advance, or may be a variable value corresponding to the host vehicle speed set using a map or the like.
- the ECU 30 When the preceding vehicle is not selected, the ECU 30 becomes the target vehicle speed based on the difference between the own vehicle speed calculated based on the information from the vehicle speed sensor 15 and the target vehicle speed at regular intervals. Set the target acceleration / deceleration required for.
- the process for setting the acceleration / deceleration of the host vehicle to the target acceleration / deceleration is the same process as the preceding vehicle following control.
- the target vehicle speed may be set by the driver by a function provided in the ACC switch 16, or the own vehicle speed when the ACC device 1 is activated may be set.
- FIG. 2 is a flowchart showing a flow of preceding vehicle selection control in the ECU of FIG.
- the GPS receiver 10 receives GPS information from each GPS satellite at regular intervals, calculates the current position based on each GPS information, and transmits the current position to the ECU 30 as a current position signal. Further, the front camera 11 captures the front of the host vehicle at regular time intervals and transmits the image information to the ECU 30 as an image signal. Further, the millimeter wave radar 12 transmits and receives millimeter waves at regular intervals, and transmits the transmitted and received information to the ECU 30 as radar signals.
- the communication device 13 When a signal is transmitted from a vehicle existing within a predetermined distance, the communication device 13 receives the signal from the vehicle, demodulates the signal, extracts information, and transmits the information to the ECU 30 as an inter-vehicle reception signal. is doing. In addition, when the inter-vehicle transmission signal is received from the ECU 30, the communication device 13 modulates information included in the inter-vehicle transmission signal, and transmits the modulated signal to vehicles existing within a predetermined distance.
- the seat sensor 14 of each seat detects the seat pressure of the seat at regular intervals, and transmits the detected seat pressure to the ECU 30 as a seat pressure signal. Further, the vehicle speed sensor 15 of each wheel detects the rotational speed of the wheel at regular intervals, and transmits the rotational speed to the ECU 30 as a vehicle speed signal.
- the ACC switch 16 transmits operation information performed by the driver to the ECU 30 as an ACC switch signal. If it is determined that the driver has turned on the ACC switch 16 based on the ACC switch signal, the ECU 30 activates the ACC device 1 and repeats the following processing at regular intervals.
- ECU30 acquires the information regarding the driving conditions of the priority lane about the own vehicle from the specification information of the own vehicle and the seat pressure information from the seat sensor 14 of each seat (S1). In addition, the ECU 30 acquires priority lane information of the road currently being traveled and the travel destination from the map information database 31a. Then, the ECU 30 determines whether or not the host vehicle can travel in the priority lane (S2).
- the ECU 30 determines whether or not the pedestrian detection mode is OFF (S3). When it is determined in S3 that the pedestrian detection mode is OFF, the ECU 30 turns on the pedestrian detection mode and ends the current preceding vehicle selection control (S4). On the other hand, when it is determined in S3 that the pedestrian detection mode is ON, the ECU 30 ends the preceding preceding vehicle selection control. In this case, since the pedestrian detection mode is ON, the detection sensitivity of pedestrians (especially those who wish to join) is high. For this reason, when a person who wishes to travel is detected by pedestrian detection, the driver is notified of the situation, so that the person who travels on the host vehicle gets on the vehicle and the host vehicle can travel on the priority lane.
- the ECU 30 determines whether or not the pedestrian detection mode is ON (S5). If it is determined in S5 that the pedestrian detection mode is ON, the ECU 30 turns off the pedestrian detection mode (S5). And ECU30 acquires the information regarding the driving conditions of the priority lane about each surrounding vehicle from the information of each vehicle surrounding the own vehicle received by the communication apparatus 13 (S7). Further, the ECU 30 determines whether it is possible to travel in the priority lane for each surrounding vehicle, selects an optimal other vehicle as a preceding vehicle from the surrounding vehicles that can travel in the priority lane, and ends the preceding preceding vehicle selection control. (S8).
- the ECU 30 selects a preceding vehicle by a normal method (S9).
- the ECU 30 calculates the inter-vehicle distance and relative speed between the selected preceding vehicle and the host vehicle based on the transmission / reception information of the millimeter wave radar 12. Then, the ECU 30 calculates the TTC by dividing the inter-vehicle distance from the preceding vehicle by the relative speed. Further, the ECU 30 sets a target acceleration / deceleration necessary for the TTC to become the target TTC. When the target acceleration / deceleration is a positive value, the ECU 30 transmits a target throttle opening signal for achieving the target acceleration to the throttle actuator 21. When the target throttle opening signal is received, the throttle actuator 21 operates in accordance with the target throttle opening signal to adjust the throttle valve opening.
- the vehicle When the target throttle opening is reached, the vehicle becomes the target acceleration and the target vehicle speed.
- the target acceleration / deceleration is a negative value, the ECU 30 transmits a target hydraulic pressure signal for achieving the target deceleration to the brake actuator 20.
- the brake actuator 20 When receiving the target hydraulic pressure signal, the brake actuator 20 operates according to the target hydraulic pressure signal to adjust the brake hydraulic pressure of the wheel cylinder.
- the host vehicle When the target hydraulic pressure is reached, the host vehicle has the target deceleration and the target vehicle speed. Thus, the host vehicle is adjusted so that the TTC with the preceding vehicle becomes the target TTC.
- the ECU 30 sets a target acceleration / deceleration necessary for the host vehicle speed based on information from the vehicle speed sensor 15 to become the target vehicle speed. Based on the target acceleration / deceleration, the ECU 30, the throttle actuator 21, and the brake actuator 20 perform the same operation as described above. Thus, the host vehicle is adjusted so that the host vehicle speed becomes the target vehicle speed.
- the priority lane can be effectively used during the follow-up traveling with the preceding vehicle. For example, even if the priority lane is changed from a road that does not have a priority lane during follow-up, the vehicle follows the driving conditions of the priority lane in advance. It is possible to travel in the priority lane while continuing the follow-up travel. As a result, the distance (time) traveled in the priority lane in the follow-up traveling can be made as long as possible, and the merit of the priority lane (for example, avoiding traffic congestion) can be enjoyed.
- the present invention is applied to an ACC device mounted on a vehicle, and the vehicle group formation method of the present invention is used to select a preceding vehicle to be tracked.
- the present invention may be applied to the above-described apparatus, or may be applied to a roadside apparatus that comprehensively controls vehicles in a predetermined area.
- the preceding vehicle (the vehicle that forms the vehicle group) is selected depending on whether or not the traveling condition of the priority lane is met, but based on the degree of conformity to the traveling condition of the priority lane. It is good also as a structure which selects the vehicle of the object which forms a vehicle group. For example, if it is a priority lane driving condition that three or more people are on the vehicle, the degree of conformity is set for each of the one-person vehicle, the two-person vehicle, and the three-person or more vehicle. Select a vehicle with a high height. Moreover, it is good also as a structure which determines the traveling order of the vehicle which forms a vehicle group based on the adaptation degree with respect to the driving conditions of a priority lane.
- a substantially rectangular parallelepiped vehicle such as a minivan has high air resistance
- a streamlined vehicle such as a sports car has low air resistance.
- a streamlined vehicle with excellent fuel efficiency is placed at the top, and a vehicle with a substantially rectangular parallelepiped shape is placed behind it (the vehicle with a substantially rectangular parallelepiped shape also has a vehicle ahead, so air
- the fuel efficiency of the entire vehicle group can be improved, and a predetermined fuel efficiency condition can be satisfied.
- a vehicle having at least the same traveling direction is selected as the preceding vehicle to be tracked in addition to the driving condition of the priority lane, but the vehicle group is selected based on at least the destination other than the driving condition of the priority lane. It is good also as a structure which selects the vehicle to form. When a vehicle group is formed by vehicles having close destinations, the distance (time) traveled by the vehicle group can be increased, and the merit of traveling by the vehicle group can be enjoyed longer.
- the seat sensor it is determined whether there is an occupant in each seat based on the detection result by the seat sensor, but it may be determined by a captured image by a vehicle camera, direct input by the driver, or the like.
- the host vehicle selects the preceding vehicle and performs the follow-up traveling between the two vehicles.
- the host vehicle is further selected as the preceding vehicle to be tracked or the preceding vehicle.
- the following vehicle is driven by three or more vehicles by selecting the preceding vehicle as the preceding vehicle to be tracked and performing the following traveling between other vehicles.
- the traveling vehicle detection mode is turned off when the host vehicle conforms to the traveling condition of the priority lane, but even when the host vehicle conforms to the traveling condition of the priority lane.
- the traveling vehicle detection mode may be turned on to positively detect a desired person.
- information on surrounding vehicles is acquired by inter-vehicle communication.
- the types of vehicles and the number of passengers of the surrounding vehicles are recognized based on images captured by the camera. You may make it do.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (6)
- 複数の車両で車群を形成するための車群形成装置であって、
優先車線の走行条件に対する適合度合いに基づいて車群を形成する車両を選択又は車両の順序を決定する車群形成手段を備えることを特徴とする車群形成装置。 - 前記車群形成手段は、優先車線の走行条件に適合するか否かに基づいて車群を形成する車両を選択又は車両の順序を決定することを特徴とする請求項1に記載する車群形成装置。
- 前記車群形成手段は、車両の目的地に基づいて車群を形成する車両を選択することを特徴とする請求項1又は請求項2に記載する車群形成装置。
- 複数の車両で車群を形成するための車群形成方法であって、
優先車線の走行条件に対する適合度合いに基づいて車群を形成する車両を選択又は車両の順序を決定する車群形成ステップを含むことを特徴とする車群形成方法。 - 前記車群形成手ステップでは、優先車線の走行条件に適合するか否かに基づいて車群を形成する車両を選択又は車両の順序を決定することを特徴とする請求項4に記載する車群形成方法。
- 前記車群形成ステップでは、車両の目的地に基づいて車群を形成する車両を選択することを特徴とする請求項4又は請求項5に記載する車群形成方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/054184 WO2010100743A1 (ja) | 2009-03-05 | 2009-03-05 | 車群形成装置及び車群形成方法 |
US13/254,123 US8700297B2 (en) | 2009-03-05 | 2009-03-05 | Vehicle group forming device and vehicle group forming method |
JP2011502546A JP5333574B2 (ja) | 2009-03-05 | 2009-03-05 | 車群形成装置及び車群形成方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2009/054184 WO2010100743A1 (ja) | 2009-03-05 | 2009-03-05 | 車群形成装置及び車群形成方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010100743A1 true WO2010100743A1 (ja) | 2010-09-10 |
Family
ID=42709321
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2009/054184 WO2010100743A1 (ja) | 2009-03-05 | 2009-03-05 | 車群形成装置及び車群形成方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8700297B2 (ja) |
JP (1) | JP5333574B2 (ja) |
WO (1) | WO2010100743A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013069131A1 (ja) * | 2011-11-10 | 2013-05-16 | 三菱電機株式会社 | センター側システム及び車両側システム |
JPWO2013069132A1 (ja) * | 2011-11-10 | 2015-04-02 | 三菱電機株式会社 | 車両側システム及びセンター側システム |
JP2018010574A (ja) * | 2016-07-15 | 2018-01-18 | 株式会社デンソー | 連携走行システム |
WO2018096970A1 (ja) * | 2016-11-22 | 2018-05-31 | 京セラ株式会社 | 電子機器、車両、制御装置、制御プログラム及び電子機器の動作方法 |
JP2018106359A (ja) * | 2016-12-26 | 2018-07-05 | 京セラ株式会社 | 電子機器、車両、制御装置、制御プログラム及び電子機器の動作方法 |
WO2019026210A1 (ja) * | 2017-08-02 | 2019-02-07 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
JP2020204982A (ja) * | 2019-06-19 | 2020-12-24 | 日野自動車株式会社 | 車両制御システム |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201328340A (zh) * | 2011-12-27 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | 乘客攔車提示系統及方法 |
JP5668741B2 (ja) * | 2012-10-04 | 2015-02-12 | 株式会社デンソー | 隊列走行装置 |
TWI549069B (zh) * | 2014-12-15 | 2016-09-11 | Sheng Hui Meng | Method and device for passenger barge |
US11458970B2 (en) | 2015-06-29 | 2022-10-04 | Hyundai Motor Company | Cooperative adaptive cruise control system based on driving pattern of target vehicle |
KR102107774B1 (ko) * | 2016-12-30 | 2020-05-07 | 현대자동차주식회사 | 목표차량의 운전패턴에 따른 협조 적응 순항 제어 시스템 |
JP6347233B2 (ja) * | 2015-07-22 | 2018-06-27 | トヨタ自動車株式会社 | 車両の運転支援装置 |
KR20170016177A (ko) * | 2015-08-03 | 2017-02-13 | 엘지전자 주식회사 | 차량 및 그 제어방법 |
US9835709B2 (en) | 2016-02-02 | 2017-12-05 | Bao Tran | Systems and methods for permission based control of robots |
US10291348B2 (en) | 2016-02-02 | 2019-05-14 | Bao Tran | Systems and methods for control of drones |
US10309789B2 (en) * | 2016-03-25 | 2019-06-04 | Qualcomm Incorporated | Automated lane assignment for vehicles |
US10034066B2 (en) | 2016-05-02 | 2018-07-24 | Bao Tran | Smart device |
US10392011B2 (en) * | 2017-01-20 | 2019-08-27 | Ford Global Technologies, Llc | Vehicle occupancy indication and utilization thereof |
US11403954B2 (en) * | 2018-01-31 | 2022-08-02 | Nissan North America, Inc. | Computing framework for batch routing of autonomous vehicles |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10261195A (ja) * | 1997-03-21 | 1998-09-29 | Fujitsu Ten Ltd | 車両群形成制御装置および方法 |
JP2001043498A (ja) * | 1999-07-28 | 2001-02-16 | Honda Motor Co Ltd | 隊列走行装置 |
JP2008286671A (ja) * | 2007-05-18 | 2008-11-27 | Alpine Electronics Inc | 車載用ナビゲーション装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3732292B2 (ja) * | 1996-11-27 | 2006-01-05 | 本田技研工業株式会社 | 車群走行制御システム |
JP3918326B2 (ja) * | 1998-10-26 | 2007-05-23 | 株式会社デンソー | 経路設定装置及びナビゲーション装置 |
JP2005098749A (ja) * | 2003-09-22 | 2005-04-14 | Toyota Motor Corp | 車両用ナビゲーション装置 |
US7363117B2 (en) * | 2004-03-31 | 2008-04-22 | Nissan Technical Center North America, Inc. | Method and system for communication between vehicles traveling along a similar path |
JP4848855B2 (ja) | 2006-06-20 | 2011-12-28 | トヨタ自動車株式会社 | 車載用隊列編成装置及び車両の隊列編成方法 |
WO2008018607A1 (en) * | 2006-08-07 | 2008-02-14 | Toyota Jidosha Kabushiki Kaisha | Travel control device |
-
2009
- 2009-03-05 JP JP2011502546A patent/JP5333574B2/ja active Active
- 2009-03-05 US US13/254,123 patent/US8700297B2/en active Active
- 2009-03-05 WO PCT/JP2009/054184 patent/WO2010100743A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10261195A (ja) * | 1997-03-21 | 1998-09-29 | Fujitsu Ten Ltd | 車両群形成制御装置および方法 |
JP2001043498A (ja) * | 1999-07-28 | 2001-02-16 | Honda Motor Co Ltd | 隊列走行装置 |
JP2008286671A (ja) * | 2007-05-18 | 2008-11-27 | Alpine Electronics Inc | 車載用ナビゲーション装置 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013069131A1 (ja) * | 2011-11-10 | 2013-05-16 | 三菱電機株式会社 | センター側システム及び車両側システム |
JPWO2013069131A1 (ja) * | 2011-11-10 | 2015-04-02 | 三菱電機株式会社 | センター側システム、車両側システム及びプローブ情報システム |
JPWO2013069132A1 (ja) * | 2011-11-10 | 2015-04-02 | 三菱電機株式会社 | 車両側システム及びセンター側システム |
JP2018010574A (ja) * | 2016-07-15 | 2018-01-18 | 株式会社デンソー | 連携走行システム |
WO2018096970A1 (ja) * | 2016-11-22 | 2018-05-31 | 京セラ株式会社 | 電子機器、車両、制御装置、制御プログラム及び電子機器の動作方法 |
US11165904B2 (en) | 2016-11-22 | 2021-11-02 | Kyocera Corporation | Electronic apparatus, control device, computer-readable non-transitory storage medium, and operation method of electronic apparatus |
JP2018106359A (ja) * | 2016-12-26 | 2018-07-05 | 京セラ株式会社 | 電子機器、車両、制御装置、制御プログラム及び電子機器の動作方法 |
WO2019026210A1 (ja) * | 2017-08-02 | 2019-02-07 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
JPWO2019026210A1 (ja) * | 2017-08-02 | 2020-10-08 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
US11414100B2 (en) | 2017-08-02 | 2022-08-16 | Nissan Motor Co., Ltd. | Travel assistance method and travel assistance device |
JP2020204982A (ja) * | 2019-06-19 | 2020-12-24 | 日野自動車株式会社 | 車両制御システム |
JP7234046B2 (ja) | 2019-06-19 | 2023-03-07 | 日野自動車株式会社 | 車両制御システム |
Also Published As
Publication number | Publication date |
---|---|
US20120095671A1 (en) | 2012-04-19 |
JP5333574B2 (ja) | 2013-11-06 |
US8700297B2 (en) | 2014-04-15 |
JPWO2010100743A1 (ja) | 2012-09-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5333574B2 (ja) | 車群形成装置及び車群形成方法 | |
US11396297B2 (en) | Vehicle control system, vehicle control method, and program | |
US10930154B2 (en) | Driving support system, driving support apparatus, and driving support method | |
CN110356402B (zh) | 车辆控制装置、车辆控制方法及存储介质 | |
JP6246844B2 (ja) | 車両制御システム、車両制御方法、および車両制御プログラム | |
US10967877B2 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
US10583833B2 (en) | Vehicle control apparatus, vehicle control method, and vehicle control program | |
US10960879B2 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
US20190016338A1 (en) | Vehicle control device, vehicle control method, and vehicle control program | |
US20190031202A1 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
US20160063858A1 (en) | Method and system for using global scene context for adaptive prediction and corresponding program, and vehicle equipped with such system | |
CN110087964B (zh) | 车辆控制系统、车辆控制方法及存储介质 | |
WO2015146061A1 (ja) | 車両用認知通知装置、車両用認知通知システム | |
CN110461677B (zh) | 车辆控制系统、车辆控制方法及存储介质 | |
US20190071071A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
US20200324765A1 (en) | Adjusting the longitudinal motion control of a host motor vehicle based on the estimation of the travel trajectory of a leading motor vehicle | |
JP7310524B2 (ja) | 遠隔自動運転車両、及び車両遠隔指示システム | |
US11505193B2 (en) | Vehicle control apparatus, vehicle control method, and storage medium | |
US20210009148A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
US20190294174A1 (en) | Vehicle control system, vehicle control method, and storage medium | |
WO2018179626A1 (ja) | 車両制御システム、車両制御方法、車両制御装置、および車両制御プログラム | |
US20220203985A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
JP2021018636A (ja) | 車両遠隔指示システム | |
US20220234576A1 (en) | Travel control apparatus | |
JP7421692B2 (ja) | 車両制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09841107 Country of ref document: EP Kind code of ref document: A1 |
|
DPE2 | Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101) | ||
ENP | Entry into the national phase |
Ref document number: 2011502546 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13254123 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 09841107 Country of ref document: EP Kind code of ref document: A1 |