WO2023047554A1

WO2023047554A1 - Speed control system for controlling traveling speed in platoon traveling

Info

Publication number: WO2023047554A1
Application number: PCT/JP2021/035208
Authority: WO
Inventors: 宏亮岩崎; 知久沖本; 信道高場
Original assignee: パーソルＡｖｃテクノロジー株式会社
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2023-03-30

Abstract

This speed control system 1 controls the traveling speeds of a plurality of vehicles 11, 12, 13 in platoon traveling. The plurality of vehicles 11, 12, 13 include a predetermined vehicle 11 and one or more other vehicles 12, 13 other than the predetermined vehicle 11. The speed control system 1 includes first communication devices 41, 42, 43, 44 which are provided in the other vehicles 12, 13 and output recognition data for use in determining communication quality between the vehicles via wireless communication, second communication devices 41, 42, 43, 44 which are provided in the predetermined vehicle 11 and receive the recognition data, and a control device 20 which is provided in the predetermined vehicle 11 and controls the traveling speed in platoon traveling. The control device 20 determines communication quality on the basis of the reception result of the recognition data of the second communication devices 41, 42, 43, 44, and when data transmission/reception between the vehicles continues and the communication quality is below a predetermined level, controls the traveling speed in platoon traveling to be lower than when the communication quality is higher than the predetermined quality.

Description

Velocity control system for platooning

The present invention relates to a speed control system that controls the traveling speed of a plurality of vehicles running in a row.

In recent years, the automation of automobiles is expected to solve labor shortages, improve fuel efficiency, and improve safety. In vehicle-to-vehicle communication that requires high reliability, there is a distributed communication system that improves communication quality by using a plurality of communication media (see, for example, Patent Document 1).

In the method disclosed in Patent Document 1, by distributing and transmitting data with an error correction code attached to a plurality of communication media, even if one of the plurality of communication media becomes unable to communicate, the remaining communication can be performed. Data can continue to be sent and received using the medium.

JP 2009-188585 A

When running multiple vehicles at the same time, it is conceivable to run multiple vehicles in a row. In this case, by performing inter-vehicle communication between a plurality of vehicles, it is possible to perform control such as allowing other vehicles to follow the leading vehicle and maintaining an appropriate inter-vehicle distance.

In such a platooning of multiple vehicles, if inter-vehicle communication is interrupted due to changes in the communication environment, etc., it is conceivable that the vehicles will stop running. When the vehicle is stopped due to the interruption of the inter-vehicle communication, it is required to safely stop the vehicle.

A speed control system according to an embodiment of the present invention is a speed control system for controlling traveling speed in platooning of a plurality of vehicles, wherein the plurality of vehicles are a predetermined vehicle and one vehicle other than the predetermined vehicle. and the speed control system is provided in the other vehicle and wirelessly communicates recognition data for use in determining communication quality between the predetermined vehicle and the other vehicle. a second communication device that is provided in the predetermined vehicle and receives the recognition data; a control device that is provided in the predetermined vehicle and controls the running speed of the platoon; wherein the control device determines the communication quality based on the result of reception of the recognition data by the second communication device, and continues transmission and reception of data between the predetermined vehicle and the other vehicle. However, when the communication quality is equal to or lower than a predetermined quality, control is performed so that the running speed of the platoon is made smaller than when the communication quality is higher than the predetermined quality.

When platooning multiple vehicles, it is conceivable to stop driving if communication between vehicles is interrupted. In such a form in which traveling is stopped when communication between vehicles is interrupted, the traveling speed is lowered in advance at a stage where communication between vehicles is continued but the communication quality is degraded. As a result, even if the communication between the vehicles is interrupted and the running is to be stopped, the vehicles can be stopped smoothly.

In one embodiment, the content of the recognition data output by the first communication device is predetermined, and the control device receives the recognition data received by the second communication device and the predetermined recognition data. The communication quality may be determined based on the degree of matching with the contents of the.

By comparing the received data with the predetermined content, the communication quality can be judged.

In one embodiment, the content of the recognition data output by the first communication device changes based on a predetermined rule, and the control device controls the recognition data received by the second communication device and the predetermined The communication quality may be determined based on the degree of matching with the content of the recognition data that changes based on the rule that has been set.

By comparing the received data with data that changes based on predetermined rules, communication quality can be determined.

In one embodiment, when the travel speed when the communication quality is higher than the predetermined quality is set to a first travel speed, the control device controls the distance between the predetermined vehicle and the other vehicle. When the communication quality is equal to or lower than a predetermined quality while data transmission/reception continues, the running speed may be changed to a second running speed that is lower than the first running speed.

By reducing the running speed in advance when the communication quality is degraded even though the communication between the vehicles is continued, the vehicle can be operated smoothly even if the communication between the vehicles is interrupted and the running is stopped. can be parked.

In one embodiment, the control device continues transmission and reception of data between the predetermined vehicle and the other vehicle, but when the communication quality is equal to or lower than a first quality, the communication quality is Control is performed to make the traveling speed smaller than when the quality is higher than the first quality, and transmission and reception of data between the predetermined vehicle and the other vehicle are continued, but the communication quality is lower than the first quality. When the communication quality is equal to or lower than a second quality which is lower than the quality of , the running speed may be controlled to be further reduced than when the communication quality is equal to or lower than the first quality and higher than the second quality.

By lowering the driving speed significantly as the communication quality is lower, the vehicle can be stopped smoothly even if the communication between the vehicles is interrupted and the vehicle stops running.

In one embodiment, the control device may perform control to reduce the travel speed to zero when data transmission/reception between the predetermined vehicle and the other vehicle cannot be continued.

　The safety of platooning can be further enhanced by stopping driving when communication between vehicles is interrupted.

In one embodiment, when the communication quality changes from a state equal to or lower than the predetermined quality to a state higher than the predetermined quality, the control device performs control to increase the running speed to increase the running speed. The absolute value of the acceleration when the running speed is decreased may be smaller than the absolute value of the acceleration when the running speed is decreased.

When the running speed is increased due to the improvement in communication quality, it is possible to further improve safety by gradually increasing the speed.

In one embodiment, the other vehicle is provided with a plurality of the first communication devices, the plurality of the first communication devices have different communication methods, and the predetermined vehicle has the second communication device. A plurality of devices may be provided, and communication schemes of the plurality of second communication devices may be different from each other.

By performing data communication between vehicles using multiple types of communication devices with different communication methods, more stable data communication can be performed.

In one embodiment, the predetermined vehicle and the other vehicle transmit and receive the recognition data by two or more types of communication using different communication methods, and for at least one of the two or more types of communication may be weighted to determine the communication quality.

By judging the communication quality by weighting, it is possible to control the traveling speed more appropriately according to the communication environment.

In one embodiment, the first communication device may output the encrypted recognition data, and the control device may decode the received recognition data to determine the communication quality.

By performing encrypted communication, it is possible to communicate in a state where the contents of the recognition data cannot be understood by a third party.

1 is a diagram showing a speed control system 1 according to an embodiment of the invention; FIG. 1 is a block diagram showing a hardware configuration example of

vehicles

11, 12, and 13 according to an embodiment of the present invention; FIG. 4 is a flowchart showing processing for reducing the running speed of platooning when communication quality among

vehicles

11, 12, and 13 according to the embodiment of the present invention is low. 4 is a flow chart showing processing for greatly reducing the traveling speed as the communication quality is lower according to the embodiment of the present invention. 4 is a flowchart showing a process of weighting communication quality and controlling traveling speed according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Similar components are denoted by similar reference numerals, and descriptions thereof will be omitted if they overlap. The following embodiments are examples, and the present invention is not limited to the following embodiments.

FIG. 1 is a diagram showing a speed control system 1 according to an embodiment of the present invention.

The speed control system 1 of this embodiment controls the running speed of a plurality of vehicles running in a row. In the example shown in FIG. 1, a plurality of

vehicles

11, 12, 13 are running in a row. The number of vehicles traveling in a row is arbitrary, and may be two or four or more. Here, an example in which three

vehicles

11, 12, and 13 are platooned will be described.

The leading vehicle 11 can travel by automatic driving. If there is a passenger in the leading vehicle 11, the passenger may drive. The

vehicles

12 and 13 can travel following the leading vehicle 11 by unmanned automatic driving.

Vehicles

12 and 13 may have passengers.

FIG. 2 is a block diagram showing an example hardware configuration of the

vehicles

11, 12, and 13. FIG.

As illustrated in FIG. 2, the vehicle 11 includes a control device 20, a storage device 25,

communication devices

41, 42, 43, 44, an electronic control unit (ECU) 50, an operation device 51, a positioning device 52, an inertial measurement device ( IMU) 53 , a camera 54 , a sensing device 55 and a traveling device 60 . These components are communicatively connected to each other via a bus, for example.

The control device 20 includes a processor 21 and recording media such as ROM (Read Only Memory) 22 and RAM (Random Access Memory) 23 . A computer program (or firmware) for causing the processor 21 to execute processing may be installed in the ROM 22 . The computer program can be provided to the vehicle 11 via a storage medium (such as a semiconductor memory or an optical disc) or an electric communication line (such as the Internet). Such computer programs may be sold as commercial software.

The processor 21 is a semiconductor integrated circuit and includes, for example, a central processing unit (CPU). The processor 21 sequentially executes a computer program stored in the ROM 22, in which a group of instructions for executing various processes are described, to realize desired processes.

The ROM 22 is, for example, a writable memory (eg PROM), a rewritable memory (eg flash memory), or a read-only memory. ROM 22 stores a computer program that controls the operation of processor 21 . The RAM 23 provides a work area for temporarily expanding the computer program stored in the ROM 22 at boot time.

The processor 21 controls the running speed of a plurality of

vehicles

11, 12, and 13, which will be described later, in platooning.

The storage device 25 is, for example, a magnetic storage device, an optical storage device, a semiconductor storage device, or a combination thereof. The storage device 25 can store various types of information such as map information and travel route information used for traveling of the vehicle.

The operation device 51 is a device for the user to perform operations related to various operations of the vehicle 11 . For example, the user uses the operation device 51 to perform operations related to automatic travel of the vehicle 11 . The operating device 51 may comprise a display device such as a touch screen and/or one or more switches. By operating the operation device 51, the user can perform various operations such as switching on/off of the automatic driving mode and setting a driving route. In addition, various information such as operating states of the

vehicles

11, 12, and 13 can be displayed on the operating device 51. FIG.

The positioning device 52 detects the position of the vehicle 11 in the geographic coordinate system. The positioning device 52 includes an antenna for receiving GNSS signals from GNSS (Global Navigation Satellite System) satellites and a processing circuit. The positioning device 52 receives GNSS signals transmitted from GNSS satellites and performs positioning based on the GNSS signals. The positioning device 52 may perform interferometric positioning such as RTK (Real Time Kinematic GPS), for example.

The IMU 53 includes an acceleration sensor, an angular acceleration sensor, and a magnetic sensor, and outputs signals indicating the amount of movement, orientation, and attitude. The IMU 53 functions as a motion sensor and outputs signals indicating various quantities such as the acceleration, speed, displacement, orientation and attitude of the vehicle 11 .

The travel device 60 includes various devices necessary for travel of the vehicle 11, such as the prime mover, transmission device, steering device, braking device, and

wheels

15 and 16 of the vehicle 11. The prime mover is, for example, an internal combustion engine and/or an electric motor. The transmission changes the driving force and the moving speed of the vehicle 11 by shifting. The transmission can also switch between forward and reverse travel of the vehicle 11 . The steering device includes a power steering device, and changes the running direction of the vehicle 11 by changing the steering angle of the steered wheels. The braking device includes brakes for slowing and stopping the vehicle 11 .

The camera 54 photographs the surroundings of the vehicle 11 and generates an image signal. The sensing device 55 is, for example, a laser ranging device such as a LiDAR sensor, and generates data indicating the environment around the vehicle 11 such as point cloud data.

The ECU 50 controls the operations of various devices included in the travel device 60 . In the automatic driving mode, the ECU 50 controls the operation of various devices included in the traveling device 60 and controls the automatic driving of the vehicle 11 . The ECU 50 controls the operation of the travel device 60 based on output signals from the positioning device 52, the IMU 53, the camera 54, the sensing device 55, a preset travel route, and the like. Since the technique for performing automatic operation is well-known, detailed description is omitted here. The vehicle 11 can perform automatic operation using known automatic operation technology.

Vehicles

12 and 13 include control device 30 , storage device 25 ,

communication devices

41 , 42 , 43 and 44 , electronic control unit (ECU) 50 , operation device 51 , positioning device 52 , inertial measurement unit (IMU) 53 and camera 54 . , a sensing device 55 and a traveling device 60 . These components are communicatively connected to each other via a bus, for example. The control device 30 has a processor 31 , a ROM 32 and a RAM 33 . The details of the processor 31, the ROM 32, and the RAM 33 are the same as those of the processor 21, the ROM 22, and the RAM 23 of the vehicle 11, so the description thereof is omitted here. Details of the storage device 25, the ECU 50, the operating device 51, the positioning device 52, the IMU 53, the camera 54, the sensing device 55, and the traveling device 60 are as described above.

When the

vehicles

11, 12, and 13 run in a platoon, the processor 31 performs running control such as making the

vehicles

12 and 13 follow the lead vehicle 11 and maintaining an appropriate inter-vehicle distance.

The

communication devices

41, 42, 43, and 44 are used for inter-vehicle communication. The communication device 41 performs wireless communication between the

vehicles

11, 12, and 13 using a short-range communication method such as DSRC (Dedicated Short Range Communications). The communication device 42 performs wireless communication between the

vehicles

11, 12, and 13 using a mobile phone line such as LTE (Long Term Evolution).

The

communication devices

43 and 44 are provided in the front and rear parts of the vehicles, and perform optical wireless communication between the vehicles forming a line. In the example shown in FIG. 1 , optical wireless communication can be performed between the communication device 44 provided in the rear portion of the vehicle 11 and the communication device 43 provided in the front portion of the vehicle 12 . Optical wireless communication can be performed between the communication device 44 provided in the rear portion of the vehicle 12 and the communication device 43 provided in the front portion of the vehicle 13 . Further, optical wireless communication can be performed between the communication device 44 of the vehicle 11 and the communication device 43 of the vehicle 13 via the

communication devices

43 and 44 of the vehicle 12 .

By performing data communication between vehicles using a plurality of types of communication devices with different communication methods, stable data communication can be performed.

Vehicles

11, 12, and 13 mutually transmit and receive data related to driving conditions such as accelerator opening, gear ratio, steering angle, and braking condition. For example, the

processors

21 and 31 receive the data regarding the running state from the ECU 50 and exchange the data regarding the running state with each other via the

communication devices

41, 42, 43 and 44, thereby sharing the data regarding the running state. be able to.

Vehicles

11, 12, and 13 can share data related to running conditions, and can control platooning by using output signals from positioning device 52, IMU 53, camera 54, sensing device 55, and the like.

Next, the control of the platoon traveling speed when the communication quality in the data communication between the

vehicles

11, 12, and 13 is low will be described.

FIG. 3 is a flowchart showing the process of reducing the platoon traveling speed when the communication quality between the

vehicles

11, 12, and 13 is low.

In this embodiment, recognition data for use in determining communication quality between the

vehicles

11, 12, and 13 is output from the

vehicles

12 and 13 to the vehicle 11 by wireless communication. The contents of the recognition data are predetermined. Separate recognition data may be assigned to each of the

vehicles

12,13. The content of the recognition data is also pre-stored in the ROM 22 or storage device 25 of the vehicle 11 . Here, as an example, it is assumed that the

communication devices

43 and 44 that perform optical wireless communication transmit and receive recognition data.

The processors 31 of the

vehicles

12 and 13 cause the communication device 43 to output recognition data (step S11). The communication device 44 of the vehicle 11 receives the recognition data output from the communication device 43 of the vehicle 12 (step S12). The recognition data output from the communication device 43 of the vehicle 13 is received by the communication device 44 of the vehicle 12 . The processor 31 of the vehicle 12 causes the communication device 43 of the vehicle 12 to output the recognition data received from the vehicle 13 . The communication device 44 of the vehicle 11 can receive recognition data output from the vehicle 13 via the

communication devices

43 and 44 of the vehicle 12 .

The processor 21 of the vehicle 11 determines the communication quality based on the reception result of the received recognition data (step S13). The processor 21 determines the communication quality, for example, based on the degree of matching between the received recognition data and the content of predetermined recognition data. Communication quality can be determined by comparing the received recognition data with predetermined content.

As an example, each of the

vehicles

12 and 13 outputs recognition data 10 times per second. The processor 21 counts the number of pieces of recognition data that match the content of predetermined recognition data among the ten pieces of recognition data received.

The processor 21 determines that the communication quality is good when all of the received 10 pieces of recognition data match the predetermined content. If some of the received 10 pieces of recognition data do not match the predetermined content, data transmission/reception with the

vehicles

11, 12, and 13 continues uninterrupted, but the communication quality deteriorates. It is determined that

When the communication quality is equal to or lower than a predetermined quality, the processor 21 performs control to reduce the traveling speed of platooning (steps S14 and S15). For example, if two or more of the received ten pieces of recognition data do not match the predetermined content, control is performed to reduce the traveling speed of platooning.

When the communication quality is higher than the predetermined quality, the processor 21 does not perform control to reduce the running speed of the platoon, but performs control to maintain the running speed (step S16). For example, if the number of pieces of recognition data that does not match the predetermined content is less than one, control to reduce the traveling speed of platooning is not performed.

For example, when the running speed is set to 100 km/h when the communication quality is higher than a predetermined quality, the processor 21 controls to change the running speed to 80 km/h when the communication quality becomes equal to or lower than the predetermined quality. conduct. The processor 21 transmits a command to reduce the traveling speed to the ECU 50, and the ECU 50 controls the traveling device 60 to reduce the traveling speed. Due to mutual communication among the

vehicles

11, 12, 13, this speed control is shared by the

vehicles

11, 12, 13, and the ECUs 50 of the

vehicles

12, 13 also control the traveling device 60 to reduce the traveling speed. As a result, the running speed of the platoon running can be reduced.

　In the platooning of a plurality of

vehicles

11, 12, 13, it is conceivable to stop driving when communication between the vehicles is interrupted. In such a mode in which traveling is stopped when communication between vehicles is interrupted, the traveling speed is lowered in advance at a stage where communication between vehicles is continued but communication quality is degraded. As a result, the

vehicles

11, 12, and 13 can be stopped smoothly even if the communication between the vehicles is interrupted and the running of the vehicles is stopped.

In the above example, the

communication devices

43 and 44 transmit and receive the recognition data, but the communication device 41 may transmit and receive the recognition data, and the communication device 42 may transmit and receive the recognition data.

Also, each of the

communication devices

41, 42, 43, and 44 may transmit and receive recognition data. When each of the

communication devices

41, 42, 43, and 44 transmits and receives recognition data, if the communication quality of any one of them is higher than a predetermined quality, control to reduce the running speed of platoon running may not be performed. .

The recognition data may be transmitted and received independently of the control data transmitted and received between the

vehicles

11, 12, 13 for control of speed, steering, etc., or may be included in such control data. .

Next, we will explain the control that greatly reduces the traveling speed as the communication quality is lower.

FIG. 4 is a flow chart showing the process of greatly reducing the traveling speed as the communication quality is lower. In this example, first, steps S11 to S13 described with reference to FIG. 3 are performed.

Next, the processor 21 determines whether the communication quality is equal to or lower than the first quality (step S24). The first quality is, for example, communication quality in which two or more out of ten pieces of recognition data received do not match predetermined content.

When the communication quality is equal to or lower than the first quality, the processor 21 determines whether the communication quality is equal to or lower than the second quality (step S25). The second quality is, for example, communication quality in which 5 or more out of 10 received recognition data do not match predetermined content.

When the communication quality is equal to or lower than the first quality and higher than the second quality, the processor 21 performs control to reduce the running speed (step S27). For example, when the running speed is set to 100 km/h when the communication quality is higher than the first quality, the processor 21 performs control to change the running speed to 80 km/h.

If the communication quality is equal to or lower than the second quality, which is lower than the first quality, the processor 21 performs control to reduce the running speed (step S26). For example, when the running speed is set to 100 km/h when the communication quality is higher than the first quality, the processor 21 performs control to change the running speed to 50 km/h.

When the communication quality is higher than the first quality, the processor 21 does not reduce the running speed of the platoon but maintains the running speed (step S28).

In this way, the lower the communication quality, the lower the traveling speed, so that even if the communication between the vehicles is interrupted and the vehicle stops running, the vehicle can be stopped more smoothly.

In this embodiment, when data transmission/reception between the

vehicles

11, 12, and 13 is interrupted and cannot be continued, the processor 21 controls the traveling speed to zero. By stopping traveling when communication between vehicles is interrupted, the safety of platooning can be further enhanced.

Also, when the communication quality changes from below a predetermined quality to above a predetermined quality, the processor 21 performs control to increase the traveling speed. In this case, the absolute value of the acceleration when the running speed is increased may be smaller than the absolute value of the acceleration when the running speed is decreased. When the running speed is increased due to the improvement in communication quality, safety can be further enhanced by gradually increasing the running speed.

In the above explanation, the contents of the recognition data are predetermined contents, but the contents of the recognition data may be changed based on predetermined rules. For example, the content of recognition data may be determined based on a predetermined formula. For example, the numerical value of the recognition data may be incremented by "1" for each transmission. The processor 21 can determine communication quality based on the degree of matching between the received recognition data and the content of the recognition data that changes based on a predetermined rule.

Next, we will explain the process of weighting the communication quality and controlling the running speed.

FIG. 5 is a flowchart showing the process of weighting the communication quality and controlling the running speed.

Here, as an example, it is assumed that each of the

communication devices

41, 42, 43, and 44 transmits and receives recognition data. In this example, first, steps S11 to S13 described with reference to FIG. 3 are performed. In step S13, the processor 21 determines the communication quality of each recognition data received by the

communication devices

41, 42, 43, and 44. FIG. The processor 21 weights at least one of the communication qualities of the three types of communication with different communication methods, combines the communication qualities of the three types of communication, and determines the communication quality again. For example, the communication quality is judged again from the average value of the communication qualities of the three types of communication.

If the communication quality determined again is equal to or lower than the predetermined quality, the processor 21 performs control to reduce the platoon running speed (steps S35 and S36). When the communication quality is higher than the predetermined quality, the processor 21 does not perform control to reduce the running speed of the platoon but performs control to maintain the running speed (step S37).

By determining the communication quality by weighting as described above, it is possible to control the traveling speed more appropriately according to the communication environment. For example, when it can be determined that there are many metallic objects in the surroundings from the content captured by the camera 54, it may be disadvantageous for radio communication, so the communication quality in radio communication may be weighted. Also, for example, if it can be determined that fog is occurring using the camera 54 or a humidity sensor, it may be disadvantageous to optical communication, so the communication quality in optical communication may be weighted. Further, the lowest communication quality among the communication qualities of the three types of communication may be weighted. Also, one of the communication qualities of the three types of communication may be uniformly weighted.

Also, encrypted recognition data may be transmitted and received among the

vehicles

11, 12, and 13. In this case, the processors 31 of the

vehicles

12 and 13 cause the communication device to output the encrypted recognition data, and the processor 21 of the vehicle 11 decodes the received recognition data and judges the communication quality. By performing encrypted communication, communication can be performed in a state where a third party cannot understand the contents of the recognition data.

As described above, the speed control system 1 according to an embodiment of the present invention is a speed control system 1 that controls the traveling speed of a plurality of

vehicles

11, 12, 13 in platooning, and comprises a plurality of

vehicles

11, 12 and 13 include a predetermined vehicle 11 and one or more

other vehicles

12 and 13 other than the predetermined vehicle 11, and the speed control system 1 is provided in the

other vehicles

12 and 13 to control the predetermined vehicle.

First communication devices

41, 42, 43, 44 for outputting recognition data for use in determining communication quality between 11 and

other vehicles

12, 13 by wireless communication;

Second communication devices

41, 42, 43, and 44 for receiving data, and a control device 20 provided in a predetermined vehicle 11 for controlling the traveling speed of platooning, the control device 20 being the

second communication device

41, 42, 43, 44 determines the communication quality based on the reception results of the recognition data, and the transmission and reception of data between the predetermined vehicle 11 and the

other vehicles

12, 13 continues, but the communication quality is low. If the communication quality is equal to or lower than the predetermined quality, control is performed so that the platoon traveling speed is made smaller than when the communication quality is higher than the predetermined quality.

　In the platooning of a plurality of

vehicles

11, 12, 13, it is conceivable to stop driving when communication between the vehicles is interrupted. In such a form in which traveling is stopped when communication between vehicles is interrupted, the traveling speed is lowered in advance at a stage where communication between vehicles is continued but the communication quality is degraded. As a result, even if the communication between the vehicles is interrupted and the running is to be stopped, the vehicles can be stopped smoothly.

In one embodiment, the content of the recognition data output by the

first communication devices

41, 42, 43, and 44 is predetermined, and the control device 20 receives the recognition data received by the

second communication devices

41, 42, 43, and 44. The communication quality may be determined based on the degree of matching between the data and the content of predetermined recognition data.

In one embodiment, the content of the recognition data output by the

first communication devices

41, 42, 43, and 44 changes based on a predetermined rule, and the control device 20 controls the

second communication devices

41, 42, 43, Communication quality may be determined based on the degree of matching between the recognition data received by 44 and the content of the recognition data that changes based on a predetermined rule.

In one embodiment, when the travel speed at which the communication quality is higher than a predetermined quality is set to the first travel speed, the control device 20 transfers data between the predetermined vehicle 11 and the

other vehicles

12, 13. is continued, but if the communication quality becomes equal to or lower than a predetermined quality, the running speed may be changed to a second running speed that is lower than the first running speed.

In one embodiment, the control device 20 continues data transmission/reception between the predetermined vehicle 11 and the

other vehicles

12 and 13, but when the communication quality is equal to or lower than the first quality, the communication quality is Control is performed to make the traveling speed smaller than when the quality is higher than the first quality, and transmission and reception of data between the predetermined vehicle 11 and the

other vehicles

12 and 13 are continued, but the communication quality is the first quality. If the communication quality is equal to or lower than a second quality lower than , the traveling speed may be controlled to be further reduced than when the communication quality is equal to or lower than the first quality and higher than the second quality.

In one embodiment, the control device 20 may perform control to reduce the travel speed to zero when data transmission/reception between the predetermined vehicle 11 and the

other vehicles

12 and 13 cannot be continued.

In one embodiment, when the communication quality changes from a state of a predetermined quality or less to a state of higher than the predetermined quality, the control device 20 performs control to increase the traveling speed, and determines the absolute acceleration when increasing the traveling speed. The value may be smaller than the absolute value of acceleration when the running speed is reduced.

In one embodiment, the

other vehicles

12, 13 are provided with a plurality of

first communication devices

41, 42, 43, 44, and communication is performed between the plurality of

first communication devices

41, 42, 43, 44. A plurality of

second communication devices

41, 42, 43, 44 are provided in a predetermined vehicle 11, and the communication methods are different among the plurality of

second communication devices

41, 42, 43, 44. may be

In one embodiment, the predetermined vehicle 11 and the

other vehicles

12 and 13 transmit and receive recognition data by two or more types of communication using different communication methods, and for at least one of the two or more types of communication The communication quality may be determined by weighting.

In one embodiment, the

first communication devices

41, 42, 43, and 44 may output encrypted recognition data, and the control device 20 may decode the received recognition data to determine communication quality.

The embodiment of the present invention has been described above. The above descriptions of the embodiments are illustrative of the present invention and are not intended to limit the present invention. Further, an embodiment is also possible in which each component described in the above embodiment is appropriately combined. The present invention can be modified, replaced, added, omitted, etc. within the scope of the claims or equivalents thereof.

The present invention is particularly useful in the technical field related to platooning of a plurality of vehicles.

1: speed control system, 11: vehicle, 12: vehicle, 13: vehicle, 15: front wheels, 16: rear wheels, 20: control device, 21: processor, 22: ROM, 23: RAM, 25: storage device, 30 : control device, 31: processor, 32: ROM, 33: RAM, 41: communication device, 42: communication device, 43: communication device, 44: communication device, 50: ECU, 51: operation device, 52: positioning device, 53: IMU, 54: Camera, 55: Sensing device, 60: Running device

Claims

A speed control system for controlling traveling speed in platooning of a plurality of vehicles,
The plurality of vehicles includes a predetermined vehicle and one or more vehicles other than the predetermined vehicle;
The speed control system is
a first communication device provided in the other vehicle and configured to output, through wireless communication, recognition data for use in determining communication quality between the predetermined vehicle and the other vehicle;
a second communication device provided in the predetermined vehicle for receiving the recognition data;
a control device provided in the predetermined vehicle for controlling the running speed of the platoon;
with
The control device is
determining the communication quality based on the reception result of the recognition data of the second communication device;
Data transmission/reception between the predetermined vehicle and the other vehicle continues, but when the communication quality is equal to or lower than the predetermined quality, the platoon is more likely than the case where the communication quality is higher than the predetermined quality. A speed control system that controls to reduce the running speed.
The content of the recognition data output by the first communication device is predetermined,
2. The speed according to claim 1, wherein said control device determines said communication quality based on a degree of matching between said recognition data received by said second communication device and predetermined content of said recognition data. control system.
The content of the recognition data output by the first communication device changes based on a predetermined rule,
The control device determines the communication quality based on the degree of matching between the recognition data received by the second communication device and the content of the recognition data that changes based on the predetermined rule. 2. The speed control system of claim 1.
When the traveling speed when the communication quality is higher than the predetermined quality is set to a first traveling speed, the control device continues transmission and reception of data between the predetermined vehicle and the other vehicle. 4. The speed control system according to any one of claims 1 to 3, wherein said running speed is changed to a second running speed lower than said first running speed when said communication quality is equal to or lower than a predetermined quality.
The control device is
Data transmission/reception between the predetermined vehicle and the other vehicle continues, but when the communication quality is equal to or lower than the first quality, the communication quality is higher than the first quality. Perform control to reduce the running speed,
Data transmission/reception between the predetermined vehicle and the other vehicle continues, but if the communication quality is equal to or lower than the second quality lower than the first quality, the communication quality is reduced to the second quality. 5. The speed control system according to any one of claims 1 to 4, wherein control is performed such that the traveling speed is further reduced than when the quality is equal to or less than 1 and higher than the second quality.
6. The speed control according to any one of claims 1 to 5, wherein said control device controls said travel speed to be zero when transmission and reception of data between said predetermined vehicle and said other vehicle cannot be continued. system.
When the communication quality changes from a state of the predetermined quality or less to a state of higher than the predetermined quality, the control device performs control to increase the running speed,
7. The speed control system according to any one of claims 1 to 6, wherein an absolute value of acceleration when increasing the travel speed is smaller than an absolute value of acceleration when decreasing the travel speed.
The other vehicle is provided with a plurality of the first communication devices, and the plurality of the first communication devices have different communication methods,
8. The speed control system according to claim 1, wherein said predetermined vehicle is provided with a plurality of said second communication devices, and said plurality of said second communication devices have different communication methods.
The predetermined vehicle and the other vehicle transmit and receive the recognition data by two or more types of communication using different communication methods,
9. The speed control system according to claim 1, wherein at least one of said two or more types of communication is weighted to determine said communication quality.
The first communication device outputs the encrypted recognition data,
10. The speed control system according to any one of claims 1 to 9, wherein said control device decodes said received recognition data to determine said communication quality.