JP2002260174A - Vehicle operation service system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lighten the burden on a user and a maker for an automatic traveling vehicle, and to realize the automatic traveling technology as a business. SOLUTION: A vehicle operation service system comprises a service vehicle A for collecting data on automatic traveling on the road, and a user vehicle B which collects no data for automatic traveling on the road by itself but receives the automatic traveling data from the service vehicle A and performs the automatic traveling by the contract with a business company for controlling the service vehicle A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle operation service system comprising a service vehicle traveling on an automatic driving lane and a user vehicle guided by the service vehicle and receiving various services.

[0002]

2. Description of the Related Art Conventionally, there has been known a system in which a magnetic marker laid on a road surface is detected by a magnetic sensor of a vehicle, and the vehicle is guided along the magnetic marker. For example, in the traveling control method and apparatus of the automatic guided vehicle disclosed in Japanese Patent Application Laid-Open No. 1-253007, a magnet is disposed at a fixed point on a traveling route, and the strength of the magnetic field of the magnet is detected by a magnetic field detecting device.
There is disclosed a technique in which a vehicle is controlled in a direction to reduce the amount of deviation, and an automatic guided vehicle travels along a track.

[0003]

However, in the conventional vehicle traveling guidance system, in order to travel on the automatic traveling lane, it is necessary to insert a large number of expensive sensors for controlling each vehicle at a high level. Therefore, there have been problems such as an increase in the cost of the vehicle and a prolonged development period. Also,
There was a problem that there was no viewpoint on how to commercialize autonomous driving technology.

[0004] The present invention solves the above-mentioned conventional problems, and can reduce the burden on the user and the manufacturer for automatic driving, and can operate the vehicle in which the automatic driving technology can be commercialized as a business. The purpose is to provide a service system.

[0005]

In order to achieve the above object, a vehicle operation service system according to the present invention comprises a service vehicle for collecting data for automatically traveling on a road, and a business operator for managing the service vehicle. According to the contract, the data is configured from a user vehicle that receives the data from the service vehicle and automatically travels.The user vehicle does not require expensive sensors for automatic travel, so that cost reduction and The development period can be shortened, and the autonomous driving technology can be commercialized as a business.

Further, the vehicle operation service system according to the present invention includes a relative displacement detecting means for detecting a relative displacement of the vehicle with respect to the reference line so that the service vehicle travels along a reference line laid on a road surface. A control amount calculating unit for calculating a control amount for converging on the reference line based on the detected relative displacement, and a transmitting unit for transmitting the control amount to the user vehicle, wherein the user vehicle is Receiving means for receiving the control amount transmitted from the transmitting means; storage means for storing the received control amount; and, when the service vehicle reaches the position at which the control amount was transmitted, the service vehicle has its own vehicle based on the control amount. A correction amount calculating means for calculating a correction amount; and a control means for outputting control data for controlling traveling of the own vehicle based on the correction amount. , It is possible to adopt a realistic automatic travel technology.

In the vehicle operation service system according to the present invention, the transmitting means of the service vehicle has a function of transmitting various service information, and the receiving means of the user vehicle has
It is characterized by having a function of receiving various service information from the service vehicle, while the user vehicle is automatically running, it is possible to enjoy various services such as movies and music received from the service vehicle, The time during automatic driving can be used meaningfully.

In the vehicle operation service system according to the present invention, the receiving means of the user vehicle has a function of receiving various service information from an information center. The user can enjoy various services such as movies and music received directly from the information center, not from the service vehicle, and can use the time during automatic driving meaningfully.

Further, in the vehicle operation service system according to the present invention, the user vehicle has transmission means for transmitting information from the own vehicle, and the service vehicle has reception means for receiving information from the user vehicle. By transmitting to the service vehicle information from the user vehicle that informs the running state of the vehicle and information such as a request to provide a service or a change in schedule, it is possible to maintain accurate automatic driving and improve comfort. Service.

The present invention is also a terminal device provided with a transmitting means, a receiving means, a storing means, a correction amount calculating means and a control means of the user's vehicle, and the terminal device itself is sold or leased. can do.

[0011] The present invention also provides an electronic control unit for a vehicle that receives control data from the terminal device, an electronic control unit for a vehicle that receives control data from the terminal device,
An electronic control device for a vehicle including an actuator for automatically running a vehicle, and by using the terminal device of the present invention, a normal vehicle can be changed to a user vehicle that can automatically run.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a configuration of a vehicle operation service system according to an embodiment of the present invention. In FIG. 1, a service vehicle A is a vehicle managed by a service provider and is a van type or a microbus, but does not matter the type of the vehicle. The user vehicle B is a private vehicle used by a normal user. The service vehicle A has a distance measuring sensor 1, a lane detecting sensor 2, and a monitoring camera 3 which are sensors for automatic driving.
Is set. As the distance measuring sensor 1, a short-distance laser radar for measuring an inter-vehicle distance from a preceding vehicle, a long-distance millimeter-wave radar for detecting an obstacle ahead, and the like are used.
It is provided before and after the vehicle. As the lane detection sensor 2, a magnetic sensor that detects the magnetism of a magnetic nail provided at a predetermined interval on a reference line at the center of the lane is used. The surveillance cameras 3 are CCD cameras that are installed in front, rear, and side of the vehicle, and detect obstacles in the respective directions. The various sensors 4 for a vehicle are sensors such as a direction sensor, a vehicle speed sensor, a GPS sensor, a steering angle sensor, a crank angle sensor, and a knock sensor, and switches such as an ignition switch, a brake switch, and a lamp switch. The liquid crystal display 5 displays an image captured by the monitoring camera 3 and various information. The actuator 6 controls a throttle, steering, a brake, and the like. ECU (electronic control unit) 7
Are based on signals from various sensors 4 for a vehicle, based on engine control, transmission control, suspension control, cruise control,
It performs computer control such as anti-skid control and power steering control. The automatic travel control device 8 includes an ECU 7
(Input / output device) 9 for sending and receiving signals to and from the ECU 7 and acquiring signals necessary for automatic traveling from the ECU 7
It is passed to a PU (central processing unit) 10. The CPU 10 controls the entire automatic traveling control device 8 and detects a relative displacement of the vehicle with respect to the reference line 10a so that the service vehicle A travels along the reference line laid on the road surface side. And a control amount calculating means 10b for calculating an automatic cruise control amount for converging the service vehicle A to the reference line based on the detected relative displacement. The control amount calculated by the CPU 10 is stored in the storage unit 11 and transmitted from the transmission / reception unit 12 to the user vehicle via the antenna 13.

On the other hand, the user vehicle B has a terminal device 21 for receiving information from the service vehicle A. The terminal device 21 includes an I / O (input / output device) 22, a liquid crystal display 23 with a speaker, a CPU (central processing unit) 24,
A storage unit 25, a transmission / reception unit 26, and an antenna 27 are provided. The CPU 24 controls the entire terminal device 21 and, when the service vehicle A reaches the position where the automatic travel control amount is transmitted, calculates a correction amount of the own vehicle based on the automatic travel control amount. It has. The terminal device 21 transmits the E of the user vehicle B through the I / O 22.
The ECU 28 is connected to a CU (electronic control unit) 28.
Are connected to various sensors 29 for the vehicle for electronically controlling the user vehicle B, and an actuator 30 for controlling the throttle, steering, brake and the like for automatic traveling.

Next, the operation of this embodiment will be described. As shown in FIG. 2, the service vehicle A is to travel in front of the user vehicle B. The management company of the service vehicle A recruits participating users by advertising in a newspaper or a homepage to use which expressway to go to which direction. The participating users are required to have their own vehicle equipped with the actuator 30 for automatic traveling, and then rent out the terminal device 21 and set the terminal device 21 in the user vehicle B. From one service vehicle A, several to several tens of user vehicles B can be contracted. When the service vehicle A and the user vehicle B are concluded in this way and the test condition of the device is good, and when traveling on an expressway, a plurality of user vehicles B starting from the service vehicle A Run in crossing. The leading service vehicle A monitors and detects vehicles and obstacles before and after the own vehicle by the distance measuring sensor 1 and the surveillance camera 3, and keeps the optimal speed and inter-vehicle distance when there is an obstacle, while maintaining the optimum speed and inter-vehicle distance. Drive while avoiding.

FIG. 3 shows the processing of the service vehicle running at the head. In FIG. 3, the service vehicle A detects the magnetism of the magnetic nail C installed on the reference line of the traveling lane by the lane detection sensor 2 (step S1), and the automatic traveling control device 8 captures the magnetic field intensity signal. , CPU1
The zero relative displacement detecting means 10a calculates the relative position of the vehicle to the road surface, that is, the displacement from the reference line at the center of the lane (step S2). Each of the lane detection sensors 2 installed before and after the service vehicle A includes a pair of left and right magnetic sensors with respect to the center line of the vehicle. The relative displacement is detected based on the relative displacement. Then, the control amount calculating means 10b of the CPU 10 calculates the optimum automatic cruise control amount data (steering amount with respect to the vehicle speed) for steering to guide the vehicle to the center of the lane based on the relative displacement amount (step S3). ), And passes it from the I / O 9 to the ECU 7,
The CU 7 controls the steering via the actuator 6, stores the control amount data in the storage unit 11, and then transmits the control amount data to the user vehicle B via the transmission / reception unit 12 and the antenna 13 (Step S4).

On the other hand, as shown in FIG. 4, each of the user vehicles B1 and B2 running behind the service vehicle A receives data from the service vehicle A by the transmission / reception unit 26 (step S11), and transmits the data to the transmitter / receiver 26 (step S11). If the data is analyzed and is the automatic travel control amount data (step S12), the CPU 24 stores it in the storage unit 25 together with the time at which the data was received (step S13). The correction amount calculating means 24a of the CPU 24 calculates the time required to reach the position where the service vehicle A is present from the inter-vehicle distance between the service vehicle A and the own vehicle and the speed of the own vehicle. At a timing after the lapse of time from the reception, the steering amount of the own vehicle is determined based on the control amount (step S1).
4). The CPU 24 sends the steering amount data from the I / O 22 to the actuator 30 through the ECU 28, and the actuator 30 controls the steering based on the steering amount data (step S15). In step S12,
If the received data is notification data from the service vehicle A or multimedia data such as a movie, music, or a commercial, the data is displayed on the liquid crystal display 23 together with voice (step S16). (Step S17), the CPU 24 creates response data and transmits it to the service vehicle A from the transmitting / receiving unit 26 (Step S18).

When the service vehicle A transmits the automatic travel control amount data, the position data (position data in the traveling direction on the route) is also transmitted, and the user vehicle B1,
When the CPU 24 of B2 detects that the own vehicle position has reached the position by position calculation by GPS or by receiving information on the position from a road beacon, the CPU 24 determines the corrected steering amount using the control amount data. You may make it. As described above, the succeeding user vehicles B1 and B2 have their preceding service vehicles A at a certain time t1 (position p1).
, And the control amount data is used at the next time t2 (the position p2 where the preceding vehicle that transmitted the data was present), so that the control amount is calculated after reaching the point p2. There is no need, and quick guidance is possible.

The service vehicle A and each user vehicle B
When transmitting and receiving data to and from B1 and B2, it is necessary to include the identification numbers of the user vehicles B1 and B2.
Each of the user vehicles B1, B2 acquires data such as the vehicle speed and the steering angle of the own vehicle from the various sensors 29 for the vehicle, and periodically transmits the data to the service vehicle A. Is operating properly, and if an abnormality occurs, each user vehicle B
1. Send alarm data to B2.

The service vehicle A is connected to each user vehicle B
The multimedia information to be transmitted to B1 and B2 may be the one that the service vehicle A has stocked on its own, or may be the one that has been downloaded from the contracted information center. On the other hand, each of the user vehicles B1 and B2 may independently contract with the information center and download the multimedia information directly from the information center. In addition, each user vehicle B
If an emergency occurs in 1, B2, an emergency message is transmitted to the service vehicle A or the information center. Further, each of the user vehicles B1 and B2 may have an Internet connection function, a mobile phone function, a navigation function, and the like.

As described above, according to the present embodiment, the service vehicle A is provided with the automatic traveling control device 8 for transmitting various sensors for automatic traveling and automatic traveling control amount data to the user vehicle B. Since the vehicle B does not include various sensors for automatic traveling and includes the terminal device 21 that receives the automatic traveling control amount data from the service vehicle A, it is possible to reduce the cost and size of the user vehicle B. In addition, while the user vehicle is traveling automatically, various services such as movies and music received from the service vehicle can be enjoyed, and the time during the automatic traveling can be meaningfully used.

[0021]

As described above, the present invention provides a service vehicle for collecting data for automatically driving on a road,
A vehicle operation service system configured with a user vehicle that automatically receives and receives the data from the service vehicle according to a contract with a business operator that manages the service vehicle. Since no sensors are required, the cost and the development period can be reduced, and the autonomous driving technology can be commercialized as a business.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle operation service system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a vehicle operating state according to the embodiment of the present invention.

FIG. 3 is a flowchart showing an automatic traveling process of the service vehicle according to the embodiment of the present invention.

FIG. 4 is a flowchart showing automatic traveling processing of the user vehicle according to the embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 distance measuring sensor 2 lane detection sensor 3 monitoring camera 4 various sensors for vehicle 5 liquid crystal display 6 actuator 7 ECU 8 automatic traveling control device 9 I / O 10 CPU 10a relative displacement detecting means 10b control amount calculating means 11 storage unit 12 transmitting / receiving unit DESCRIPTION OF SYMBOLS 13 Antenna 21 Terminal device 22 I / O 23 Liquid crystal display 24 CPU 24a Correction amount calculation means 25 Storage unit 26 Transmission / reception unit 27 Antenna 28 ECU 29 Various sensors 30 for vehicles 30 Actuator

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Claims (8)

[Claims] 1. A service vehicle that collects data for automatically traveling on a road and a user vehicle that receives the data from the service vehicle and automatically travels according to a contract with a business operator that manages the service vehicle. The configured vehicle operation service system. 2. A relative displacement detecting means for detecting a relative displacement of the vehicle with respect to the reference line so that the service vehicle travels along a reference line laid on a road surface, based on the detected relative displacement. Control amount calculating means for calculating a control amount for converging to the reference line, and transmitting means for transmitting the control amount to the user vehicle, wherein the user vehicle transmits the control amount transmitted from the transmitting means. Receiving means for receiving, storage means for storing the received control amount, and correction amount calculating means for calculating a correction amount of the own vehicle based on the control amount when the service vehicle reaches a position where the control amount is transmitted. The vehicle operation service system according to claim 1, further comprising: control means for outputting control data for controlling traveling of the own vehicle based on the correction amount. 3. The service vehicle transmitting means has a function of transmitting various service information, and the user vehicle receiving means has a function of receiving various service information from the service vehicle. The vehicle operation service system according to claim 2. 4. The vehicle operation service system according to claim 2, wherein the receiving means of the user vehicle has a function of receiving various service information from an information center. 5. The user vehicle has transmission means for transmitting information from the own vehicle, and the service vehicle has reception means for receiving information from the user vehicle. 5. The vehicle operation service system according to any one of 4. 6. A terminal device comprising a receiving unit, a storing unit, a correction amount calculating unit, and a controlling unit included in the user vehicle according to claim 2, 3, or 4. 7. The terminal device according to claim 6, further comprising the transmission unit according to claim 5. 8. A terminal device according to claim 6 or 7, an electronic control unit for a vehicle receiving control data from the terminal device, and an electronic control unit for the vehicle, which is controlled by the electronic control unit for the vehicle to automatically drive the vehicle. An electronic control unit for a vehicle including an actuator.