JP2021081944A - Vehicle group - Google Patents

Abstract

To provide a technique for speedily returning a divided platoon of a vehicle group including an automatic driving vehicle to an original platoon.SOLUTION: In a vehicle group which is traveling while forming a platoon constituted of a plurality of vehicles, driving of a following vehicle which is automatically traveling continuously to a leading vehicle of the platoon is controlled on the basis of an instruction signal from the leading vehicle. After a second transmission unit of the following vehicle transmits a light stop signal indicating a stop caused by a traffic light at an intersection, the following vehicle travels at a speed equal to or higher than a predetermined speed. After a first reception unit of the leading vehicle receives the light stop signal from the second transmission unit of the following vehicle, the leading vehicle travels at a speed equal to or lower than the predetermined speed, so that the vehicles approach each other and are mixed into the group.SELECTED DRAWING: Figure 5

Description

The present invention relates to an autonomous vehicle, and more particularly to a group of vehicles traveling in a platoon including a plurality of autonomous vehicles.

In recent years, the development of autonomous driving technology for automobiles has accelerated, and the technology has reached a level where human operation is almost unnecessary by combining it with car navigation technology, advanced wireless communication technology, AI technology, and the like. According to Patent Document 1, when the length of a group of vehicles traveling in a platoon is longer than the length of the merging section of the currently traveling expressway, the platoon is divided so that the vehicle to be merged can be obtained. It allows you to enter between the divided vehicles. Further, when returning the divided platoon to one platoon again, it is performed based on the aptitude of the destination and the traveling schedule of the following vehicle.

Japanese Unexamined Patent Publication No. 2016-146129

However, Patent Document 1 does not disclose how the divided platoons return to one platoon when the divided platoons are returned to one platoon.

An object of the present invention is to provide a technique for promptly returning a platoon of divided vehicle groups including an autonomous driving vehicle to the original platoon.

In the present invention according to claim 1, it is a group of vehicles traveling in a platoon composed of a plurality of vehicles, and automatically following the leading vehicle based on an instruction signal from the leading vehicle in the platoon. In the vehicle group in which the driving of the traveling following vehicle is controlled, the following vehicle has a second transmission unit that transmits a signal stop signal by temporarily stopping at a red light of a traffic signal during traveling. The leading vehicle has a first receiving unit that receives a signal stop signal from the second transmitting unit of the following vehicle, and after the second transmitting unit of the following vehicle transmits the signal stop signal, The following vehicle travels at a speed equal to or higher than the predetermined speed, or after the first receiving unit of the leading vehicle receives the signal stop signal from the second transmitting unit of the following vehicle, the leading vehicle Approach each other by performing at least one of traveling at a speed equal to or lower than the predetermined speed.

Due to this configuration, the leading vehicle and the following vehicle of the divided platoon need to approach each other immediately for quick platoon reorganization (merging after division), so the signal stop due to the above suspension By transmitting or receiving a signal, the leading vehicle slows down from a predetermined speed, or the following vehicles speed up from a predetermined speed and approach each other. Or both are executed. As a result, they can approach each other at an early stage and join each other. In addition, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle.

Further, in the present invention according to claim 2, each of the following vehicles further has a camera unit that acquires an image in front of the own vehicle and an image that recognizes the color of the traffic signal for the image acquired by the camera unit. The image recognition unit includes a recognition unit and a front vehicle determination unit that detects whether or not the following vehicle is located immediately in front of the own vehicle based on an image acquired by the camera unit. When the vehicle temporarily stops by recognizing the red light of the traffic signal during traveling and the preceding vehicle determination unit detects that the following vehicle is not located immediately in front of the own vehicle, the second transmitting unit performs the signal. Send a stop signal.

With this configuration, the following vehicle temporarily stops by recognizing the red light of the traffic signal while the image recognition unit is traveling, and the preceding vehicle determination unit detects that the following vehicle is not located immediately in front of the own vehicle. Due to this detection, the leading car and the following vehicle of the divided platoon will slow down from the predetermined speed due to the early platoon reorganization (merging of the following vehicles), and the following vehicle will slow down from the predetermined speed. By increasing the speed, we can approach each other early. Further, as a result, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle.

Further, in the present invention according to claim 3, each of the following vehicles further recognizes the color of the traffic signal based on the camera unit that acquires the image in front of the own vehicle and the image acquired by the camera unit. The following vehicle immediately before the own vehicle based on the image recognition unit, the second receiving unit that acquires the position information of the other following vehicle, and the position information of the other following vehicle acquired by the second receiving unit. The following vehicle is provided with a front vehicle determination unit that detects whether or not the vehicle is located, and the following vehicle temporarily stops by recognizing the red light of the traffic signal while the image recognition unit is traveling, and determines the vehicle in front. When the unit detects that the following vehicle is not located immediately before the own vehicle, the second transmitting unit transmits the signal stop signal.

With this configuration, the following vehicle temporarily stops by recognizing the red light of the traffic signal while the image recognition unit is traveling, and the preceding vehicle determination unit detects that the following vehicle is not located immediately in front of the own vehicle. Due to this detection, the leading car and the following vehicle of the divided platoon will slow down from the predetermined speed due to the early platoon reorganization (merging of the following vehicles), and the following vehicle will slow down from the predetermined speed. By increasing the speed, we can approach each other early. Further, as a result, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle.

Further, in the present invention according to claim 4, each of the following vehicles further has a car navigation function unit for searching a traveling route to a destination via a waypoint, and a position for acquiring the position information of the leading vehicle. It has an information acquisition unit, and when each following vehicle is located at the head of the divided formation, it is based on the current position information of the leading vehicle acquired by the position information acquisition unit. Operate the car navigation function unit.

It is expected that the leading car of the divided platoon will slow down so that the following car can catch up due to the platoon reorganization (merging of the following cars), and the following car will speed up, but still cannot be reorganized early. If so, consideration must also be given to temporarily stopping the formation on the shoulder of the road. In that case, it will be necessary to deviate from the planned travel route, search for a space to stop the formation, and stop it temporarily. In such a case, according to this configuration, the following vehicle that has been divided and located at the head acquires the current position information of the leading vehicle, and based on the information, moves to the current position of the leading vehicle. You can perform a route search and join the formation including the leading vehicle at an early stage.

Further, in the present invention according to claim 5, each of the following vehicles further sets a destination and a waypoint, and further sets a destination and a waypoint, and searches for a traveling route through the waypoint, and a position of the leading vehicle. When the following vehicle has a position information acquisition unit for acquiring information and the following vehicle is located at the head of the divided platoon, the car navigation function unit acquires the head of the position information acquisition unit. After setting a new waypoint based on the current position information of the vehicle, the car navigation function unit performs the route search.

It is expected that the leading car of the divided platoon will slow down so that the following car can catch up due to the platoon reorganization (merging of the following cars), and the following car will speed up, but still cannot be reorganized early. If so, consideration must also be given to temporarily stopping the formation on the shoulder of the road. In that case, it will be necessary to find a space to stop the formation and stop it once off the planned travel route. In such a case, due to this configuration, the following vehicle that has been divided and located at the head acquires the current position information of the leading vehicle, and based on the information, newly sets the current position of the leading vehicle. It is possible to execute a route search as a stopover and join the formation including the leading vehicle at an early stage.

Further, in the present invention according to claim 6, it is a group of vehicles that travels in a platoon composed of a plurality of vehicles, and automatically follows the leading vehicle based on an instruction signal from the leading vehicle in the platoon. In the vehicle group in which the operation of the following vehicle is controlled, the following vehicle is divided into the platoon during traveling, and the following vehicle is located at the head of the divided platoon. The leading vehicle has a first receiving unit that receives a signal stop signal from the second transmitting unit of the following vehicle, and has a second transmitting unit that transmits a signal stop signal. After the second transmitting unit of the above-mentioned signal stop signal is transmitted, the following vehicle travels at a speed equal to or higher than the above-mentioned predetermined speed, or the first receiving unit of the above-mentioned leading vehicle is the second receiving unit of the above-mentioned following vehicle. After receiving the signal stop signal from the transmission unit of the above, the leading vehicles approach each other by traveling at a speed equal to or lower than the predetermined speed.

Due to this configuration, the leading car and the following car of the divided platoon need to be immediately close to each other for quick platoon reorganization (merging after division). Decelerate from the speed, and the following vehicles approach each other at a speed higher than the predetermined speed. As a result, they can approach each other at an early stage and join each other. In addition, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle.

Further, in the present invention according to claim 7, the vehicle group comprises a platoon having a plurality of vehicles, and the platoon consists of a leading vehicle and a following vehicle traveling following the leading vehicle, and the leading vehicle. In a group of vehicles traveling along a travel route to a destination by the car navigation function possessed by the vehicle, each of the following vehicles has a car navigation function unit that searches for a travel route to the destination via a stopover, and the leading vehicle. When the position information acquisition unit that acquires the position information of the vehicle and the above-mentioned formation are divided while the vehicle is running and are located at the head of the above-mentioned divided formation, the above-mentioned head acquired by the above-mentioned position information acquisition unit. It has a control unit that causes the car navigation function unit to search for a route based on the current position information of the vehicle.

With this configuration, the leading car in the divided platoon slows down so that the following car can catch up due to the platoon reorganization (merging of the following cars), and the following car speeds up, but the reorganization is still early. If it is expected that this will not be possible, consideration should be given to temporarily stopping the formation on the shoulder of the road. In that case, it will be necessary to find a space to stop the formation and stop it once off the planned travel route. In such a case, according to this configuration, the following vehicle that has been divided and located at the head acquires the current position information of the leading vehicle, and based on the information, moves to the current position of the leading vehicle. You can perform a route search and join the formation in front of you early.

Further, in the present invention according to claim 8, each of the following vehicles further includes a camera unit that acquires an image in front of the own vehicle and another vehicle immediately before the own vehicle based on the image acquired by the camera unit. The division detection unit for detecting whether or not the following vehicle is located is provided, and the control unit for the following vehicle is such that the division detection unit separated from the leading vehicle is placed immediately before the own vehicle by another following vehicle. When it is detected that the vehicle is not positioned, the car navigation function unit is operated based on the current position information of the leading vehicle acquired by the position information acquisition unit.

With this configuration, when the front vehicle determination unit detects that the own vehicle is separated from the leading vehicle based on the image captured by the camera unit, the second transmission unit transmits the signal stop signal. That is, the following vehicle compares the image of the rear part of the vehicle immediately before being stored in advance with the image of the rear part of the other vehicle immediately before being imaged after being divided, and if the comparison result is different, the above signal stop signal. To send. This enables highly accurate detection.

Further, in the present invention according to claim 9, each of the following vehicles is a second receiving unit that acquires position information of another following vehicle, and another following vehicle acquired by the second receiving unit. A division detection unit that detects whether or not the following vehicle is located immediately before the own vehicle based on the position information is provided, and the control unit of the following vehicle is such that the front vehicle determination unit is immediately before the own vehicle. When it is detected that the following vehicle is not positioned, the car navigation function unit is operated based on the current position information of the leading vehicle acquired by the position information acquisition unit.

With this configuration, by clarifying the positional relationship between the following vehicle and other following vehicles, it is possible to detect that the own vehicle is at the leading position on the rear side of the divided platoon, and unlike the captured image, at night or at night. Even in bad weather, it can be reliably detected that the vehicle is in the leading position.

Further, in the present invention according to claim 10, the vehicle group comprises a platoon having a plurality of vehicles, and the platoon consists of a leading vehicle and a following vehicle traveling following the leading vehicle, and the leading vehicle is the leading vehicle. In a group of vehicles traveling along a travel route to a destination by the car navigation function, each of the following vehicles sets a destination and a waypoint, and searches for a travel route to the destination via the waypoint. The car navigation function unit, the position information acquisition unit that acquires the position information of the leading vehicle, and the following vehicle are such that the formation is divided while the own vehicle is running and is located at the head of the divided formation. In the case of, the car navigation function unit sets a new waypoint based on the current position information of the leading vehicle acquired by the position information acquisition unit, and then causes the car navigation function unit to perform a search. It has a part and.

With this configuration, the leading car in the divided platoon slows down so that the following car can catch up due to the platoon reorganization (merging of the following cars), and the following car speeds up, but the reorganization is still early. If it is expected that this will not be possible, consideration should be given to temporarily stopping the formation on the shoulder of the road. In that case, it will be necessary to find a space to stop the formation and stop it once off the planned travel route. In such a case, due to this configuration, the following vehicle that has been divided and located at the head acquires the current position information of the leading vehicle, and based on the information, newly sets the current position of the leading vehicle. It is possible to execute a route search as a stopover and join the formation including the leading vehicle at an early stage.

Further, in the present invention according to claim 11, the operation of a following vehicle that forms a platoon composed of a plurality of vehicles and automatically follows the leading vehicle based on an instruction signal from the leading vehicle in the platoon. In the vehicle group in which is controlled, the following vehicle receives an instruction signal regarding the operation of the own vehicle from the leading vehicle and a second receiving unit that receives the position information of each of the following vehicles, and the position information of the own vehicle. It has a second transmitting unit that transmits to the second receiving unit of the leading vehicle and each following vehicle, and a car navigation function unit that searches for a traveling route based on the position information of the leading vehicle. The leading vehicle includes a first transmitting unit that transmits the position information of the own vehicle to the second receiving unit of each following vehicle, a first receiving unit that receives the position information from each following vehicle, and the vehicle. While the group is traveling, the division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more and the separated time has elapsed by a predetermined time or more, and the division detecting unit of the leading vehicle When it is detected that a part of the platoon of the following vehicle is separated from the leading vehicle by the predetermined distance or more and the separated time has passed by the predetermined time or more, the front row of the part of the following vehicle is separated. To the second receiving unit of the vehicle, the position information of the own vehicle is transmitted, and an instruction signal for operating the car navigation function unit is transmitted based on the position information. It has a control unit that controls the first transmission unit of the above.

With this configuration, the divided following vehicles can quickly join the vehicle group including the leading vehicle and return to the original formation by following the position information of the leading vehicle.

Further, in the present invention according to claim 12, the vehicle group comprises a platoon having a plurality of vehicles, and the platoon consists of a leading vehicle and a following vehicle traveling following the leading vehicle, the leading vehicle and the leading vehicle. In a group of vehicles traveling along a travel route to a destination by the car navigation function of the following vehicle, the leading vehicle has a first receiving unit that receives position information of each following vehicle and the first receiving unit. Based on the position information of each following vehicle received by the receiving unit, the division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more while the vehicle group is traveling, and the division detection unit. When it detects that a part of the platoon of the following vehicle is separated from the leading vehicle by the predetermined distance or more, the second receiving unit of the vehicle in the front row of the part of the following vehicle It also has a control unit that controls the first transmission unit of the leading vehicle so as to transmit an instruction signal for causing the car navigation function unit to perform a route search based on the current position information of the leading vehicle.

With this configuration, the following vehicle is detected as a leading vehicle or a leading vehicle or by transmitting an instruction signal for re-searching based on the current position information of the leading vehicle by detecting a following vehicle separated from the leading vehicle by a predetermined distance or more. It is possible to travel toward and approach a platoon including the leading vehicle and the following vehicle traveling following the following vehicle, and then merge. This allows the divided formations to be quickly restored. Further, as a result, for example, it is possible to avoid a situation in which another vehicle is sandwiched between the leading vehicle, the following vehicle following the leading vehicle, and the divided following vehicle.

In the present invention, when the formation of the divided vehicle group including the self-driving car is returned to the original formation, it can be returned extremely quickly and surely.

It is a circuit block diagram in Example 1 of the vehicle group of this invention. It is a circuit block diagram in Example 1 of the vehicle group of this invention. It is a circuit block diagram in Example 2 of the vehicle group of this invention. It is a circuit block diagram in Example 2 of the vehicle group of this invention. It is an operation flowchart in 1st Example of the vehicle group of this invention. It is an operation flowchart in 2nd Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention. It is a traveling explanatory drawing in the Example of the vehicle group of this invention.

(Example 1) Hereinafter, examples of the vehicle group of the present invention will be described with reference to the drawings. The present invention is not limited to the following examples.

The circuit configuration in the vehicle embodiment of the vehicle group of the present invention will be described in detail with reference to FIG. The vehicle group includes one leading vehicle and a plurality of following vehicles traveling following the leading vehicle. Further, in this embodiment, both the leading vehicle and each following vehicle are vehicles capable of automatic driving. Further, each following vehicle also has a follow-up traveling function of traveling following the immediately preceding vehicle. This also applies to other examples.

FIG. 1 describes the configuration of the circuit block of the leading vehicle A of this embodiment. The leading vehicle has an accelerator unit 11A for driving in basic driving, an accelerator control unit 11B controlled by the accelerator unit, a steering unit 13A for steering, a steering drive control unit 13B for controlling the accelerator unit, and braking of the own vehicle. It has a brake unit 14A to perform the operation, a brake control unit 14B to control the brake unit 14A, and an engine unit 12 controlled by the accelerator control unit.

Further, the vehicle A is provided with a manual driving function, an automatic driving function, a car navigation function, a follow-up driving function, and the like. Therefore, regarding the automatic driving function of this autonomous driving vehicle, the control unit 10 composed of an ECU (Electronic Control Unit) or the like includes an accelerator unit 11A, a brake unit 14A, a steering wheel (steering unit) 13A, and a direction indicator unit (not shown). ) Is automatically controlled. That is, the vehicle navigation function unit 16 sets a travel route, and the camera unit 20 and / or the radar unit 21 can automatically travel or follow the vehicle while receiving travel guidance along the travel route.

Further, although the camera unit 20 captures the surroundings of the vehicle, it can clearly capture images of the vehicle immediately before the vehicle and the vehicle immediately after the vehicle. Further, the captured image is stored and stored in the first storage unit 28. Further, the radar unit 21 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and after. When the destination and the waypoint are set, the car navigation function unit 15 uses GPS (Global Positioning System) to provide driving guidance to the destination via the waypoint, and also provides the position of the own vehicle and the position of another vehicle. Is detected.

The first transmission unit 26 transmits an instruction signal and the position information of the own vehicle to the second reception unit (described later) of the following vehicle. On the other hand, the first receiving unit 27 receives various signals including the position information of the own vehicle from the second transmitting unit (described later) of the following vehicle. Therefore, in this embodiment, the leading vehicle and each following vehicle exchange their own vehicle position information with each other. In addition, the speed detection unit 22 detects the speed of the own vehicle and also detects whether the current traveling speed is equal to or less than a predetermined speed. The image recognition unit 23 recognizes the red, yellow, and blue of the traffic signal installed on the road and their blinking, and also recognizes the image of the rear part of the following vehicle traveling ahead. This recognition recognizes that the image of the rear part of the vehicle immediately before is present in the image captured by the camera unit 20. The front vehicle determination unit 24 determines whether or not the rear image of the following vehicle stored in the first storage unit in advance before traveling and the image of the rear part of the vehicle immediately before the own vehicle captured by the camera unit 20 are different. To do. The position information acquisition unit 25 wirelessly acquires the position information of the leading vehicle and each following vehicle, and the above-mentioned position information transmitted from the leading vehicle, each following vehicle, or the base station. Further, the front vehicle determination unit 24 also detects whether or not the following vehicle is located immediately before the own vehicle based on the position information of the other following vehicle acquired by the first receiving unit 27 or the position information acquisition unit 25. You can also.

Further, the display unit 16 has functions such as map display, traveling guidance, and warning notification by the car navigation function unit 15, and also detects the position of the own vehicle. The operation mode switching unit 17 switches between manual operation and automatic operation. The in-vehicle speaker unit 18 makes an announcement regarding traveling guidance by the car navigation function unit 15. The in-vehicle microphone unit 19 can instruct driving by the voice of the driver. Further, the first storage unit 28 of the leading vehicle A stores the ID (Identification) of each following vehicle and the traveling order corresponding to the ID (Identification). As a result, the instruction signal from the leading vehicle A can be transmitted by designating the following vehicle based on the above ID. This function is the same in other embodiments.

Next, the configuration of the circuit block of the following vehicle of this embodiment will be described with reference to FIG. Here, in the leading vehicle of FIG. 1, each part having the same name shall have the same or equivalent function.

The second transmission unit 46 transmits various signals to the first reception unit 27 of the leading vehicle. Further, the second receiving unit 47 receives an instruction signal from the first transmitting unit 26 of the leading vehicle. From the above-mentioned configuration of the leading vehicle and the configuration of the following vehicle, if one following vehicle overtakes the leading vehicle and is located in the front row of the main platoon while driving, the leading vehicle is used. It is also possible to change the following vehicle to the leading vehicle by the instruction signal. The number of following vehicles is also stored in the first and second storage units.

Next, the operation of the vehicle group in this embodiment will be described in detail with reference to FIG. In step 1, the driver first sets a destination and a waypoint by the car navigation function unit 15 in the leading vehicle. Next, the car navigation function unit 35 sets the destination and waypoints set by the leading vehicle from the first transmitting unit 26 of the leading vehicle to the second receiving unit 47 of each following vehicle (B3 to B6). An instruction signal for this is transmitted, and both grounds are set for each following vehicle.

Since each of the following vehicles has a car navigation function, it can automatically travel to a target location or a waypoint, but the tracking function is prioritized and follows the vehicle immediately before the vehicle set in advance before traveling. It is set to run. Next, the driver activates the automatic driving function and the following function of each following vehicle from the leading vehicle to start the traveling by the automatic driving of the present vehicle group.

In step 2, referring to FIG. 7, while the vehicle group was traveling, the traffic signal at the intersection was approached, and the leading vehicle A and the following vehicles B1 and B2 following the leading vehicle were able to pass through the intersection. Of the remaining following vehicles B3 to B6, it is assumed that the image recognition unit 23 of the following vehicle B3 detects the red light of the traffic signal at the intersection and stops (see FIG. 8). In step 3, with respect to the following vehicle B3 in the front row of the divided platoon, the front vehicle determination unit 24 detects that the own vehicle is located in the front row of the platoon after the division. Next, in step 4, the following vehicle B3 located in the front row of the platoon that has been divided and temporarily stopped transmits a signal stop signal from the second transmitting unit 46 to the first receiving unit 27 of the leading vehicle.

In step 2, the following vehicle may transmit the signal stop signal by detecting the red light and stopping. Further, in step 3, after the operation of step 2, it is detected that the following vehicle is located in the front row of the formation, and a signal stop signal is transmitted. However, the following vehicle in step 3 is transmitted. The signal stop signal may be transmitted only by detecting that is located in the front row.

When the first receiving unit 27 of the leading vehicle A receives the signal stop signal transmitted from the second transmitting unit 46 of the following vehicle B3, the car navigation function unit 15 receives the car navigation function unit 15 or the position information acquisition unit. The distance (straight line distance or mileage) is calculated from the current position information of the own vehicle acquired by 25 and the current position information of the following vehicle B3, and if the distance is equal to or greater than the predetermined distance, the leading vehicle Search for a suitable place to stop the formation including A on the shoulder of the road (see Fig. 9).

In step 5, the second receiving unit 47 of the following vehicle B3 receives the current position information of the leading vehicle A from the first transmitting unit 26 of the leading vehicle A. The current position information of the leading vehicle can also be obtained from the position information acquisition unit 45 via the base station. In step 6, the car navigation function unit 35 of the following vehicle B3 sets the current position of the leading vehicle A as a waypoint based on the current position information of the leading vehicle. In the present embodiment, the waypoint is the position where the leading vehicle A is stopped, but even if the preceding vehicle A is running, the current position during the running is set as the waypoint.

Next, in step 7, the car navigation function unit 35 of the following vehicle B3 searches for a traveling route (route) in a state where a new waypoint is set in addition to the already set destination and waypoint. Is executed, and automatic driving is started toward a new waypoint while following the newly set traveling route. Further, the following vehicles B4 to B7 following the following vehicle B3 start traveling so as to follow the following vehicle B3. Next, the following vehicles B3 to B7, which have started traveling in step 8, catch up with the platoon of the leading vehicles at a predetermined speed, that is, at a speed faster than the cruising speed, and travel so as to approach them early.

Further, in step 9, the leading vehicle A has the car navigation function unit 15 the following vehicle B3 based on the position information of the following vehicle B3 received by the position information acquisition unit 25 or the first receiving unit while the vehicle is stopped. When it detects that the vehicle has resumed traveling, the own vehicle also resumes traveling and travels at a speed equal to or lower than the predetermined speed (see FIG. 10). As a result, with reference to FIG. 11, the formations A, B1 and B2 including the leading vehicle and the formations B3, B4, B5 and B6 including the following vehicle B3 accelerate the approach (step 10), and then merge with each other (step 10). Step 11). The rapid merging described above prevents other vehicles from entering between each divided formation. It should be noted that either the platoon including the leading vehicle may have a traveling speed lower than the predetermined speed, or the platoon of the other following vehicles may have a traveling speed higher than the predetermined speed.

Regarding the above-mentioned merging, the car navigation function unit 15 causes the leading vehicle A to position the following vehicle B3 at a position following the following vehicle B2 located at the end of the formation of the leading vehicle from the position information of the following vehicle B3. It is possible to detect that the merging has been normally executed by detecting that the merging has occurred. Further, the following vehicle B3 was normally merged by recognizing by the image recognition unit 43 that the vehicle immediately before the own vehicle captured by the camera unit 40 is the image of the rear part of the set following vehicle. Can be detected. After that, the vehicle group will travel to the next stopover and destination at a predetermined speed.

(Example 2) Next, Example 2 of the vehicle group of the present invention will be described in detail. Regarding the circuit configuration of the vehicle group of the second embodiment, the part having the same name as that of the first embodiment has the same function or the same function as that of the first embodiment. Therefore, those explanations will be omitted, and only the different parts will be described below.

As already described in the configuration of the present vehicle group of the first embodiment, since the leading vehicle A and all the following vehicles transmit and receive the current position information of the own vehicle to each other, each vehicle is the position of the other vehicle. Is always detected. In addition, the division detection unit 63 of the leading vehicle A detects that the distance between the own vehicle and each following vehicle is equal to or greater than a predetermined distance, and is the most of the platoon that has been divided and is located behind. It also detects that the following vehicle in the front row has stopped for a predetermined time or longer. Further, the division detection unit 63 can also detect a following vehicle in a state of being separated from the leading vehicle by a predetermined distance or more and a predetermined time or more by the position information of each following vehicle acquired by the position information acquisition unit 63. Further, the division detection unit 63 is immediately before the own vehicle, based on the image captured by the camera unit 60, or based on the position information of the following vehicle received by the position information acquisition unit 65 or the first receiving unit. Detects and determines whether the following vehicle is located. This function is the same for the division detection unit of each following vehicle.

With reference to FIG. 4, the operation of the second embodiment of the vehicle group of the present invention will be described in detail below. Since step 21 is the same as step 1 of the first embodiment, the description thereof will be omitted. In step 22, referring to FIG. 7, while the platoon of the present vehicle group is traveling, the division detection unit 63 of the leading vehicle A detects a following vehicle in the main platoon that is separated from the own vehicle by a predetermined distance or more. At 23, it is detected that the following vehicle separated by the predetermined distance or more is stopped for a predetermined time or more (see FIG. 8). Next, in step 24, due to these detections, the leading vehicle A stops the own vehicle and the following vehicle traveling following the own vehicle (see FIG. 9). In step 22, as described above, the division detection unit 63 of the leading vehicle A can shift to step 24 only by detecting the following vehicle separated from the own vehicle by a predetermined distance or more in the main platoon.

Further, the division detection unit 63 is separated by the predetermined distance or more based on the image captured by the camera unit 60 or the position information of the following vehicle received by the position information acquisition unit 65 or the first reception unit 67. By detecting that the vehicle is doing so, the process proceeds to step 24, and the leading vehicle and the formation of the following vehicles including the leading vehicle can be stopped.

The stop position of the leading vehicle A is searched by the car navigation function unit 55, if a stop location that can secure sufficient space for stopping is not found on the road to be traveled, the vehicle is deviated from the road to be traveled. And stop. In this case, the number and length of the platoon including the leading car and the following car following the leading car will be detected.

In step 25, after the platoon is stopped, the leading vehicle transmits the current position of the own vehicle to the following vehicle B3 located in the front row of the divided platoon. By this transmission, the second receiving unit 87 of the following vehicle B3 receives the position information of the leading vehicle A. Next, in step 26, the car navigation function unit 75 of the following vehicle B3 sets the current position of the leading vehicle A as a new waypoint based on the above position information. Next, in step 27, the car navigation function unit 75 executes a route search to the waypoint after setting the waypoint.

When the car navigation function unit of the following vehicle B3 sets a new traveling route by the route search, the following vehicle B3 starts traveling along the traveling route. At that time, the traveling speed of the platoon including the following vehicle B3 becomes equal to or less than the predetermined speed. After that, the car navigation function unit 55 of the leading vehicle A detects the start of traveling of the following vehicle B3 from the position information or the change of the position information, and the own vehicle also starts traveling (step 28). At that time, the traveling speed of the platoon including the following vehicle B3 becomes equal to or higher than the predetermined speed (step 29). The traveling speed of each of the above-mentioned divided platoons may be changed by at least one of steps 28 and 29.

At step 30, the two divided formations described above will then approach each other and join at step 31. This merging has the effect of preventing other vehicles from entering between the platoons of following vehicles. Further, it can be confirmed as described above whether or not the two divided two merging is normally performed, as in the first embodiment.

The present invention relates to a vehicle group including a plurality of self-driving vehicles capable of following traveling, and in particular, has high industrial utility because it is a technique for reorganizing a platoon of the vehicle group.

15 Car navigation function unit 23 Image recognition unit 24 Front vehicle determination unit 26 First transmission unit 27 First reception unit 28 First storage unit 46 Second transmission unit 47 Second reception unit 48 Second storage unit 63 Division detector

Claims (12)

A group of vehicles traveling in a platoon consisting of a plurality of vehicles, and the operation of a following vehicle that automatically travels following the leading vehicle is controlled based on an instruction signal from the leading vehicle in the platoon. In the vehicle group
The following vehicle
It has a second transmitter that transmits a signal stop signal by pausing at the red light of a traffic signal while driving.
The leading vehicle is
It has a first receiving unit that receives a signal stop signal from the second transmitting unit of the following vehicle.
After the second transmitting unit of the following vehicle transmits the signal stop signal, the following vehicle travels at a speed equal to or higher than the predetermined speed, or the first receiving unit of the leading vehicle is the following vehicle. After receiving the signal stop signal from the second transmission unit of the above, the leading vehicle is a group of vehicles approaching each other by executing at least one of traveling at a speed equal to or lower than the predetermined speed. In the vehicle group according to claim 1,
Each of the following vehicles further
The camera unit that acquires the image in front of the vehicle and
An image recognition unit that recognizes the color of the traffic signal for the image acquired by the camera unit, and
A front vehicle determination unit that detects whether or not the following vehicle is located immediately in front of the own vehicle based on the image acquired by the camera unit, and a front vehicle determination unit.
With
When the following vehicle temporarily stops by recognizing the red light of the traffic signal while the image recognition unit is traveling, and the front vehicle determination unit detects that the following vehicle is not located immediately before the own vehicle. , A group of vehicles in which the second transmitting unit transmits the signal stop signal. In the vehicle group according to claim 1,
Each of the following vehicles further
The camera unit that acquires the image in front of the vehicle and
An image recognition unit that recognizes the color of the traffic signal based on the image acquired by the camera unit, and
A second receiver that acquires the position information of other following vehicles,
A front vehicle determination unit that detects whether or not the following vehicle is located immediately before the own vehicle based on the position information of another following vehicle acquired by the second receiving unit.
With
When the following vehicle temporarily stops by recognizing the red light of the traffic signal while the image recognition unit is traveling, and the front vehicle determination unit detects that the following vehicle is not located immediately before the own vehicle. , A group of vehicles in which the second transmitting unit transmits the signal stop signal. In the vehicle group according to claim 1,
Each of the following vehicles further
A car navigation function unit that searches for a driving route to the destination via a stopover,
A position information acquisition unit that acquires the position information of the leading vehicle, and
Have,
When each of the following vehicles comes to be located at the head of the divided platoon, the vehicle that operates the car navigation function unit based on the current position information of the leading vehicle acquired by the position information acquisition unit. group. In the vehicle group according to claim 1,
Each of the following vehicles further
A car navigation function unit that sets a destination and a waypoint and searches for a travel route via the above waypoint.
It has a position information acquisition unit that acquires the position information of the leading vehicle, and
When the following vehicle comes to be located at the head of the divided platoon, the car navigation function unit provides a new waypoint based on the current position information of the leading vehicle acquired by the position information acquisition unit. A group of vehicles in which the car navigation function unit searches for the route after setting. A group of vehicles traveling in a platoon consisting of a plurality of vehicles, and the operation of a following vehicle that automatically travels following the leading vehicle is controlled based on an instruction signal from the leading vehicle in the platoon. In the vehicle group
The following vehicle
It has a second transmitter that transmits a signal stop signal when the formation is divided during traveling and the following vehicle is located at the head of the divided formation.
The leading vehicle is
It has a first receiving unit that receives a signal stop signal from the second transmitting unit of the following vehicle.
After the second transmitting unit of the following vehicle transmits the signal stop signal, the following vehicle travels at a speed equal to or higher than the predetermined speed, or the first receiving unit of the leading vehicle is the following vehicle. After receiving the signal stop signal from the second transmission unit of the above, the leading vehicle is a group of vehicles approaching each other by executing at least one of traveling at a speed equal to or lower than the predetermined speed. A vehicle group consisting of a leading vehicle and a following vehicle traveling following the leading vehicle in a platoon having a plurality of vehicles, and a traveling route to a destination by the car navigation function of the leading vehicle. In a group of vehicles traveling along
Each of the following vehicles
A car navigation function unit that searches for a driving route to the destination via a stopover,
A position information acquisition unit that acquires the position information of the leading vehicle, and
When the platoon is divided while the own vehicle is running and is located at the head of the divided platoon, the car navigation system is based on the current position information of the leading vehicle acquired by the position information acquisition unit. A control unit that causes the functional unit to perform the above search,
Vehicle group with. In the vehicle group according to claim 7,
Each of the following vehicles further
The camera unit that acquires the image in front of the vehicle and
A division detection unit that detects whether or not another following vehicle is located immediately in front of the own vehicle based on the image acquired by the camera unit, and a division detection unit.
With
When the division detection unit separated from the leading vehicle detects that another following vehicle is not located immediately before the own vehicle, the control unit of the following vehicle determines the leading vehicle acquired by the position information acquisition unit. A group of vehicles that operate the car navigation function unit based on the current position information. In the vehicle group according to claim 7,
Each of the following vehicles further
A second receiver that acquires the position information of other following vehicles,
A division detection unit that detects whether or not the following vehicle is located immediately in front of the own vehicle based on the position information of the other following vehicle acquired by the second receiving unit.
With
When the preceding vehicle determination unit detects that the following vehicle is not positioned immediately before the own vehicle, the control unit of the following vehicle is based on the current position information of the leading vehicle acquired by the position information acquisition unit. A group of vehicles that operate the car navigation function unit. A vehicle group consisting of a leading vehicle and a following vehicle traveling following the leading vehicle in a platoon having a plurality of vehicles, and a traveling route to a destination by the car navigation function of the leading vehicle. In a group of vehicles traveling along
Each of the following vehicles
A car navigation function unit that sets a destination and a waypoint and searches for a travel route to the destination via the waypoint.
A position information acquisition unit that acquires the position information of the leading vehicle, and
When the platoon is divided while the own vehicle is traveling and the following vehicle is located at the head of the divided platoon, the leading vehicle acquired by the position information acquisition unit by the car navigation function unit. After setting a new waypoint based on the current position information of, the control unit that causes the car navigation function unit to perform the above search,
Vehicle group with. In the vehicle group in which a platoon consisting of a plurality of vehicles is formed and the operation of a following vehicle that automatically follows the leading vehicle is controlled based on an instruction signal from the leading vehicle in the platoon.
The following vehicle
A second receiving unit that receives an instruction signal regarding the driving of the own vehicle from the leading vehicle and the position information of each of the following vehicles.
A second transmitting unit that transmits the position information of the own vehicle to the second receiving unit of the leading vehicle and each following vehicle, and
A car navigation function unit that searches for a travel route based on the position information of the leading vehicle, and
Have,
The leading vehicle is
A first transmitting unit that transmits the position information of the own vehicle to the second receiving unit of each following vehicle, and
A first receiving unit that receives position information from each following vehicle, and
A division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more and that the separated time has elapsed by a predetermined time or more while the vehicle group is traveling.
When the division detection unit of the leading vehicle detects that a part of the platoon of the following vehicle is separated from the leading vehicle by the predetermined distance or more and the separated time has elapsed by the predetermined time or more, the following vehicle An instruction signal to transmit the position information of the own vehicle to the second receiving unit of the vehicle in the front row of a part of the platoon and to operate the car navigation function unit based on the position information. A control unit that controls the first transmission unit of the leading vehicle so as to transmit
Vehicle group with. A vehicle group consisting of a leading vehicle and a following vehicle traveling following the leading vehicle in a formation having a plurality of vehicles, and the purpose of the vehicle navigation function unit is that of the leading vehicle and the following vehicle. In a group of vehicles traveling along the travel route to the ground
The leading vehicle is
A first receiving unit that receives the position information of each following vehicle, and
Based on the position information of each following vehicle received by the first receiving unit, a division detection unit that detects that the following vehicle is separated from the leading vehicle by a predetermined distance or more while the vehicle group is traveling, and a division detection unit.
When the division detection unit detects that a part of the platoon of the following vehicle is separated from the leading vehicle by the predetermined distance or more, the second reception of the vehicle in the front row of the part of the following vehicle is received. A control unit that controls the first transmission unit of the leading vehicle so as to transmit an instruction signal for causing the car navigation function unit to perform a route search based on the current position information of the leading vehicle.
Vehicle group with.

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