JP4840353B2 - Convoy travel system - Google Patents

Description

  The present invention relates to a row running system.

  2. Description of the Related Art Conventionally, a convoy travel system is provided in which a plurality of vehicles travel in a convoy by using inter-vehicle communication or using a network communication system on a dedicated road such as an expressway.

For example, when a plurality of vehicles are driven using a network communication system, a network server is provided in the management center, and the network server acquires vehicle information such as the position and vehicle speed of each vehicle, and includes the vehicle information. A train of vehicles is organized based on the train, and each vehicle travels in a train of organized trains (see, for example, Patent Document 1).
JP 2006-338117 A

  However, in the conventional platooning system, when the platoon is formed, the host vehicle is driven at the head due to the operational problem of the platooning, or depending on the intention of each driver or the like. As a result, the overall energy consumption of the formation increases.

  It is an object of the present invention to provide a platooning system that can solve the problems of the conventional platooning system and reduce the overall energy consumption of the platooning.

  Therefore, in the row running system of the present invention, a current location detection unit that detects a vehicle position that represents the current location of the host vehicle, a vehicle information detection unit that detects vehicle information that represents the running state of the host vehicle, and a communication unit are provided. A peripheral vehicle information acquisition processing means for acquiring peripheral vehicle information from a peripheral vehicle subject to a convoy travel, a convoy formation processing means for organizing the convoy based on the vehicle position, the vehicle information and the peripheral vehicle information; The height adjustment device is operated to change the height variable of the own vehicle based on the row running processing means for running in the same row and the vehicle attribute information of the nearest surrounding vehicle running in front of the own vehicle. Height adjustment processing means.

  In another platooning system of the present invention, the height adjustment processing means operates the height adjusting device based on the vehicle attribute information of the nearest surrounding vehicle traveling behind the host vehicle, and Change the height variable.

  In still another platooning system of the present invention, the height adjustment processing means further includes a vehicle of the host vehicle when the vehicle height of the host vehicle is higher than the vehicle height of the nearest surrounding vehicle traveling in front of the host vehicle. The height and the vehicle height of the nearest surrounding vehicle traveling in front of the host vehicle are made equal.

  In still another platooning system according to the present invention, the height adjustment processing means may further include a height adjustment processing unit configured such that when the vehicle height of the own vehicle is equal to or less than the vehicle height of the nearest surrounding vehicle traveling in front of the own vehicle, Set the minimum ground clearance to be equal to or higher than the minimum ground clearance of the nearest surrounding vehicle traveling in front of the vehicle.

  In still another platooning system of the present invention, the height adjustment processing means further includes a minimum ground height of a nearest surrounding vehicle traveling in front of the own vehicle and a nearby surrounding vehicle traveling behind the own vehicle. If the ground clearance is different, the minimum ground clearance of the nearest surrounding vehicle traveling in front of the host vehicle is within the range where the height of the own vehicle is not higher than that of the nearest surrounding vehicle traveling in front of the own vehicle. The minimum ground clearance of the vehicle is placed in the middle of the maximum ground clearance of the nearest surrounding vehicles that run behind the vehicle.

  According to the present invention, in the platooning system, a current position detection unit that detects a vehicle position that represents the current position of the own vehicle, a vehicle information detection unit that detects vehicle information that represents the traveling state of the own vehicle, and a communication unit are provided. A peripheral vehicle information acquisition processing means for acquiring peripheral vehicle information from a peripheral vehicle subject to a convoy travel, a convoy formation processing means for organizing the convoy based on the vehicle position, the vehicle information and the peripheral vehicle information; The height adjustment device is operated to change the height variable of the own vehicle based on the row running processing means for running in the same row and the vehicle attribute information of the nearest surrounding vehicle running in front of the own vehicle. Height adjustment processing means.

  In this case, the height adjustment device is activated based on the vehicle attribute information of the nearest surrounding vehicle traveling in front of the host vehicle, and the height variable of the host vehicle is changed. The vehicle can be placed in the projection plane of the surrounding vehicle. Therefore, the wind pressure received by the own vehicle by the natural wind and the traveling wind can be reduced, and the air resistance received by the entire platoon can be minimized. As a result, the overall energy consumption of the formation can be reduced.

  In another platooning system of the present invention, the height adjustment processing means operates the height adjusting device based on the vehicle attribute information of the nearest surrounding vehicle traveling behind the host vehicle, and Change the height variable.

  In this case, the nearest surrounding vehicle that travels behind the own vehicle can be placed in the projection plane of the own vehicle. Therefore, it is possible to reduce the wind pressure received by the nearest surrounding vehicle traveling behind the host vehicle by the natural wind and the traveling wind, and to minimize the air resistance received by the entire platoon. As a result, the overall energy consumption of the formation can be reduced.

  In still another platooning system according to the present invention, the height adjustment processing means may further include a height adjustment processing unit configured such that when the vehicle height of the own vehicle is equal to or less than the vehicle height of the nearest surrounding vehicle traveling in front of the own vehicle, Set the minimum ground clearance to be equal to or higher than the minimum ground clearance of the nearest surrounding vehicle traveling in front of the vehicle.

  In this case, if the vehicle's vehicle height is less than or equal to the vehicle height of the nearest surrounding vehicle traveling in front of the vehicle, the vehicle's minimum ground clearance is the minimum ground clearance of the nearest surrounding vehicle traveling in front of the vehicle. Therefore, the amount of air passing under the vehicle can be increased. Therefore, since the own vehicle can be lifted upward by air, a load caused by friction generated between each wheel of the own vehicle and the road can be reduced. As a result, the energy consumption of the entire formation can be further reduced.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram of a convoy travel system in an embodiment of the present invention.

  In the figure, 10 is the own vehicle as the vehicle, 11 is a vehicle that is present in the vicinity of the own vehicle 10 and is subject to platooning, that is, a surrounding vehicle, and 14 is a control unit that controls the entire vehicle 10. , 51 is a management center for managing the network communication system, and 63 is a network. The vehicle 10, the surrounding vehicle 11, the management center 51, the network 63 and the like constitute a platooning system.

  The own vehicle 10 is predetermined by a GPS sensor 15 serving as a current position detecting unit that detects the current position of the own vehicle 10 as the current vehicle position and the direction of the own vehicle 10 as the own vehicle direction, and is operated by a driver who is an operator. As an operation unit 34 as an input unit for performing input, a display unit 35 as an output unit for performing various displays by an image displayed on a screen (not shown) and notifying the driver, and a transmission / reception unit functioning as a communication terminal Communication unit 38, vehicle information detection unit 47 for detecting vehicle information such as traveling state information representing the traveling state of the host vehicle 10, environmental information representing the environment in which the host vehicle 10 is placed, and surrounding conditions of the host vehicle 10 The height of the vehicle represented by the surrounding information detection unit 48 that detects surrounding information to be represented, the vehicle height of the host vehicle 10 and the minimum ground height (the height of the portion other than the wheels in the vehicle, that is, the height of the lowest portion of the vehicle body). The The GPS sensor 15, the operation unit 34, the display unit 35, the communication unit 38, the vehicle information detection unit 47, the surrounding information detection unit 48, the height adjustment device 49, and the like are included in the control unit 14. Connected to. In addition, the surrounding vehicle 11 is the same as the own vehicle 10, and the control unit 14, the GPS sensor 15, the operation unit 34, the display unit 35, the communication unit 38, the vehicle information detection unit 47, the surrounding information detection unit 48, and the height adjustment. Device 49 and the like. The GPS sensor 15 detects time in addition to the vehicle position and the vehicle direction. The vehicle direction can be detected by disposing the direction sensor independently of the GPS sensor 15.

  The vehicle information detection unit 47 includes a vehicle speed sensor (not shown) as a vehicle speed detection unit that detects the vehicle speed, a weight sensor (not shown) as a weight detection unit that detects the weight (total weight) of the host vehicle 10, and a fuel consumption that detects average fuel consumption. A fuel consumption sensor (not shown) as a detection unit, a cruising distance (not shown) as a cruising distance detection unit that detects a cruising distance indicating a cruising distance (can be detected by a remaining amount of gasoline, a remaining battery level, etc.) A sensor, a vehicle height sensor (not shown) as a first height detection unit for detecting the vehicle height, a minimum ground height sensor (not shown) as a second height detection unit for detecting the lowest ground height, and the like are provided. Vehicle information is constituted by the vehicle speed, weight, average fuel consumption, cruising distance, vehicle height, minimum ground clearance, and the like.

  The surrounding information detection unit 48 includes a wind speed sensor (not shown) as a wind speed detection unit that detects a wind speed around the host vehicle 10, a wind pressure sensor (not shown) as a wind pressure detection unit that detects a wind pressure around the host vehicle 10, A road shape sensor (not shown) as a road shape detection unit that detects the shape of the road on which the host vehicle 10 is traveling, a road surface state detection sensor (not shown) as a road surface state detection unit that detects a road surface state, and the surroundings of the host vehicle 10 Radar that detects and calculates a distance to the surrounding vehicle 11, for example, a distance between the surrounding vehicle 11 traveling ahead and the host vehicle 10, and detects the surrounding vehicle 11 such as the surrounding vehicle 11 And a radar (not shown) such as a millimeter wave radar, an ultrasonic sensor, and the like. Further, the surrounding information detection unit 48 includes a camera (not shown) as an imaging device that captures an object to be photographed around the host vehicle 10. Peripheral information is constituted by the wind speed, wind pressure, road shape, road surface condition, detected object, inter-vehicle distance, object to be photographed, and the like.

  The height adjustment device 49 includes a vehicle height adjustment actuator, a vehicle height adjustment suspension, a vehicle height change upright, etc. (not shown). By operating the height adjustment device 49, the vehicle height, the minimum ground height, etc. are increased. It can be adjusted as a variable.

  The control unit 14 is a control device that controls the entire vehicle 10 and a CPU 31 as an arithmetic device, and a first recording that is used as a working memory when the CPU 31 performs various arithmetic processes. In addition to a RAM 32 as a device and a control program, a ROM 33 as a second recording device in which various data are recorded is provided.

  The operation unit 34 is for realizing various functions in the control unit 14 when operated by the driver. In addition to a remote control, a keyboard, a mouse, and the like arranged independently of the control unit 14, the operation unit 34 In addition, the control unit 14 includes various operation elements such as buttons, keys, switches, and dials formed on a panel, a casing, and the like. A display is used as the display unit 35. A touch panel having both functions of the operation unit can be used as the operation unit 34 and the display unit 35. In the touch panel, operation elements such as keys, switches, and buttons are displayed as images on the screen, and the operation is performed. A predetermined input operation can be performed by touching the element.

  In the present embodiment, the RAM 32 records the route on which the vehicle 10 travels, the time of passing through each point, and the like as a travel schedule. The ROM 33 records vehicle attribute information that is data unique to the host vehicle 10. The vehicle attribute information includes information on the projection plane of the host vehicle 10 (vehicle height, vehicle width, total length, area, etc.), fuel type indicating the type of fuel used, fuel consumption rate, and drive device type (gasoline). Engine, diesel engine, motor drive, hybrid drive, etc.) are recorded.

  The communication unit 38 transmits the current traffic information, the general information in addition to the surrounding vehicle information such as the other vehicle position, the vehicle information, the surrounding information, and the vehicle attribute information indicating the current location of the surrounding vehicle 11 transmitted from the management center 51. Various information such as information is received. For this purpose, the communication unit 38 performs FM multiplex broadcasting from a beacon receiver (not shown) for receiving radio wave beacons, optical beacons and the like from radio wave beacon devices, optical beacon devices and the like arranged along the road, and FM broadcast stations. An FM receiver (not shown) for receiving is provided. The traffic information includes traffic jam information, regulation information, parking lot information, traffic accident information, service area congestion status information, and the like, and general information includes news, weather conditions, weather forecasts, and the like.

  The management center 51 includes a network server 53, a communication unit (not shown) connected to the network server 53, a database (not shown) as an information recording unit, and the like. The surrounding vehicle information of the surrounding vehicle 11 is collected and transmitted to the own vehicle 10.

  Further, the communication unit 38 can directly receive the surrounding vehicle information from the surrounding vehicle 11 by inter-vehicle communication.

  The platooning system, the control unit 14, the CPU 31, the network server 53, and the like function as a computer alone or in combination of two or more, and perform arithmetic processing based on various programs, data, and the like. A recording medium is constituted by the RAM 32, the ROM 33, and the like. An MPU or the like can be used instead of the CPU 31 as the arithmetic device.

  By the way, the own vehicle 10 and the surrounding vehicles 11 having the above-described configuration can travel by forming a platoon using inter-vehicle communication or a network communication system.

  Therefore, when using inter-vehicle communication, the surrounding vehicle information acquisition processing unit (not shown) of the CPU 31 performs the surrounding vehicle information acquisition processing, reads the vehicle position, vehicle information, surrounding information, etc. The surrounding vehicle information transmitted from the surrounding vehicle 11 is read. Next, a formation formation processing means (not shown) of the CPU 31 performs formation formation processing, forms formations based on the own vehicle position, vehicle information, peripheral information and surrounding vehicle information, forms formation formation information, It transmits to the surrounding vehicle 11. A convoy travel processing means (not shown) of the CPU 31 performs convoy travel processing, and performs convoy travel in the convoy formed based on the convoy formation information.

  When using a network communication system, the surrounding vehicle information acquisition processing unit (not shown) of the network server 53 performs the surrounding vehicle information acquisition processing, and via the network 63, the own vehicle position and the other vehicle position, vehicle information, Peripheral information, surrounding vehicle information, etc. are acquired, and a formation formation processing means (not shown) of the network server performs formation formation processing and forms a formation based on the position of the other vehicle, vehicle information, surrounding information, surrounding vehicle information, etc. The formation information is formed and transmitted to the own vehicle 10 and the surrounding vehicles 11.

  A convoy travel processing means (not shown) of the CPU 31 performs convoy travel processing, reads convoy formation information via the communication unit 38 and the network 63, and performs convoy travel in the convoy formed based on the convoy formation information. .

  However, when a platoon is formed, if the vehicle that becomes the host is driving at the head due to the operational problem of platooning, or if the platoon is organized according to the intention of each driver, the entire platoon Energy consumption will increase.

  Therefore, in the present embodiment, energy consumption is reduced by adjusting the minimum ground clearance of the own vehicle 10 when the formation is formed.

  Next, the operation of the row running system having the above configuration will be described.

  FIG. 2 is a flowchart for explaining the operation of the row running system in the embodiment of the present invention, FIG. 3 is a first view showing the form of row running in the embodiment of the present invention, and FIG. 4 is the embodiment of the present invention. FIG. 5 is a third diagram showing the form of platooning in the embodiment of the present invention, and FIG. 6 is a diagram showing the form of platooning in the embodiment of the present invention. 4 is a diagram of FIG.

  3 to 6, 10 is the own vehicle, 11 is the surrounding vehicle, 61 is the nearest peripheral vehicle 11 that travels in front of the own vehicle 10, that is, the front vehicle, and 62 is the nearest vehicle that travels behind the own vehicle 10. It is the peripheral vehicle 11, that is, the rear vehicle. In this case, as indicated by an arrow, it is assumed that wind is blowing from the front of the vehicle 10 or no wind.

  First, the road determination processing means (not shown) of the CPU 31 performs road determination processing, reads the shape of the road detected by the road shape sensor in the peripheral information detection unit 48, and is a straight section (section with few corners) by a predetermined distance. Determine whether or not continues. Then, when there are many corners such as a mountainous area and the straight section does not continue, the processing is terminated.

  In this embodiment, the road shape is detected by the road shape sensor. However, when a navigation device (not shown) is provided, the road data recorded in the data recording unit of the navigation device. And the shape of the road can be detected based on the curvature belonging to the road data.

  When the straight section continues for a predetermined distance, the road determination processing unit determines that the traveling road is suitable for reducing energy consumption by platooning, and the CPU 31 determines the own vehicle position (not shown). The processing means performs own vehicle position determination processing, reads the own vehicle position detected by the GPS sensor 15 and the other vehicle position of the surrounding vehicle information, and based on the own vehicle position and the other vehicle position, the own vehicle 10 Determine if you are running at the beginning of the formation.

  When the own vehicle 10 is not running at the head of the platoon, the height variable acquisition processing means (not shown) of the CPU 31 performs the height variable acquisition processing, and the vehicle height and the minimum ground height of the own vehicle 10 and the surrounding vehicle information. The vehicle height and the minimum ground clearance of the surrounding vehicle 11 are acquired.

  Subsequently, a rear vehicle determination processing unit (not shown) of the CPU 31 performs a rear vehicle determination process to determine whether or not the rear vehicle 62 is traveling. When the rear vehicle 62 is not traveling, a height determination processing unit (not shown) of the CPU 31 performs a height determination process and compares the minimum ground height L10 of the host vehicle 10 with the minimum ground height L61 of the front vehicle 61. If the minimum ground clearances L10 and L61 are different, the height adjustment processing means (not shown) of the CPU 31 performs the height adjustment processing and operates the height adjustment device 49 to set the minimum ground clearance L61 of the front vehicle 61. The minimum ground height L10 of the host vehicle 10 is brought closer.

  The height setting processing means (not shown) of the CPU 31 compares the vehicle height H10 of the host vehicle 10 with the vehicle height H61 of the front vehicle 61, and the vehicle height H10 of the host vehicle 10 is higher than the vehicle height H61 of the front vehicle 61. Determine whether or not. When the vehicle height H10 of the host vehicle 10 is higher than the vehicle height H61 of the front vehicle 61, the height adjustment processing means makes the vehicle height H10 of the host vehicle 10 and the vehicle height H61 of the front vehicle 61 equal. The minimum ground height L10 of the own vehicle 10 is set. Subsequently, the height adjustment processing means operates the height adjustment device 49 so that the minimum ground height L10 of the host vehicle 10 becomes the set minimum ground height.

  When the vehicle height H10 of the host vehicle 10 is less than or equal to the vehicle height H61 of the front vehicle 61, the height setting processing means has a minimum ground height L10 of the host vehicle 10 as shown in FIG. The minimum ground height L10 of the host vehicle 10 is set to be equal to or higher than the minimum ground height L61. Subsequently, the height adjustment processing means operates the height adjustment device 49 so that the minimum ground height L10 of the host vehicle 10 becomes the set minimum ground height.

  In this way, the height adjusting device 49 is operated to bring the minimum ground height L10 of the own vehicle 10 closer to the minimum ground height L61 of the front vehicle 61, and the vehicle height H10 of the own vehicle 10 becomes the vehicle height of the front vehicle 61. When higher than H61, the vehicle height H10 of the own vehicle 10 and the vehicle height H61 of the front vehicle 61 are made equal, and when the vehicle height H10 of the own vehicle 10 is less than or equal to the vehicle height H61 of the front vehicle 61, Since the ground clearance L10 is set to be equal to or higher than the minimum ground clearance L61 of the front wheel 61, the own vehicle 10 can be placed on the projection surface of the front wheel 61, and the wind received by the natural wind and the traveling, that is, the traveling wind The own vehicle 10 can be placed behind the front wheel 61 in the flow direction. Therefore, the wind pressure received by the vehicle 10 due to the natural wind and the traveling wind can be reduced, and the air resistance received by the entire train can be minimized. As a result, the overall energy consumption of the formation can be reduced.

  Further, since the minimum ground height L10 of the host vehicle 10 is increased, the amount of air passing below the host vehicle 10 can be increased. Therefore, since the own vehicle 10 can be lifted upward by air, a load caused by friction generated between each wheel of the own vehicle 10 and the road can be reduced. As a result, the energy consumption of the entire formation can be further reduced.

  On the other hand, as shown in FIGS. 5 and 6, when the rear vehicle 62 is running, the surrounding vehicle situation determination processing means (not shown) of the CPU 31 performs the surrounding vehicle situation judgment processing, and the front vehicle in the surrounding vehicle information is displayed. 61, the minimum ground height L61 of the front vehicle 61 is compared with the minimum ground height L61 of the front vehicle 61. It is determined whether or not the minimum ground clearance L62 of the car 62 is equal. When the minimum ground height L61 of the front vehicle 61 is equal to the minimum ground height L62 of the rear vehicle 62, as described above, the height setting processing means performs the vehicle height H10 of the own vehicle 10 and the vehicle height of the front vehicle 61. The minimum ground height L10 of the host vehicle 10 is set so that the minimum ground height L10 of the host vehicle 10 is equal to or higher than the minimum ground height L61 of the front vehicle 61 so that H61 becomes equal.

  Further, as shown in FIG. 6, when the minimum ground height L61 of the front vehicle 61 and the minimum ground height L62 of the rear vehicle 62 are different, the height setting processing means is configured such that the vehicle height H10 of the host vehicle 10 is the front vehicle. The own vehicle is in the middle of the minimum ground height L61 of the front vehicle 61 and the maximum minimum ground height Lmax62 of the rear vehicle 62 (the minimum ground height when the minimum ground height L62 is the highest) within a range not exceeding the vehicle height H61 of 61. A minimum ground clearance L10 of 10 is set. Subsequently, the height adjustment processing means operates the height adjustment device 49 so that the minimum ground height L10 of the host vehicle 10 becomes the set minimum ground height.

  As described above, when the minimum ground height L61 of the front vehicle 61 and the minimum ground height L62 of the rear vehicle 62 are equal, the height adjusting device 49 is operated, and the vehicle height H10 of the host vehicle 10 and the front vehicle 61 Since the minimum ground height L10 of the own vehicle 10 is set so that the vehicle height H61 becomes equal and the minimum ground height L10 of the own vehicle 10 is equal to or higher than the minimum ground height L61 of the front vehicle 61, the front The own vehicle 10 can be placed in the projection plane of the vehicle 61, and the own vehicle 10 can be placed behind the front vehicle 61 in the direction of flow of natural wind and traveling wind. If the minimum ground height L61 of the front vehicle 61 and the minimum ground height L62 of the rear vehicle 62 are not equal, the vehicle height H10 of the host vehicle 10 is within the range where the vehicle height H61 of the front vehicle 61 does not become higher. Since the minimum ground height L10 of the host vehicle 10 is placed between the minimum ground clearance L61 and the maximum minimum ground clearance Lmax62 of the rear vehicle 62, the rear vehicle 62 can be placed in the projection plane of the host vehicle 10, and natural wind In addition, the host vehicle 10 can be placed behind the front vehicle 61 and the rear vehicle 62 can be placed behind the host vehicle 10 in the direction of the traveling wind. Therefore, the wind pressure received by the own vehicle 10 and the rear vehicle 62 by the natural wind and the traveling wind can be reduced, and the air resistance received by the entire train can be minimized. As a result, the overall energy consumption of the formation can be reduced.

  Further, since the minimum ground heights L10 and L62 of the host vehicle 10 and the rear vehicle 62 are increased, the amount of air passing below the host vehicle 10 and the rear vehicle 62 can be increased. Therefore, since the own vehicle 10 and the rear vehicle 62 can be lifted upward by air, the load caused by friction generated between the wheels of the own vehicle 10 and the rear vehicle 62 and the road can be reduced, which is unnecessary. Thus, no downforce is applied to the vehicle, and the rolling resistance can be reduced. As a result, the fuel consumption of each vehicle can be improved, and the overall energy consumption of the platoon can be further reduced.

Next, a flowchart will be described.
Step S1: It is determined whether or not the straight section continues. If the straight section continues, the process proceeds to step S2, and if not, the process ends.
Step S2: It is determined whether or not the head of the formation is traveling. If it is traveling at the head of the formation, the process is terminated. If it is not traveling at the beginning of the formation, the process proceeds to step S3.
Step S3: Obtain the vehicle height and the minimum ground clearance of the surrounding vehicle 11.
Step S4: It is determined whether the rear vehicle 62 is traveling. If the rear vehicle 62 is traveling, the process proceeds to step S5. If the rear vehicle 62 is not traveling, the process proceeds to step S6.
Step S5: It is determined whether the minimum ground height L61 of the front vehicle 61 and the minimum ground height L62 of the rear vehicle 62 are equal. If the minimum ground height L61 of the front vehicle 61 and the minimum ground height L62 of the rear vehicle 62 are equal, the process proceeds to step S8, and if different, the process proceeds to step S7.
Step S6: The minimum ground height L10 of the host vehicle 10 is brought close to the minimum ground height L61 of the front vehicle 61.
Step S7 In the range where the vehicle height H10 of the own vehicle 10 does not become higher than the vehicle height H61 of the front vehicle 61, the lowest ground of the own vehicle 10 is between the minimum ground height L61 of the front vehicle 61 and the maximum minimum ground height Lmax62 of the rear vehicle 62. The high L10 is set and the process is terminated.
Step S8: It is determined whether the vehicle height H10 of the host vehicle 10 is higher than the vehicle height H61 of the front vehicle 61. If the vehicle height H10 of the host vehicle 10 is higher than the vehicle height H61 of the front vehicle 61, the process proceeds to step S9. If the vehicle height H10 of the host vehicle 10 is less than or equal to the vehicle height H61 of the front vehicle 61, the process proceeds to step S10.
Step S9: The minimum ground height L10 of the host vehicle 10 is set so that the vehicle height H10 of the host vehicle 10 is equal to the vehicle height H61 of the front vehicle 61, and the process is terminated.
Step S10: The minimum ground height L10 of the host vehicle 10 is set so that the minimum ground height L10 of the host vehicle 10 is equal to or higher than the minimum ground height L61 of the front vehicle 61, and the process is terminated.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a conceptual diagram of a row running system in an embodiment of the invention. It is a flowchart explaining operation | movement of the row running system in embodiment of this invention. It is a 1st figure which shows the form of row running in embodiment of this invention. It is a 2nd figure which shows the form of row running in embodiment of this invention. It is a 3rd figure which shows the form of platooning in embodiment of this invention. It is a 4th figure which shows the form of platooning in embodiment of this invention.

Explanation of symbols

10 own vehicle 11 surrounding vehicle 15 GPS sensor 31 CPU
38 Communication unit 47 Vehicle information detection unit 48 Peripheral information detection unit 49 Height adjustment device 51 Management center 63 Network

Claims (5)

  From a current position detection unit that detects the position of the host vehicle that represents the current position of the host vehicle, a vehicle information detection unit that detects vehicle information that represents the traveling state of the host vehicle, and surrounding vehicles that are subject to platooning via the communication unit Peripheral vehicle information acquisition processing means for acquiring peripheral vehicle information, platoon formation processing means for forming a platoon based on the own vehicle position, vehicle information and peripheral vehicle information, and platoon travel processing means for performing platooning in the formed platoon And a height adjustment processing means for operating the height adjusting device and changing the height variable of the own vehicle based on the vehicle attribute information of the nearest surrounding vehicle traveling in front of the own vehicle. A convoy travel system.   The height adjustment processing means operates a height adjustment device based on vehicle attribute information of the nearest surrounding vehicle traveling behind the host vehicle, and changes the height variable of the host vehicle. Convoy travel system.   When the vehicle height of the host vehicle is higher than the vehicle height of the nearest surrounding vehicle traveling in front of the host vehicle, the height adjustment processing means is configured to adjust the vehicle height of the host vehicle and the nearest surrounding vehicle traveling in front of the host vehicle. The platooning system according to claim 1, wherein the vehicle height is made equal.   The height adjustment processing means, when the vehicle height of the own vehicle is equal to or less than the vehicle height of the nearest surrounding vehicle traveling in front of the own vehicle, the nearest surroundings traveling in front of the own vehicle with the lowest ground height of the own vehicle The platooning system according to claim 1, wherein the platooning system is higher than the minimum ground clearance of the vehicle.   When the minimum ground height of the nearest surrounding vehicle traveling in front of the own vehicle and the minimum ground height of the nearest surrounding vehicle traveling behind the own vehicle are different, the height adjustment processing means The minimum ground height of the nearest surrounding vehicle traveling in front of the host vehicle and the maximum minimum of the nearest surrounding vehicle traveling behind the host vehicle within a range that is not higher than the height of the nearest surrounding vehicle traveling in front of the host vehicle The platooning system according to claim 1, wherein the lowest ground clearance of the vehicle is placed between the ground clearance and the ground clearance.

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