JP5473628B2 - Convoy travel system, convoy travel method, trailing manned vehicle controller, steering control method, program, and recording medium - Google Patents

Description

The present invention relates to a convoy travel system, a convoy travel method, a subsequent manned vehicle controller, a steering control method, a program, and a recording medium . In particular, the present invention relates to a row running system for running a plurality of vehicles in a row, a row running method, and a subsequent manned vehicle that is mounted on a subsequent manned vehicle on which a person rides , and controls the operation of the subsequent manned vehicle. The present invention relates to a controller, an operation control method for controlling operation of a subsequent manned vehicle, a program for the platooning system and the subsequent manned vehicle controller, and a recording medium on which the program is recorded .

  In a situation where a large amount of goods is transported, the goods may be divided into a plurality of vehicles and mounted on each vehicle. In that case, each vehicle has to be ridden by a driver who drives the vehicle, which is not efficient. As means for solving such problems, various platooning systems for the purpose of labor saving have been proposed.

  As a platooning system for the purpose of labor saving, for example, a method is known in which a plurality of succeeding vehicles that are not ridden by people are cascaded so as to automatically follow a leading vehicle driven by a driver (for example, , See Patent Document 1). This platooning system can be said to realize significant labor saving because the driver only has to get on the leading vehicle.

  In addition, as another platooning system for the purpose of labor saving, there is also proposed a method in which each vehicle travels along a pre-registered route without a driver getting on all the vehicles forming the platoon. ing.

JP 2008-207729 A

  According to the row running system described in the cited document 1, the driver gets on the leading vehicle. However, in situations where platooning is performed in disaster-affected areas, obstacles and dangerous objects may exist on the travel route, and the leading vehicle has the highest degree of risk among the multiple vehicles in the platoon. End up.

  On the other hand, a convoy travel system in which no driver rides on all vehicles is premised on traveling on a well-known route. Therefore, such an unmanned platooning system is not suitable for a situation where the vehicle travels on an unknown route or a route on which obstacles or dangerous objects exist.

In order to solve the above-described problem, according to the first aspect of the present invention, there is a row running system for running a plurality of vehicles, which is mounted on a leading unmanned vehicle in a row where a person does not get on the vehicle. A leading unmanned vehicle controller for controlling the maneuvering and a succeeding manned vehicle controller for controlling the maneuvering of the succeeding manned vehicle mounted on the succeeding manned vehicle on which a person rides among the following vehicles in the formation, A video data transmitting unit for transmitting data indicating video captured by the imaging means provided in the leading unmanned vehicle to the subsequent manned vehicle controller, and receiving data for controlling the operation of the leading unmanned vehicle from the subsequent unmanned vehicle controller a control data receiving unit that, the steering control unit based on the data control data receiving unit receives, controls the steering of the leading unmanned vehicle, Misao And a traveling locus data transmitter for transmitting data indicating the traveling locus of the leading unmanned vehicle travels by the control unit is controlled in subsequent manned vehicle controller, subsequent manned vehicle controller, leading unmanned vehicle data indicating an image A video data receiving unit received from the controller, a video data output unit for outputting the data received by the video data receiving unit to a display means provided in a subsequent manned vehicle, and data for controlling the operation of the leading unmanned vehicle A control data input accepting unit that accepts input from a steering means provided in a subsequent manned vehicle, a control data sending unit that sends data received by the control data input accepting unit to a leading unmanned vehicle controller, and a control data input accepting A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the unit; Comparing the travel locus data receiving unit that receives data indicating the trajectory from the leading unmanned vehicle controller, the route calculated by the route calculating unit, and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit And an error determination unit that determines whether or not the error exceeds a predetermined threshold, and the subsequent manned vehicle to travel along the traveling locus indicated by the data received by the traveling locus data receiving unit. The control unit controls the maneuvering and controls the maneuvering of the subsequent manned vehicle to stop the manned vehicle when the error determining unit determines that the error exceeds a predetermined threshold .

The leading unmanned vehicle controller further includes a route information storage unit that stores information indicating a route on which the leading unmanned vehicle should travel, and the steering control unit of the leading unmanned vehicle controller is indicated by information stored in the route information storage unit. In order to drive the leading unmanned vehicle along the route, the control of the leading unmanned vehicle may be controlled, and the controlling of the leading unmanned vehicle may be interrupted based on the data received by the control data receiving unit.

The steering control unit of the leading unmanned vehicle controller may control the leading unmanned vehicle to stop the leading unmanned vehicle when the control data receiving unit cannot receive data.

The steering control unit of the succeeding manned vehicle controller may control the maneuvering of the succeeding manned vehicle so as to stop the succeeding manned vehicle when the travel locus data receiving unit cannot receive the data.

The control data input acceptance unit of the subsequent manned vehicle controller may accept input of data including information including the operation direction and the operation amount of the lever of the joystick as data for controlling the operation of the leading unmanned vehicle.

The control data input accepting unit of the subsequent manned vehicle controller may accept input of data including information for identifying the pressed joystick button as data for controlling the operation of the leading unmanned vehicle.

The steering control unit of the leading unmanned vehicle controller may control the operation of the steering actuator according to the information indicated by the data received by the control data receiving unit when controlling the steering of the leading unmanned vehicle.

According to the second aspect of the present invention , there is a row running method for running a plurality of vehicles in a row, and the head unmanned vehicle controller is mounted on the leading unmanned vehicle in the row where no person is on board and controls the operation of the leading unmanned vehicle. Is a succeeding manned that controls the maneuvering of the succeeding manned vehicle by installing the data indicating the image photographed by the photographing means provided in the leading unmanned vehicle on the succeeding manned vehicle on which the person gets on among the following vehicles in the formation Video data transmission stage to be transmitted to the vehicle controller, video data reception stage in which the subsequent manned vehicle controller receives data indicating the video from the first unmanned vehicle controller, and data received by the subsequent manned vehicle controller in the video data reception stage Is output to the display means provided in the succeeding manned vehicle, and the succeeding manned vehicle controller is Control data input reception stage for receiving input of data for controlling the maneuvering of the manned vehicle from the steering means provided in the subsequent manned vehicle, and data for which the subsequent manned vehicle controller has received an input in the control data input receiving stage. A route calculation stage for calculating a route on which the leading unmanned vehicle should travel, and a control data transmission stage in which the subsequent manned vehicle controller transmits data received in the control data input acceptance stage to the leading unmanned vehicle controller. And a control data receiving stage in which the leading unmanned vehicle controller receives data for controlling the operation of the leading unmanned vehicle from the subsequent manned vehicle controller, and the leading unmanned vehicle controller is based on the data received in the control data receiving stage. Control control stage to control the operation of the first unmanned vehicle, The unmanned vehicle controller transmits data indicating the traveling locus of the first unmanned vehicle that has traveled as a result of being controlled in the steering control stage to the subsequent manned vehicle controller, and the subsequent manned vehicle controller indicates the traveling locus. A travel locus data receiving stage for receiving data from the leading unmanned vehicle controller, a route of the leading unmanned vehicle indicated by the route calculated by the subsequent manned vehicle controller in the route calculating stage, and the data received in the traveling locus data receiving stage. An error determination stage that compares the trajectory and determines whether the error exceeds a predetermined threshold, and a subsequent manned vehicle controller follows the travel trajectory indicated by the data received in the travel trajectory data reception stage. Control the maneuvering of subsequent manned vehicles to drive manned vehicles And an operation control step for controlling the operation of the succeeding manned vehicle to stop the succeeding manned vehicle when it is determined in the error determining step that the error exceeds a predetermined threshold.

According to the third aspect of the present invention, in the row running system for running a plurality of vehicles in a row, the first unmanned vehicle controller is mounted on the first unmanned vehicle in the row where no person is on board and controls the operation of the first unmanned vehicle. A program for causing a second computer to function as a succeeding manned vehicle controller that controls one maneuvering computer and is mounted on a succeeding manned vehicle on which a person rides among the following vehicles in the formation. The first computer has a video data transmission unit for transmitting data indicating video captured by the imaging means provided in the leading unmanned vehicle to the subsequent manned vehicle controller, and data for controlling the operation of the leading unmanned vehicle. Based on the control data receiving unit received from the subsequent manned vehicle controller, the data received by the control data receiving unit, A steering control unit that controls the operation of the head unmanned vehicle, and a function that serves as a traveling locus data transmission unit that transmits data indicating a traveling locus of the leading unmanned vehicle that has traveled as controlled by the steering control unit to the subsequent manned vehicle controller, A video data receiving unit that receives data indicating video from the first unmanned vehicle controller, a video data output unit that outputs data received by the video data receiving unit to a display means provided in a subsequent manned vehicle, Control data input receiving unit that receives input of data for controlling the operation of the vehicle from the steering means provided in the subsequent manned vehicle, and control for transmitting the data received by the control data input receiving unit to the leading unmanned vehicle controller The first unmanned vehicle travels based on the data received by the data transmission unit and control data input reception unit A route calculation unit that calculates a power route, a travel locus data reception unit that receives data indicating a travel locus from the first unmanned vehicle controller, a route calculated by the route calculation unit, and a head indicated by data received by the travel locus data reception unit An error determination unit that compares the traveling locus of the unmanned vehicle and determines whether or not the error exceeds a predetermined threshold, and travels the subsequent manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit. In order to control the maneuvering of the succeeding manned vehicle, and when the error determining unit determines that the error exceeds a predetermined threshold, it functions as a maneuvering control unit that controls the maneuvering of the succeeding manned vehicle to stop the manned vehicle. Let

According to the fourth aspect of the present invention, in a row running system for running a plurality of vehicles in a row, the first unmanned vehicle controller is mounted on the first unmanned vehicle of the row where no person is on board and controls the operation of the first unmanned vehicle. A program for operating the second computer as a subsequent manned vehicle controller that controls the operation of the subsequent manned vehicle mounted on the succeeding manned vehicle on which a person rides among the following vehicles in the formation is recorded. A video data transmission unit that is a recording medium and that transmits data indicating video captured by imaging means provided in the leading unmanned vehicle to the subsequent manned vehicle controller, and controls the operation of the leading unmanned vehicle Control data receiving unit for receiving data from the subsequent manned vehicle controller, received by the control data receiving unit A driving control unit for controlling the operation of the leading unmanned vehicle based on the data, and a traveling locus data transmitting unit for transmitting data indicating the traveling locus of the leading unmanned vehicle that has traveled as controlled by the steering control unit to the subsequent manned vehicle controller A video data receiving unit that receives data indicating video from the first unmanned vehicle controller, and a video that outputs data received by the video data receiving unit to display means provided in a subsequent manned vehicle Data output unit, control data input receiving unit for receiving data input for controlling the maneuvering of the first unmanned vehicle from the maneuvering means provided in the subsequent manned vehicle, and the data received by the control data input receiving unit for the first unmanned vehicle Based on the data received by the control data transmission unit and the control data input reception unit to be transmitted to the vehicle controller, A route calculation unit that calculates a route on which the unmanned unmanned vehicle should travel, a travel locus data reception unit that receives data indicating the travel locus from the first unmanned vehicle controller, a route that is calculated by the route calculation unit, and a travel locus data reception unit that receives the data. Compared with the traveling locus of the leading unmanned vehicle indicated by the data, an error determination unit that determines whether or not the error exceeds a predetermined threshold, along the traveling locus indicated by the data received by the traveling locus data receiving unit Control the subsequent manned vehicle to drive the subsequent manned vehicle, and control the operation of the subsequent manned vehicle to stop the subsequent manned vehicle when the error determination unit determines that the error exceeds a predetermined threshold. A program to function as a steering control unit was recorded.

According to the fifth aspect of the present invention, a succeeding manned vehicle controller that is mounted on a succeeding manned vehicle on which a person rides among the following vehicles in the convoy, and controls the maneuvering of the succeeding manned vehicle, in which the person does not get on. A video data receiving unit for receiving data indicating a video imaged by a photographing unit provided in the first unmanned vehicle from a first unmanned vehicle controller mounted on the first unmanned vehicle and controlling the operation of the first unmanned vehicle; A video data output unit for outputting data received by the data receiving unit to a display means provided in the succeeding manned vehicle, and an input of data for controlling the maneuvering of the leading unmanned vehicle. A control data input receiving unit that receives from the means, and a control data transmitting unit that transmits data received by the control data input receiving unit to the leading unmanned vehicle controller; A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input receiving unit, and a traveling locus that receives data indicating the traveling locus of the leading unmanned vehicle from the leading unmanned vehicle controller The data reception unit, the route calculated by the route calculation unit, and the traveling locus of the first unmanned vehicle indicated by the data received by the traveling locus data reception unit are compared, and it is determined whether or not the error exceeds a predetermined threshold. Control the subsequent manned vehicle to drive the succeeding manned vehicle along the travel locus indicated by the data received by the data received by the travel locus data receiving unit, and if the error exceeds a predetermined threshold, the error And a control unit that controls the operation of the subsequent manned vehicle to stop the subsequent manned vehicle when the determination unit determines.

According to a sixth aspect of the present invention, there is provided a steering control method for controlling the maneuvering of a succeeding manned vehicle on which a person rides among the following vehicles in the platoon, and the maneuvering of the succeeding manned vehicle is carried on the succeeding manned vehicle. The head of the following manned vehicle controller that controls the operation of the leading unmanned vehicle with the data indicating the video taken by the photographing means provided in the leading unmanned vehicle of the platoon where no person is on board in the leading unmanned vehicle A video data receiving stage for receiving from the unmanned vehicle controller, a video data output stage for the succeeding manned vehicle controller to output the data received in the video data receiving stage to a display means provided in the succeeding manned vehicle, and a subsequent manned vehicle Control data in which the controller receives data input for controlling the maneuvering of the first unmanned vehicle from the maneuvering means provided in the subsequent manned vehicle. An input reception stage, a control data transmission stage in which the subsequent manned vehicle controller transmits data received in the control data input reception stage to the leading unmanned vehicle controller, and a subsequent manned vehicle controller inputs in the control data input reception stage A route calculation stage for calculating a route on which the leading unmanned vehicle should travel based on the received data, and a traveling locus in which the subsequent manned vehicle controller receives data indicating the traveling locus of the leading unmanned vehicle from the leading unmanned vehicle controller. The data reception stage and the subsequent manned vehicle controller compare the route calculated in the route calculation stage with the traveling locus of the leading unmanned vehicle indicated by the data received in the traveling locus data reception stage, and the error is predetermined. Error determination stage for determining whether or not the threshold has been exceeded, and subsequent manned Both controllers control the maneuvering of the subsequent manned vehicle to travel along the travel locus indicated by the data received in the travel locus data receiving stage, and determine that the error exceeds a predetermined threshold. A steering control stage for controlling the steering of the succeeding manned vehicle to stop the succeeding manned vehicle if determined in the stage.

According to a seventh aspect of the present invention , there is provided a program for causing a computer to function as a subsequent manned vehicle controller that is mounted on a subsequent manned vehicle on which a person rides among the following vehicles in the formation and controls the maneuvering of the subsequent manned vehicle. The computer shows the data taken by the photographing means provided in the first unmanned vehicle of the platoon where the person does not get on, from the first unmanned vehicle controller that is mounted on the first unmanned vehicle and controls the operation of the first unmanned vehicle. Receiving video data receiving unit, video data output unit for outputting data received by video data receiving unit to display means provided in succeeding manned vehicle, input of data for controlling operation of leading unmanned vehicle, subsequent The control data input receiving unit that receives from the control means provided in the manned vehicle, the data that the control data input receiving unit receives the input A control data transmission unit that transmits to the unmanned vehicle controller, a route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input receiving unit, and data that indicates a traveling locus of the unmanned vehicle Is compared with the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and the error is predetermined. An error determination unit that determines whether or not the threshold of the vehicle is exceeded, and controls the maneuvering of the succeeding manned vehicle to travel the manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit. When the error determination unit determines that the value exceeds a predetermined threshold, the operation for controlling the operation of the subsequent manned vehicle is stopped in order to stop the subsequent manned vehicle. To function as a control unit.

According to the eighth aspect of the present invention, a program is recorded that is mounted on a succeeding manned vehicle on which a person gets on among the following vehicles in the platoon and functions as a succeeding manned vehicle controller that controls the operation of the succeeding manned vehicle. A recording medium, which is mounted on a head unmanned vehicle and controls the operation of the head unmanned vehicle with data indicating a picture taken by a photographing means provided on a head unmanned vehicle in a row where a person does not get on a computer Video data receiving unit received from the head unmanned vehicle controller, video data output unit for outputting the data received by the video data receiving unit to the display means provided in the subsequent manned vehicle, data for controlling the operation of the head unmanned vehicle Control data input receiving unit and control data input receiving unit that receive the input from the maneuvering means provided on the subsequent manned vehicle. A control data transmitting unit for transmitting the attached data to the leading unmanned vehicle controller, a route calculating unit for calculating a route on which the leading unmanned vehicle should travel based on the data received by the control data input receiving unit, The traveling locus data receiving unit that receives data indicating the traveling locus from the leading unmanned vehicle controller, the route calculated by the route calculating unit, and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit are compared. An error determination unit that determines whether or not the error exceeds a predetermined threshold, and the subsequent manned vehicle is operated to drive the subsequent manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit. When the error determination unit determines that the error exceeds a predetermined threshold, the subsequent manned vehicle is stopped to stop the subsequent manned vehicle. Recording a program to function as a steering control unit that controls the steering.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  As is apparent from the above description, according to the present invention, a person may get on any one of the following vehicles other than the leading vehicle. Therefore, according to the present invention, it is possible to realize safe platooning when traveling on an unknown route or a route on which an obstacle or dangerous object exists.

It is a figure which shows an example of the utilization environment of the convoy travel system 100 which concerns on one Embodiment. It is a figure showing an example of composition of vehicles 200A. It is a figure which shows an example of a structure of the vehicle 200B. It is a figure which shows an example of a structure of the vehicle 200a. It is a figure which shows an example of the block configuration of the vehicle-mounted controller. It is a figure which shows an example of the block configuration of the vehicle-mounted controller. It is a figure which shows an example of the block configuration of the vehicle-mounted controller 150a. It is a figure which shows an example of the operation | movement sequence of the vehicle-mounted controller 110, the vehicle-mounted controller 130, and the vehicle-mounted controller 150. FIG. It is a figure which shows an example of the operation sequence of the vehicle-mounted controller 110, the vehicle-mounted controller 130, and the vehicle-mounted controller 150a when a problem generate | occur | produces in driving | running | working of the vehicle 200A. It is a figure which shows an example of the information which the path | route information storage part 111 stores in a table format. It is a figure which shows an example of each hardware constitutions of the vehicle-mounted controller 110, the vehicle-mounted controller 130, and the vehicle-mounted controller 150.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the claimed invention, and all combinations of features described in the embodiments are described. It is not necessarily essential for the solution of the invention.

  FIG. 1 shows an example of a usage environment of a convoy travel system 100 according to an embodiment. The row running system 100 is a system for running a plurality of vehicles 200A, 200B, and vehicles 200a, b, c,... (Hereinafter collectively referred to as vehicles 200). The convoy travel system 100 includes an in-vehicle controller 110, an in-vehicle controller 130, a plurality of in-vehicle controllers 150a, b, c,... (Hereinafter collectively referred to as the in-vehicle controller 150), and a communication line 170. The communication line 170 may be a computer network such as the Internet, a core network of a communication carrier, and various local networks.

  The in-vehicle controller 110 is mounted on the vehicle 200A. Specifically, the vehicle 200A is a leading vehicle that travels at the top of the platoon. A person is not in the vehicle 200A. The vehicle 200 </ b> A is provided with a communication antenna 201 </ b> A for communicatively connecting the in-vehicle controller 110 to the communication line 170. The in-vehicle controller 110 and the communication antenna 201A are electrically connected via a communication cable. The in-vehicle controller 110 may be an example of the “first unmanned vehicle controller” in the present invention.

  The in-vehicle controller 130 is mounted on the vehicle 200B. Specifically, the vehicle 200B is a succeeding vehicle that travels other than the head of the formation. A person is in the vehicle 200B. The vehicle 200B is provided with a communication antenna 201B for connecting the in-vehicle controller 130 to the communication line 170 for communication. The in-vehicle controller 130 and the communication antenna 201B are electrically connected via a communication cable. The in-vehicle controller 130 may be an example of a “subsequent manned vehicle controller” in the present invention.

  The in-vehicle controller 150 is mounted on the vehicles 200a, b, c,. Specifically, the vehicles 200a, b, c,... Are subsequent vehicles that travel outside the head of the formation. It does not matter whether the vehicle 200a, b, c,... Is on board or not. Further, the vehicles 200a, b, c,... Are provided with a communication antenna 201 for communication connection of the in-vehicle controller 150 to the communication line 170. The in-vehicle controller 150 and the communication antenna 201 are electrically connected via a communication cable.

  FIG. 2 shows an example of the configuration of the vehicle 200A. In addition to the communication antenna 201A, the vehicle 200A includes a video camera 202A, a GPS (Global Positioning System) receiver 205A, an IMU (Internal Measurement Unit) 206A, a vehicle speed detector 207A, a vehicle speed detector 208A, a vehicle speed detector 209A, a vehicle speed. A detector 210A, a steering actuator 211A, an accelerator actuator 212A, a brake actuator 213A, and a shift change actuator 214A are provided. The function and operation of each component will be described below.

  Note that the vehicle 200B other than the vehicle 200A and the vehicles 200a, b, c,... Have the same components as the components of the vehicle 200a. In the following description, when distinguishing which component of the vehicle 200 the component of the vehicle 200 is, the same subscript (A, B, a, b, c) as the vehicle 200 having each component. ,...) Are added to the end of each component to distinguish them. For example, the communication antenna 201A, the communication antenna 201B, and the communication antenna 201a indicate components of the vehicle 200A, the vehicle 200B, and the vehicle 200a, respectively.

  Further, in the following description, the function and operation of a component that is not given a subscript indicates the function and operation of any component that is assigned the same reference numeral. For example, the functions and operations described for the communication antenna 201 indicate the functions and operations of the communication antenna 201A, the communication antenna 201B, the communication antenna 201a,.

  The video camera 202A is an apparatus that captures a situation in front of the vehicle 200A. Specifically, the video camera 202A is electrically connected to the in-vehicle controller 110 via a video cable. Then, when the video camera 202A captures a situation in front of the vehicle 200A, the video camera 202A outputs data indicating the video to the in-vehicle controller 110. The video camera 202A may be an example of the “photographing unit” in the present invention.

  The GPS receiver 205A is a device that specifies the position of the vehicle 200A on the earth. Specifically, the GPS receiver 205A includes means for receiving signals from several satellites in the sky, and means for specifying the position of the vehicle 200A on the earth based on the received signals. . The GPS receiver 205A is electrically connected to the in-vehicle controller 110 via a data cable. And if GPS receiver 205A pinpoints the position of vehicle 200A on the earth, it will output the data which show the position to in-vehicle controller 110.

  The IMU 206A is a device that detects a three-dimensional angle and acceleration of the vehicle 200A. Specifically, the IMU 206A includes a three-axis gyro and a three-direction accelerometer. Further, the IMU 206A is electrically connected to the in-vehicle controller 110 via a data cable. And IMU206A will output the data which show each value to the vehicle-mounted controller 110, if the three-dimensional angle and acceleration of the vehicle 200A are detected.

  The vehicle speed detector 207A, the vehicle speed detector 208A, the vehicle speed detector 209A, and the vehicle speed detector 210A are devices that detect the speed of the wheels of the vehicle 200A. Specifically, the vehicle speed detector 207A includes means for generating a pulse signal in proportion to the rotational speed of the axle of the left front wheel of the vehicle 200A, and means for calculating the speed of the left front wheel based on the pulse signal. I have. Similarly, vehicle speed detector 208A includes means for generating a pulse signal in proportion to the rotational speed of the axle of the right front wheel of vehicle 200A, and means for calculating the speed of the right front wheel based on the pulse signal. Yes. Similarly, the vehicle speed detector 209A includes means for generating a pulse signal in proportion to the rotational speed of the left rear wheel axle of the vehicle 200A, and means for calculating the speed of the left rear wheel based on the pulse signal. I have. Similarly, the vehicle speed detector 210A includes means for generating a pulse signal in proportion to the rotational speed of the right rear wheel axle of the vehicle 200A, and means for calculating the speed of the right rear wheel based on the pulse signal. I have. Further, the vehicle speed detector 207A, the vehicle speed detector 208A, the vehicle speed detector 209A, and the vehicle speed detector 210A are electrically connected to the in-vehicle controller 110 via data cables, respectively. Then, when the vehicle speed detector 207 </ b> A, the vehicle speed detector 208 </ b> A, the vehicle speed detector 209 </ b> A, and the vehicle speed detector 210 </ b> A calculate the wheel speed, the data indicating the value is output to the in-vehicle controller 110.

  The steering actuator 211A is a device that physically controls the steering of the vehicle 200A. Specifically, the steering actuator 211A is mechanically connected to the steering mechanism of the vehicle 200A. The steering actuator 211A is electrically connected to the in-vehicle controller 110 via a data cable. When the steering actuator 211A receives input of control data output from the in-vehicle controller 110, the steering actuator 211A physically controls the steering of the vehicle 200A according to the control data.

  The accelerator actuator 212A is a device that physically controls the accelerator of the vehicle 200A. Specifically, the accelerator actuator 212A is mechanically connected to the accelerator mechanism of the vehicle 200A. Further, the accelerator actuator 212A is electrically connected to the in-vehicle controller 110 via a data cable. When the accelerator actuator 212A receives the control data output from the in-vehicle controller 110, the accelerator actuator 212A physically controls the accelerator of the vehicle 200A according to the control data.

  The brake actuator 213A is a device that physically controls the brake of the vehicle 200A. Specifically, the brake actuator 213A is mechanically connected to the brake mechanism of the vehicle 200A. The brake actuator 213A is electrically connected to the in-vehicle controller 110 via a data cable. When the brake actuator 213A receives the input of the control data output from the in-vehicle controller 110, the brake actuator 213A physically controls the brake of the vehicle 200A according to the control data.

  Shift change actuator 214A is a device that controls the transmission of vehicle 200A. Specifically, shift change actuator 214A is mechanically connected to the transmission of vehicle 200A. The shift change actuator 213A is electrically connected to the in-vehicle controller 110 via a data cable. And shift change actuator 214A will control the transmission of vehicle 200A according to the control data, if the input of the control data output from in-vehicle controller 110 is received.

  FIG. 3 shows an example of the configuration of the vehicle 200B. In addition to the communication antenna 201B, the vehicle 200B includes a display 203B, joystick 204B, GPS receiver 205B, IMU 206B, vehicle speed detector 207B, vehicle speed detector 208B, vehicle speed detector 209B, vehicle speed detector 210B, steering actuator 211B, accelerator An actuator 212B, a brake actuator 213B, and a shift change actuator 214B are provided. The function and operation of each component will be described below.

  Each component other than the display 203B and the joystick 204B of the vehicle 200B is electrically connected to the in-vehicle controller 130, whereas each component of the vehicle 200A is electrically connected to the in-vehicle controller 110. Since it is the same function and operation | movement except that, the detailed description is abbreviate | omitted.

  The display 203B is a device that displays information such as characters, graphics, and images. Specifically, the display 203B is connected to the in-vehicle controller 130 via a display cable. And display 203B will display the information shown by the data, if the input of the data output from in-vehicle controller 130 is received. The display 203B may be an example of the “display unit” in the present invention.

  The joystick 204B is a device that designates an input position and coordinates on the screen of the display 203B. Specifically, the joystick 204B includes a lever and several buttons. The joystick 204B is connected to the in-vehicle controller 130 via a data cable. Then, when the lever is tilted back and forth and left and right, the joystick 204B outputs data indicating the operation amount to the in-vehicle controller 130. When the button is pressed, the joystick 204B outputs data for identifying the pressed button to the in-vehicle controller 130. The joystick 204B may be an example of the “steering means” in the present invention. The data indicating the amount of operation of the lever and the data for identifying the pressed button may be an example of “data for controlling the operation of the leading unmanned vehicle” in the present invention.

  FIG. 4 shows an example of the configuration of the vehicle 200a. In addition to the communication antenna 201a, the vehicle 200a includes a GPS receiver 205a, IMU 206a, vehicle speed detector 207a, vehicle speed detector 208a, vehicle speed detector 209a, vehicle speed detector 210a, steering actuator 211a, accelerator actuator 212a, brake actuator 213a. , And a shift change actuator 214a is provided.

  Each component of the vehicle 200a has the same function and operation except that each component of the vehicle 200A is electrically connected to the in-vehicle controller 110, whereas it is electrically connected to the in-vehicle controller 150a. Therefore, detailed description thereof is omitted. Further, the configuration of the vehicles 200b, c,... Is the same as the configuration of the vehicle 200a, and thus detailed description thereof is omitted.

  In such a row running system 100, the steering of each vehicle 200 is controlled so that the vehicle 200A, the vehicle 200a, the vehicle 200b, the vehicle 200c,.

  Specifically, the video camera 202A provided in the vehicle 200A that should run at the head is photographing the situation in front of the vehicle 200A. Then, the video camera 202A outputs data indicating the captured video to the in-vehicle controller 110. When receiving the data indicating the video output from the video camera 202 </ b> A, the in-vehicle controller 110 transmits the data to the in-vehicle controller 130.

  When the in-vehicle controller 130 receives the data indicating the video transmitted from the in-vehicle controller 110, the in-vehicle controller 130 outputs the data to the display 203B. In this way, an image of the situation in front of the vehicle 200A is displayed on the display 203B.

  A driver is on the vehicle 200B. However, this pilot does not steer the vehicle 200B that is on board, but remotely steers the vehicle 200A that is not on board. Specifically, the operator remotely controls the vehicle 200A by operating the levers and buttons of the joystick 204B while watching the video displayed on the display 203B.

  When the lever or button is operated by the operator, the joystick 204B outputs the amount of operation of the lever and data for identifying the pressed button to the in-vehicle controller 130. When the in-vehicle controller 130 receives input of data output from the joystick 204B, the in-vehicle controller 130 transmits the data to the in-vehicle controller 110.

  When the in-vehicle controller 110 receives the data transmitted from the in-vehicle controller 130, the operation of the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A based on the operation information of the joystick 204B indicated by the data. To control.

  For example, when the received data includes information indicating “the amount of operation in which the lever of the joystick 204B is tilted to the left and right”, the in-vehicle controller 110 determines the amount of operation that the steering should be operated according to the amount of operation. The control data indicating the calculated value is output to the steering actuator 211A. When the steering actuator 211A receives the input of the control data, the steering actuator 211A physically controls the steering of the vehicle 200A so that the operation amount indicated by the data is obtained.

  In addition, for example, when the received data includes information indicating “the amount of operation in which the lever of the joystick 204B is tilted forward”, the in-vehicle controller 110 operates the accelerator to be operated according to the amount of operation. The amount is calculated, and control data indicating the value is output to the accelerator actuator 212A. When the accelerator actuator 212A receives the input of the control data, the accelerator actuator 212A physically controls the accelerator of the vehicle 200A so that the operation amount indicated by the data is obtained.

  In addition, for example, when the received data includes information indicating “the amount of operation in which the lever of the joystick 204B is tilted backward”, the in-vehicle controller 110 operates the brake to be operated according to the amount of operation. The amount is calculated, and control data indicating the value is output to the brake actuator 213A. When receiving the input of the control data, the brake actuator 213A physically controls the brake of the vehicle 200A so that the operation amount indicated by the data is obtained.

  Further, for example, when the received data includes information for identifying the “button pressed”, the in-vehicle controller 110 identifies the gear assigned to the button and shift-controls the control data indicating the gear. Output to the actuator 214A. When shift control actuator 214A receives input of control data, shift change actuator 214A physically controls the transmission of vehicle 200A to shift to the gear indicated by the data. In this manner, the vehicle 200A travels by remotely operating the steering, the accelerator, the brake, and the transmission under the control of the driver who is on the vehicle 200B.

  When vehicle 200A travels, GPS receiver 205A identifies the position of vehicle 200A on the earth and outputs data indicating the position to in-vehicle controller 110. The IMU 206A detects the three-dimensional angle and acceleration of the vehicle 200A, and outputs data indicating each value to the in-vehicle controller 110. Further, when the vehicle speed detector 207 </ b> A, the vehicle speed detector 208 </ b> A, the vehicle speed detector 209 </ b> A, and the vehicle speed detector 210 </ b> A detect the wheel speed, they output data indicating the value to the in-vehicle controller 110.

  When the in-vehicle controller 110 receives input of data output from the GPS receiver 205A, the in-vehicle controller 110 generates data indicating a trajectory traveled by the vehicle 200A from the transition of the position of the vehicle 200A, and the data is used as the in-vehicle controller 130 and each in-vehicle controller. 150. The data indicating the trajectory traveled by vehicle 200A may be an example of “data indicating the travel trajectory of the first unmanned vehicle” in the present invention.

  For example, if the vehicle 200A enters a tunnel or is hidden behind a building, the GPS receiver 205A may not be able to determine the position of the vehicle 200A on the earth. In such a case, when the in-vehicle controller 110 receives input of data output from the IMU 206, the vehicle speed detector 207A, the vehicle speed detector 208A, the vehicle speed detector 209A, and the vehicle speed detector 210A, the information indicated by these data is displayed. Based on this, data indicating the trajectory traveled by the vehicle 200 </ b> A is generated, and the data is transmitted to the in-vehicle controller 130 and each in-vehicle controller 150.

  When the in-vehicle controller 130 receives data indicating the trajectory traveled by the vehicle 200A from the in-vehicle controller 110, the in-vehicle controller 130B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator are used to drive the vehicle 200B along the trajectory. The operation of 214B is controlled.

  For example, when the GPS receiver 205B can identify the position of the vehicle 200B on the earth, the in-vehicle controller 130 determines that the vehicle 200A is based on the current position of the vehicle 200B indicated by the data output from the GPS receiver 205B. The operation of the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B is controlled so that the vehicle 200B travels along the traveled path.

  Further, for example, when the GPS receiver 205B cannot identify the position of the vehicle 200B on the earth, the in-vehicle controller 130 sets the IMU 206B, the vehicle speed detector 207B, the vehicle speed detector 208B, the vehicle speed detector 209B, and the vehicle speed detector 210B. The operation of the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B is performed so that the vehicle 200B travels along the trajectory traveled by the vehicle 200A based on the information indicated by the data output from the vehicle 200A. Control. Thus, the vehicle 200B travels along the trajectory traveled by the vehicle 200A.

  On the other hand, when the in-vehicle controller 150 receives data indicating the trajectory traveled by the vehicle 200A from the in-vehicle controller 110, the in-vehicle controller 150, the accelerator actuator 212, the brake actuator 213, and the shift are driven to travel the vehicle 200 along the trajectory. The operation of the change actuator 214 is controlled. Since the control of the steering actuator 211, the accelerator actuator 212, the brake actuator 213, and the shift change actuator 214 by the in-vehicle controller 150 is the same as the control by the in-vehicle controller 130, detailed description thereof is omitted. In this way, the vehicles 200a, b, c,... Travel along the trajectory traveled by the vehicle 200A.

  The in-vehicle controller 110 can also control the operations of the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A so that the vehicle 200A travels along a preset route. In that case, when the in-vehicle controller 110 receives data indicating the operation information of the joystick 204B from the in-vehicle controller 130, the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift are given so that the operation based on the operation information is given priority. The operation of the change actuator 214A is controlled. In this way, the vehicle 200A travels along a preset route and travels so as to be controlled by an operation of a person riding on the vehicle 200B.

  On the other hand, when the in-vehicle controller 110 cannot receive the data indicating the operation information of the joystick 204B from the in-vehicle controller 130 for a predetermined time or more, the steering actuator 211A, the accelerator actuator 212A, The operation of the brake actuator 213A and the shift change actuator 214A is controlled. In this way, the vehicle 200A stops.

  Further, the in-vehicle controller 130 calculates a route on which the vehicle 200A should travel based on the operation information of the joystick 204B. Then, when the in-vehicle controller 130 receives data indicating the trajectory traveled by the vehicle 200A from the in-vehicle controller 110, the in-vehicle controller 130 compares the trajectory with the calculated route and determines whether or not the error exceeds a predetermined threshold. . And when it determines with the vehicle-mounted controller 130 having exceeded the predetermined threshold value, in order to stop the vehicle 200B, it controls operation | movement of the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B. In this way, the vehicle 200B stops. Furthermore, the in-vehicle controller 130 transmits data indicating that the vehicle 200 is to be stopped to each in-vehicle controller 150. When the in-vehicle controller 150 receives data indicating that the vehicle 200 is to be stopped from the in-vehicle controller 130, the operations of the steering actuator 211, the accelerator actuator 212, the brake actuator 213, and the shift change actuator 214 to stop the vehicle 200. To control. In this way, each vehicle 200a, b, c,... Stops.

  FIG. 5 shows an example of a block configuration of the in-vehicle controller 110. The in-vehicle controller 110 includes a route information storage unit 111, a video data input reception unit 112, a video data transmission unit 113, a control data reception unit 114, a steering control unit 115, a position data input reception unit 116, a three-dimensional data input reception unit 117, A vehicle speed data input reception unit 118, a travel locus data generation unit 119, and a travel locus data transmission unit 120 are included. The function and operation of each component will be described below.

  The video data input acceptance unit 112 accepts input of data indicating video captured by the video camera 202A. Specifically, when the video data input receiving unit 112 receives input of data indicating the video output from the video camera 202A, the video data input receiving unit 112 transmits the data to the video data transmitting unit 113.

  The video data transmission unit 113 transmits data indicating video captured by the video camera 202 </ b> A to the in-vehicle controller 130. Specifically, when video data transmission unit 113 receives data indicating video from video data input reception unit 112, video data transmission unit 113 transmits the data to in-vehicle controller 130.

  The control data receiving unit 114 receives data for controlling the operation of the vehicle 200 </ b> A from the in-vehicle controller 130. Specifically, when the control data receiving unit 114 receives data for controlling the operation of the vehicle 200 </ b> A from the in-vehicle controller 130, the control data receiving unit 114 sends the data to the operation control unit 115.

  The steering control unit 115 controls the steering of the vehicle 200A. Specifically, when the steering control unit 115 receives data for controlling the steering of the vehicle 200A from the control data receiving unit 114, the steering control unit 115 steers the data for controlling the operation based on the information indicated by the data. The data is output to the actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A.

  Further, when information indicating a route on which the vehicle 200A should travel is stored in the route information storage unit 111, the steering control unit 115 controls the steering of the vehicle 200A so that the vehicle 200A travels along the route. At the same time, the control of the vehicle 200A is interrupted and controlled based on the data received by the control data receiver. Specifically, the route information storage unit 111 includes, as information indicating a route that the vehicle 200A should travel, data such as a latitude, a route, and a height of the travel route that specify each passing position on the route, Data indicating the speed to be taken when passing through each passing position is stored. As described above, when information indicating the route on which the vehicle 200 </ b> A should travel is stored in the route information storage unit 111, the steering control unit 115 reads out the information from the route information storage unit 111. In addition, the steering control unit 115 receives data indicating the position of the vehicle 200 </ b> A on the earth from the position data input receiving unit 116. Then, based on the value indicating the position of the vehicle 200A, the steering control unit 115 provides data for controlling the operation so that the vehicle 200A travels along the route indicated by the information read from the route information storage unit 111. The data is output to the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A. For example, the route information storage unit 111 generates and outputs data for controlling the operation of the accelerator actuator 212A based on the slope of the road surface calculated from the height of the traveling road, the speed that the vehicle 200A should take, and the like. To do. Further, when the operation control unit 115 cannot receive data indicating the position of the vehicle 200A on the earth from the position data input receiving unit 116, the operation control unit 115 receives data indicating the three-dimensional angle and acceleration of the vehicle 200A. Data received from unit 117 and data indicating the speed of each wheel of vehicle 200 </ b> A is received from vehicle speed data input receiving unit 118. Then, the steering control unit 115 sets the route indicated by the information read from the route information storage unit 111 based on the value indicating the three-dimensional angle and acceleration of the vehicle 200A and the value indicating the speed of each wheel of the vehicle 200A. Data for controlling the operation is output to the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A so that the vehicle 200A travels along the vehicle. Further, when the control unit 115 receives data for controlling the control of the vehicle 200A from the control data receiving unit 114, the control unit 115 gives priority to the control based on the information indicated by the data, and the data for controlling the operation. The data is output to the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A.

  In addition, the steering control unit 115 controls the steering of the vehicle 200A to stop the vehicle 200A when the control data receiving unit 114 cannot receive data. Specifically, when the steering control unit 115 cannot receive data from the control data receiving unit 114 for a predetermined time or more, the steering control unit 115A transmits data for controlling the operation to stop the vehicle 200A. The data is output to the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A.

  The position data input receiving unit 116 receives input of data indicating the position of the vehicle 200A on the earth specified by the GPS receiver 205A. Specifically, when the position data input accepting unit 116 accepts input of data indicating the position of the vehicle 200A on the earth output from the GSP receiver 205A, the position data input accepting unit 116 receives the data as a travel locus data generating unit 119 and a steering control unit. 115.

  The three-dimensional data input receiving unit 117 receives input of data indicating the three-dimensional angle and acceleration of the vehicle 200A detected by the IMU 206A. Specifically, when the three-dimensional data input accepting unit 117 accepts input of data indicating the three-dimensional angle and acceleration of the vehicle 200A output from the IMU 206A, the three-dimensional data input accepting unit 117 receives the data as a travel locus data generating unit 119 and a steering control unit. 115.

  The vehicle speed data input receiving unit 118 receives input of data indicating the speed of each wheel of the vehicle 200A detected by the vehicle speed detector 207A, the vehicle speed detector 208A, the vehicle speed detector 209A, and the vehicle speed detector 210A. Specifically, the vehicle speed data input receiving unit 118 inputs data indicating the speed of each wheel of the vehicle 200A output from the vehicle speed detector 207A, the vehicle speed detector 208A, the vehicle speed detector 209A, and the vehicle speed detector 210A. Is sent to the travel locus data generation unit 119 and the steering control unit 115.

  The travel locus data generation unit 119 generates data indicating the locus on which the vehicle 200A has traveled. Specifically, when the travel locus data generation unit 119 receives data indicating the position of the vehicle 200A on the earth from the position data input reception unit 116, the travel locus data generation unit 119 is based on a change in a value indicating the position of the vehicle 200A on the earth. Data indicating the trajectory traveled by the vehicle 200A is generated. In addition, when the travel locus data generation unit 119 cannot receive the data indicating the position of the vehicle 200A on the earth from the position data input reception unit 116, the travel locus data generation unit 119 displays the data indicating the three-dimensional angle and acceleration of the vehicle 200A as the three-dimensional data. Data is received from the input receiving unit 117 and data indicating the speed of each wheel of the vehicle 200 </ b> A is received from the vehicle speed data input receiving unit 118. Then, the traveling locus data generation unit 119 indicates the locus on which the vehicle 200A has traveled based on the change in the value indicating the three-dimensional angle and acceleration of the vehicle 200A and the change in the value indicating the speed of each wheel of the vehicle 200A. Generate data. Then, the travel locus data generation unit 119 sends the generated data to the travel locus data transmission unit 120.

  The travel locus data transmission unit 120 transmits data indicating the locus of travel of the vehicle 200 </ b> A to the in-vehicle controller 130 and each in-vehicle controller 150. Specifically, when the traveling locus data transmission unit 120 receives data indicating the locus on which the vehicle 200 </ b> A has traveled from the traveling locus data generation unit 119, the traveling locus data transmission unit 120 transmits the data to the in-vehicle controller 130 and each in-vehicle controller 150.

  FIG. 6 shows an example of a block configuration of the in-vehicle controller 130. The in-vehicle controller 130 includes a video data reception unit 131, a video data output unit 132, a control data input reception unit 133, a control data transmission unit 134, a travel locus data reception unit 135, a steering control unit 136, a route calculation unit 137, and an error determination unit. 138 and a stop instruction data transmission unit 139. The function and operation of each component will be described below.

  The video data receiving unit 131 receives data indicating video captured by the video camera 202 </ b> A from the in-vehicle controller 110. Specifically, when receiving video data from the in-vehicle controller 110, the video data receiving unit 131 sends the data to the video data output unit 132.

  The video data output unit 123 outputs data indicating video captured by the video camera 202 </ b> A to the display 203. Specifically, when the video data output unit 123 receives data indicating video from the video data reception unit 131, the video data output unit 123 outputs the data to the display 203.

  When the joystick 204 is operated, the control data input receiving unit 133 receives input of data indicating the operation content. Specifically, when the control data input accepting unit 133 accepts input of data indicating the operation content of the joystick 204 output from the joystick 204, the control data input accepting unit 133 controls the data as data for controlling the operation of the vehicle 200A. The data is sent to the data transmission unit 134 and the route calculation unit 140.

  The control data transmission unit 134 transmits data for controlling the operation of the vehicle 200 </ b> A to the in-vehicle controller 110. Specifically, when control data transmission unit 134 receives data for controlling the operation of vehicle 200A from control data input reception unit 133, control data transmission unit 134 transmits the data to in-vehicle controller 110.

  The position data input receiving unit 135 receives input of data indicating the position of the vehicle 200B on the earth specified by the GPS receiver 205B. Specifically, when the position data input receiving unit 135 receives an input of data indicating the position of the vehicle 200B on the earth output from the GSP receiver 205B, the position data input receiving unit 135 sends the data to the steering control unit 139.

  The three-dimensional data input receiving unit 136 receives input of data indicating the three-dimensional angle and acceleration of the vehicle 200B detected by the IMU 206B. Specifically, when the three-dimensional data input receiving unit 136 receives input of data indicating the three-dimensional angle and acceleration of the vehicle 200B output from the IMU 206B, the three-dimensional data input receiving unit 136 sends the data to the steering control unit 139.

  The vehicle speed data input receiving unit 137 receives input of data indicating the speed of each wheel of the vehicle 200B detected by the vehicle speed detector 207B, the vehicle speed detector 208B, the vehicle speed detector 209B, and the vehicle speed detector 210B. Specifically, the vehicle speed data input receiving unit 137 inputs data indicating the speed of each wheel of the vehicle 200B output from the vehicle speed detector 207B, the vehicle speed detector 208B, the vehicle speed detector 209B, and the vehicle speed detector 210B. Is received, the data is sent to the steering control unit 139.

  The travel locus data receiving unit 138 receives data indicating the locus traveled by the vehicle 200 </ b> A from the in-vehicle controller 110. Specifically, when the traveling locus data receiving unit 138 receives data indicating the locus of traveling of the vehicle 200 </ b> A from the in-vehicle controller 110, the traveling locus data receiving unit 138 sends the data to the steering control unit 139.

  The steering control unit 139 controls the steering of the vehicle 200B so that the vehicle 200B travels along the trajectory traveled by the vehicle 200A. Specifically, the steering control unit 139 receives data indicating the position of the vehicle 200B on the earth from the position data input receiving unit 135. Further, when the operation control unit 139 cannot receive data indicating the position of the vehicle 200B on the earth from the position data input receiving unit 135, the operation control unit 139 receives data indicating the three-dimensional angle and acceleration of the vehicle 200B. Data received from unit 136 and data indicating the speed of each wheel of vehicle 200 </ b> B is received from vehicle speed data input receiving unit 137. When the steering control unit 139 receives data indicating the trajectory traveled by the vehicle 200A from the travel trajectory data reception unit 138, the operation control unit 139 controls the operation to travel the vehicle 200B along the trajectory traveled by the vehicle 200A. Data is output to the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B.

  In addition, the steering control unit 139 controls the steering of the vehicle 200B in order to stop the vehicle 200B when the travel locus data receiving unit 138 cannot receive the data. Specifically, when the steering control unit 139 cannot receive data from the travel locus data receiving unit 138 for a predetermined time or longer, the steering control unit 139 transmits data for controlling the operation to stop the vehicle 200B. , Output to the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B.

  In addition, when the error between the route calculated as the route on which the vehicle 200A should travel and the trajectory on which the vehicle 200A actually traveled is greater than or equal to the threshold, the steering control unit 139 is configured to stop the vehicle 200B. Control the maneuver. Specifically, the steering control unit 139 generates data indicating that the error between the route calculated as the route on which the vehicle 200A should travel and the locus on which the vehicle 200A actually traveled has exceeded a predetermined threshold. 141, data for controlling the operation is output to the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator 214B in order to stop the vehicle 200B.

  The route calculation unit 140 calculates a route on which the vehicle 200A should travel. Specifically, when the route calculation unit 140 receives data for controlling the operation of the vehicle 200A from the control data input reception unit 133, the route calculation unit 140 calculates a route that the vehicle 200A should travel and uses the calculated data as an error determination unit. 141.

  The error determination unit 141 compares the route calculated as the route on which the vehicle 200A should travel with the trajectory on which the vehicle 200A has traveled, and determines whether or not the error exceeds a predetermined threshold. Specifically, error determination unit 141 receives data indicating a route on which vehicle 200A should travel from route calculation unit 140. When the error determination unit 141 receives data indicating the trajectory traveled by the vehicle 200A from the travel trajectory data reception unit 138, the error determination unit 141 calculates the route calculated as the route on which the vehicle 200A should travel and the trajectory traveled by the vehicle 200A. A comparison is made to determine whether the error exceeds a predetermined threshold. When the error determination unit 141 determines that the error exceeds a predetermined threshold, the error determination unit 141 transmits data indicating that to the steering control unit 139 and the stop instruction data transmission unit 142.

  The stop instruction data transmission unit 142 transmits data indicating that the vehicle 200 is to be stopped to each in-vehicle controller 150. Specifically, the stop instruction data transmission unit 142 generates data indicating that the error between the route calculated as the route on which the vehicle 200A should travel and the locus on which the vehicle 200A actually traveled exceeds a predetermined threshold. When received from the determination unit 141, data indicating that the vehicle 200 is to be stopped is transmitted to each in-vehicle controller 150.

  FIG. 7 shows an example of a block configuration of the in-vehicle controller 150a. The in-vehicle controller 150a includes a position data input receiving unit 151a, a three-dimensional data input receiving unit 152a, a vehicle speed data input receiving unit 153a, a travel locus data receiving unit 154a, a stop instruction data receiving unit 155a, and a steering control unit 156a. The function and operation of each component will be described below.

  The vehicle-mounted controllers 150b, c,... Other than the vehicle-mounted controller 150a also have the same components as the components included in the vehicle-mounted controller 150a. In the following description, when distinguishing which component of the vehicle-mounted controller 150 the component of the vehicle-mounted controller 150 is, the same subscripts (a, b, c, ...) are added to the end of each component to distinguish them. For example, the position data input receiving unit 151a, the position data input receiving unit 151b, and the position data input receiving unit 151c are components of the in-vehicle controller 150a, the in-vehicle controller 150b, and the in-vehicle controller 150c, respectively.

  Further, in the following description, the function and operation of a component that is not given a subscript indicates the function and operation of any component that is assigned the same reference numeral. For example, the functions and operations described in the position data input receiving unit 151 indicate the functions and operations of the position data input receiving unit 151a, the position data input receiving unit 151b, the position data input receiving unit 151c,.

  The position data input receiving unit 151a receives an input of data indicating the position of the vehicle 200a on the earth specified by the GPS receiver 205a. Specifically, when the position data input receiving unit 151a receives an input of data indicating the position of the vehicle 200a on the earth output from the GSP receiver 205a, the position data input receiving unit 151a sends the data to the steering control unit 156a.

  The three-dimensional data input reception unit 152a receives input of data indicating the three-dimensional angle and acceleration of the vehicle 200a detected by the IMU 206a. Specifically, when the three-dimensional data input receiving unit 152a receives input of data indicating the three-dimensional angle and acceleration of the vehicle 200a output from the IMU 206a, the three-dimensional data input receiving unit 152a sends the data to the steering control unit 156a.

  The vehicle speed data input receiving unit 153a receives input of data indicating the speed of each wheel of the vehicle 200a detected by the vehicle speed detector 207a, the vehicle speed detector 208a, the vehicle speed detector 209a, and the vehicle speed detector 210a. Specifically, the vehicle speed data input receiving unit 153a inputs data indicating the speed of each wheel of the vehicle 200a output from the vehicle speed detector 207a, the vehicle speed detector 208a, the vehicle speed detector 209a, and the vehicle speed detector 210a. Is sent to the steering control unit 156a.

  The traveling locus data receiving unit 154a receives data indicating the locus on which the vehicle 200A has traveled from the in-vehicle controller 110. Specifically, when the traveling locus data receiving unit 154a receives data indicating the locus on which the vehicle 200A has traveled from the in-vehicle controller 110, the traveling locus data receiving unit 154a sends the data to the steering control unit 156a.

  The stop instruction data receiving unit 155a receives data indicating that the vehicle 200a is to be stopped from the in-vehicle controller 130. Specifically, when the stop instruction data receiving unit 155a receives data indicating that the vehicle 200a is to be stopped from the in-vehicle controller 130, the stop instruction data receiving unit 155a sends the data to the steering control unit 156a.

  The maneuvering control unit 156a controls the maneuvering of the vehicle 200a so that the vehicle 200 travels along the trajectory traveled by the vehicle 200A. Specifically, the steering control unit 156a receives data indicating the position of the vehicle 200a on the earth from the position data input receiving unit 151a. Further, when the steering control unit 156a cannot receive data indicating the position of the vehicle 200a on the earth from the position data input receiving unit 151a, the steering control unit 156a receives data indicating the three-dimensional angle and acceleration of the vehicle 200a. Data received from the unit 152a and data indicating the speed of each wheel of the vehicle 200a is received from the vehicle speed data input receiving unit 153a. When the steering control unit 156a receives data indicating the trajectory traveled by the vehicle 200A from the travel trajectory data reception unit 154a, the operation control unit 156a controls the operation to travel the vehicle 200a along the trajectory traveled by the vehicle 200A. Data is output to the steering actuator 211a, the accelerator actuator 212a, the brake actuator 213a, and the shift change actuator 214a.

  In addition, the steering control unit 156a controls the steering of the vehicle 200a to stop the vehicle 200a when the travel locus data receiving unit 154a cannot receive the data. Specifically, when the steering control unit 156a cannot receive data from the travel locus data receiving unit 154a for a predetermined time or longer, the steering control unit 156a transmits data for controlling the operation to stop the vehicle 200a. And output to the accelerator actuator 212a, the brake actuator 213a, and the shift change actuator 214a.

  Further, upon receiving an instruction to stop traveling of the vehicle 200a, the steering control unit 156a controls the steering of the vehicle 200a so as to stop the vehicle 200a. Specifically, when the steering control unit 156a receives data indicating that the vehicle 200a is to be stopped from the stop instruction data receiving unit 155a, the steering control unit 156a transmits data for controlling the operation to stop the vehicle 200a. 211a, accelerator actuator 212a, brake actuator 213a, and shift change actuator 214a.

  FIG. 8 shows an example of an operation sequence of the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150a. In starting the platooning of each vehicle 200, the video data input receiving unit 112 receives input of data indicating a video shot by the video camera 202A (S101). The data that the video data input receiving unit 112 receives input is, for example, video converted into an electrical signal.

  Then, the video data transmitting unit 113 transmits the data received by the video data input receiving unit 112 to the in-vehicle controller 130 (S102). The video data receiving unit 131 receives the transmitted data. Specifically, the data transmitted by the video data transmission unit 113 is transmitted via the communication antenna 201A, the communication line 170, and the communication antenna 201B in order, and is received by the video data reception unit 131.

  Then, the video data output unit 132 outputs the data received by the video data receiving unit 131 to the display 203 (S103). In this way, the video shot by the video camera 202A is displayed on the display 203. Then, a passenger on the vehicle 200B controls the vehicle 200A using the joystick 204 while watching the video displayed on the display 203.

  When the occupant starts maneuvering the vehicle 200A using the joystick 204, the control data input accepting unit 133 accepts input of data indicating the operation content of the joystick 204 as data for controlling the vehicle 200A (S104). . The data that the control data input receiving unit 133 receives input is, for example, data including information indicating the operation direction and the operation amount of the lever of the joystick 204 and information identifying the button of the joystick 204 that has been pressed.

  Then, the control data transmission unit 134 transmits the data received by the control data input reception unit 133 to the in-vehicle controller 110 (S105). The control data receiving unit 114 receives the transmitted data. Specifically, the data transmitted by the control data transmission unit 134 is transmitted via the communication antenna 201B, the communication line 170, and the communication antenna 201A in order, and is received by the control data reception unit 114.

  Then, the steering control unit 115 controls the operations of the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A according to the information indicated by the data received by the control data receiving unit 114 (S106). In this way, the vehicle 200A travels by being remotely operated by a passenger boarding the vehicle 200B.

  When the vehicle 200A starts traveling, the traveling locus data generation unit 119 generates data indicating the locus on which the vehicle 200A has traveled (S107). The data generated by the travel locus data generation unit 119 is data indicating the transition of the position of the vehicle 200A on the earth. Specifically, the data generated by the travel locus data generation unit 119 is data that measures or calculates the latitude and longitude in which the vehicle 200A existed, and indicates the change over time of the value.

  Then, the traveling locus data transmission unit 120 transmits the data generated by the traveling locus data generation unit 119 to the in-vehicle controller 130 and each in-vehicle controller 150a (S108). The traveling locus data receiving unit 138 and the traveling locus data receiving unit 154a receive the transmitted data, respectively. Specifically, the data transmitted by the travel locus data transmission unit 120 is transmitted via the communication antenna 201A, the communication line 170, and the communication antenna 201B in order, and is received by the travel locus data reception unit 138. The data transmitted by the travel locus data transmission unit 120 is transmitted via the communication antenna 201A, the communication line 170, and the communication antenna 201a in order, and is received by the travel locus data reception unit 154a.

  Then, the steering control unit 139 causes the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the vehicle to travel the vehicle 200B along the trajectory traveled by the vehicle 200A indicated by the data received by the travel trajectory data receiving unit 138. Then, the operation of the shift change actuator 214B is controlled (S109). Thus, the vehicle 200B travels along the trajectory traveled by the vehicle 200A.

  Similarly, the steering control unit 156a causes the steering actuator 211a, the accelerator actuator 212a, and the brake actuator 213a to drive the vehicle 200a along the trajectory traveled by the vehicle 200A indicated by the data received by the travel trajectory data receiving unit 154a. And the operation of the shift change actuator 214a is controlled (S109). Thus, the vehicle 200a travels along the trajectory traveled by the vehicle 200A.

  In this operation sequence, the case where the in-vehicle controller 110 controls the operation of the vehicle 200A based only on the control data received from the in-vehicle controller 130 has been described. However, the operation of the vehicle 200A is controlled along a preset route. You can also In that case, the steering control unit 115 reads the route information stored in the route information storage unit 111, and in order to drive the vehicle 200A along the route, the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and The operation of shift change actuator 214A is controlled. When receiving the control data from the in-vehicle controller 130, the in-vehicle controller 110 controls the operations of the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A with priority given to processing based on the control data.

  FIG. 9 shows an example of an operation sequence of the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150a when a problem occurs in the traveling of the vehicle 200A. As described above, the traveling locus data transmission unit 120 transmits the data generated by the traveling locus data generation unit 119 to the in-vehicle controller 130 (S201). The travel locus data receiving unit 138 receives the transmitted data.

  On the other hand, the route calculation unit 140 calculates a route on which the vehicle 200A should travel based on the data received by the control data input reception unit 133 (S202). For example, when starting calculation of a route on which the vehicle 200A should travel, the route calculation unit 140 acquires the latitude and longitude of the start point at which the vehicle 200A starts traveling. Then, the route calculation unit 140 determines the route on which the vehicle 200A should travel starting from the start point when the operation is performed based on the operation information of the joystick 204 indicated by the data received by the control data input reception unit 133. calculate.

  Then, the error determination unit 141 compares the route calculated as the route on which the vehicle 200A should travel with the trajectory on which the vehicle 200A has traveled, and determines whether or not the error has exceeded a predetermined threshold (S203). . If the vehicle 200A is traveling based on the data received by the control data input accepting unit 133, the vehicle 200A should travel along a route that is close to the route calculated by the route calculating unit 140. Therefore, if the error between the route on which the vehicle 200A should travel and the locus on which the vehicle 200A actually traveled is large, there may be a problem with the traveling of the vehicle 200A.

  When the error determination unit 141 determines that the error exceeds a predetermined threshold (S203; Yes), the stop instruction data transmission unit 142 transmits data indicating that the vehicle 200a is to be stopped to the in-vehicle controller 150a (S204). ). The stop instruction data receiving unit 154a receives the transmitted data. Specifically, the data transmitted by the stop instruction data transmission unit 142 is transmitted via the communication antenna B, the communication line 170, and the communication antenna 201a in order, and is received by the stop instruction data reception unit 154a.

  Then, the steering control unit 155a controls the operations of the steering actuator 211a, the accelerator actuator 212a, the brake actuator 213a, and the shift change actuator 214a to stop the vehicle 200a (S205). In this way, the vehicle 200a stops.

  On the other hand, when the error determination unit 141 determines that the error exceeds a predetermined threshold (S203; Yes), the steering control unit 139 controls the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the like to stop the vehicle 200B. The operation of the shift change actuator 214B is controlled (S206). In this way, the vehicle 200B stops.

  The vehicle 200 </ b> A stops when a passenger on the vehicle 200 </ b> B performs a stop operation using the joystick 204.

  In this operation sequence, an example has been described in which each vehicle 200 is controlled to stop when there is a large error between the route calculated as the route on which the vehicle 200A should travel and the locus on which the vehicle 200A actually traveled. In addition to this example, for example, a communication failure can be a hindrance to continue platooning. Therefore, when the control data receiving unit 114 becomes unable to receive data, the steering control unit 115 sets the steering actuator 211A, the accelerator actuator 212A, the brake actuator 213A, and the shift change actuator 214A to stop the vehicle 200A. Control the behavior. In this manner, the vehicle 200A stops when a communication failure occurs.

  Similarly, the steering control unit 139 determines that the steering actuator 211B, the accelerator actuator 212B, the brake actuator 213B, and the shift change actuator stop the vehicle 200B when the travel locus data receiving unit 138 can no longer receive data. The operation of 214B is controlled. In this way, the vehicle 200B stops when a communication failure occurs.

  Similarly, the steering control unit 156a has a steering actuator 211a, an accelerator actuator 212a, a brake actuator 213a, and a shift change actuator to stop the vehicle 200a when the travel locus data receiving unit 154a cannot receive data. The operation of 214a is controlled. In this manner, the vehicle 200a stops when a communication failure occurs.

  FIG. 10 shows an example of data stored in the path information storage unit 111 in a table format. The route information storage unit 111 stores ID, latitude, and longitude in association with each other. The latitude and longitude may be an example of “information indicating a route on which the leading unmanned vehicle should travel” in the present invention.

  The ID may be an identification code for uniquely identifying a combination of latitude and longitude stored in the route data storage unit 111. The ID may or may not identify the latitude and the route so that the vehicle 200A is in the order of the route that the vehicle 200A should travel. Further, the ID may or may not be a character string indicating a place such as a landmark specified by a combination of latitude and longitude.

  The latitude and longitude may be coordinates indicating a position on the earth where the vehicle 200A should travel. The latitude may be data indicating an angle formed between the zenith direction and the equator plane at a point where the vehicle 200A should travel. Similarly, the longitude may be data indicating an angle between a point where the vehicle 200A should travel, a great circle passing through the North Pole and the South Pole, and a great circle passing through the former Greenwich Observatory in London.

  The steering control unit 115 controls the vehicle 200A to autonomously travel based on the information stored in the route information storage unit 111. For example, the steering control unit 115 controls the vehicle 200A to autonomously travel along the latitude and longitude positions identified by the IDs “1” to “5”, respectively. In this case, first, the steering control unit 115 performs control so that the vehicle 200A travels autonomously until the position of the latitude “35.678573” and the longitude “139.767686” identified by the ID “1” is reached. . For example, the steering control unit 115 controls the vehicle 200 </ b> A to travel linearly from the current location to the latitude and mild position identified by each ID. Thus, when the vehicle 200A reaches the position of the latitude “35.678573” and the longitude “139.767686”, the steering control 115 performs the latitude “35.679479” and the longitude “139.768329” identified by the ID “2”. Control is performed so that the vehicle 200A travels autonomously until the position is reached. By repeating such processing, the steering control unit 115 performs control so that the vehicle 200A autonomously travels to the positions of the latitude “35.683832” and the longitude “139.769295” identified by the ID “5”. To do.

  The route set in advance may be anything as long as it indicates the travel route of the vehicle. For example, if the preset route is data based on latitude and longitude, a vehicle is driven by a person and the data obtained by the GPS receiver 205 is used as a route, a satellite photograph, an aerial photograph, a map, etc. For example, position data generated by interpolating a point sequence of a travel route with a straight line or a curve can be used as a route. In addition to the latitude and the route, it is desirable to add data such as the height and speed of the travel route to the route information to be traveled in order to more accurately control the travel of the vehicle.

  In addition, the steering control unit 139 and the steering control unit 156 perform control so that the vehicle 200 autonomously travels based on the travel locus data received from the in-vehicle controller 110. At this time, the maneuvering control unit 139 and the maneuvering control unit 156 perform the same processing as the maneuvering control unit 115 based on the information on the latitude and longitude, except that the latitude and the route indicated by the travel locus data are referred to. Do.

  As described above, in the convoy travel system 100, a person may get on any one vehicle 200B among the following vehicles 200 other than the vehicle 200A traveling at the head. Therefore, the convoy travel system 100 can realize safe convoy travel when traveling on an unknown route or a route where an obstacle or dangerous object exists.

  FIG. 11 shows an example of a hardware configuration when the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150 are each configured by an electronic information processing apparatus such as a computer. The in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150 include a CPU (Central Processing Unit) peripheral part and an input / output part. The CPU peripheral section includes a CPU 902, a RAM (Random Access Memory) 903, a graphic controller 904, and a display device 905 that are connected to each other by a host controller 901. The input / output unit includes a communication interface 907 connected to the host controller 901 by the input / output controller 906, a hard disk drive 908, a CD-ROM (Compact Disk Read Only Memory) drive 909, and a ROM (Read) connected to the input / output controller 906. Only Memory) 910, flexible disk drive 911, and input / output chip 912.

  The host controller 901 connects the RAM 903, the CPU 902 that accesses the RAM 903 at a high transfer rate, and the graphic controller 904. The CPU 902 operates based on programs stored in the ROM 910 and the RAM 903 to control each unit. The graphic controller 904 acquires image data generated by the CPU 902 or the like on a frame buffer provided in the RAM 903 and displays the image data on the display device 905. Instead of this, the graphic controller 904 may include a frame buffer for storing image data generated by the CPU 902 or the like.

  The input / output controller 906 connects the host controller 901 to the hard disk drive 908, the communication interface 907, and the CD-ROM drive 909, which are relatively high-speed input / output devices. The hard disk drive 908 stores programs and data used by the CPU 902. The communication interface 907 is connected to the network communication device 991 to transmit / receive programs or data. The CD-ROM drive 909 reads a program or data from the CD-ROM 992 and provides it to the hard disk drive 908 and the communication interface 907 via the RAM 903. Note that the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150 are mounted on the vehicle 200 and receive vibrations associated with the traveling of the vehicle 200. Therefore, instead of the hard disk drive 908, an SSD (Solid State Drive) having no mechanical vibration parts and strong against impact may be used as a program or data storage means.

  The input / output controller 906 is connected to a ROM 910, a flexible disk drive 911, and a relatively low-speed input / output device such as an input / output chip 912. The ROM 910 stores a boot program executed when the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150 are started, or a program that depends on the hardware of the in-vehicle controller 110, the in-vehicle controller 130, and the in-vehicle controller 150. The flexible disk drive 911 reads a program or data from the flexible disk 993 and provides it to the hard disk drive 908 and the communication interface 907 via the RAM 903. The input / output chip 912 connects various input / output devices via the flexible disk drive 911 or a parallel port, a serial port, a keyboard port, a mouse port, and the like.

  A program executed by the CPU 902 is stored in a recording medium such as a flexible disk 993, a CD-ROM 992, or an IC (Integrated Circuit) card and provided by a user. The program stored in the recording medium may be compressed or uncompressed. The program is installed in the hard disk drive 908 from the recording medium, read into the RAM 903, and executed by the CPU 902. The program executed by the CPU 902 controls the in-vehicle controller 110, the route information storage unit 111, the video data input reception unit 112, the video data transmission unit 113, the control data reception unit 114, and the control described with reference to FIGS. The in-vehicle controller 130 is made to function as the control unit 115, the position data input reception unit 116, the three-dimensional data input reception unit 117, the vehicle speed data input reception unit 118, the travel locus data generation unit 119, and the travel locus data transmission unit 120. The video data reception unit 131, the video data output unit 132, the control data input reception unit 133, the control data transmission unit 134, the travel locus data reception unit 135, the steering control unit 136, and the route calculation unit described with reference to FIGS. 137, function as an error determination unit 138, and a stop instruction data transmission unit 139 The controller 150 includes the position data input receiving unit 151, the three-dimensional data input receiving unit 152, the vehicle speed data input receiving unit 153, the travel locus data receiving unit 154, and the stop instruction data receiving unit 155 described with reference to FIGS. , And function as the steering control unit 156.

  The program shown above may be stored in an external storage medium. As a storage medium, in addition to a flexible disk 993 and a CD-ROM 992, an optical recording medium such as a DVD (Digital Versatile Disk) or a PD (Phase Disk), a magneto-optical recording medium such as an MD (MiniDisk), a tape medium, and an IC card A semiconductor memory or the like can be used. Alternatively, the convoy travel system 100 may be provided as a program via a network using a storage medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet as a recording medium.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the description of the scope of claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

100 convoy travel system 110 vehicle-mounted controller 111 route information storage unit 112 video data input reception unit 113 video data transmission unit 114 control data reception unit 115 steering control unit 116 position data input reception unit 117 three-dimensional data input reception unit 118 vehicle speed data input reception Unit 119 travel locus data generation unit 120 travel locus data transmission unit 130 vehicle-mounted controller 131 video data reception unit 132 video data output unit 133 control data input reception unit 134 control data transmission unit 135 position data input reception unit 136 three-dimensional data input reception unit 137 Vehicle speed data input receiving unit 138 Traveling track data receiving unit 139 Maneuvering control unit 140 Route calculating unit 141 Error determining unit 142 Stop instruction data transmitting unit 150 In-vehicle controller 151 Position data input receiving unit 152 Three-dimensional data input receiving Attached part 153 Vehicle speed data input receiving part 154 Traveling track data receiving part 155 Stop instruction data receiving part 156 Steering control part 170 Communication line 200 Vehicle 201 Communication antenna 202 Video camera 203 Display 204 Joystick 205 GPS receiver 206 IMU
207 Vehicle speed detector 208 Vehicle speed detector 209 Vehicle speed detector 210 Vehicle speed detector 211 Steering actuator 212 Accelerator actuator 213 Brake actuator 214 Shift change actuator 901 Host controller 902 CPU
903 RAM
904 Graphic controller 905 Display device 906 Input / output controller 907 Communication interface 908 Hard disk drive 909 CD-ROM drive 910 ROM
911 Flexible disk drive 912 I / O chip 991 Network communication device 992 CD-ROM
993 Flexible disk

Claims (14)

A row running system for running multiple vehicles in a row,
Mounted on the first unmanned vehicle in the platoon where no person is on board, and on the leading unmanned vehicle controller that controls the operation of the first unmanned vehicle, and on the subsequent manned vehicle on which the person gets on among the following vehicles in the platoon, A trailing manned vehicle controller for controlling manned vehicle maneuvering ,
The leading unmanned vehicle controller is:
A video data transmission unit for transmitting data indicating video captured by the imaging means provided in the leading unmanned vehicle to the subsequent manned vehicle controller;
A control data receiving unit for receiving data for controlling the operation of the leading unmanned vehicle from the subsequent manned vehicle controller;
Based on the data received by the control data receiving unit, a steering control unit that controls the steering of the leading unmanned vehicle ,
A travel trajectory data transmission unit that transmits data indicating the travel trajectory of the leading unmanned vehicle that has traveled by being controlled by the steering control unit to the subsequent manned vehicle controller ;
The subsequent manned vehicle controller is:
A video data receiving unit for receiving data indicating the video from the leading unmanned vehicle controller;
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input receiving unit that receives input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller ;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A travel locus data receiving unit for receiving data indicating the travel locus from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold A determination unit;
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit If determined , a row running system having a steering control unit that controls the steering of the succeeding manned vehicle to stop the succeeding manned vehicle . The leading unmanned vehicle controller is:
A route information storage unit for storing information indicating a route on which the leading unmanned vehicle should travel;
The steering control unit of the leading unmanned vehicle controller controls the steering of the leading unmanned vehicle to control the leading unmanned vehicle to travel along the route indicated by the information stored in the route information storage unit. based on the data that the data receiving unit receives, row running system of claim 1, the interrupt control steering of the leading unmanned vehicle. Steering control unit of the first unmanned vehicle controller, when the control data receiving unit is no longer able to receive the data, in order to stop the leading unmanned vehicle, according to claim 1 for controlling the steering of the leading unmanned vehicle or platoon system described in 2. The steering control unit of the following manned vehicle controller, when the traveling locus data receiving unit is no longer able to receive the data, in order to stop the subsequent manned vehicle, according to claim 1 for controlling the steering of the subsequent manned vehicle The convoy travel system as described in any one of 3 to 3 . The control data input receiving unit of the succeeding manned vehicle controller receives input of data including information including an operation direction and an operation amount of a lever of a joystick as data for controlling the operation of the leading unmanned vehicle.
The convoy travel system according to any one of claims 1 to 4. The control data input receiving unit of the succeeding manned vehicle controller receives input of data including information for identifying a pressed joystick button as data for controlling the operation of the leading unmanned vehicle.
The convoy travel system according to any one of claims 1 to 5. The steering control unit of the leading unmanned vehicle controller controls the operation of the steering actuator according to the information indicated by the data received by the control data receiving unit when controlling the steering of the leading unmanned vehicle.
The convoy travel system according to any one of claims 1 to 6. A row running method for running multiple vehicles in a row,
A head unmanned vehicle controller, which is mounted on a leading unmanned vehicle in a platoon where no person is on board and controls the operation of the leading unmanned vehicle, receives data indicating video captured by photographing means provided in the leading unmanned vehicle. A video data transmission stage that is mounted on a subsequent manned vehicle on which a person gets on among the following vehicles and transmits to a subsequent manned vehicle controller that controls the operation of the subsequent manned vehicle;
The subsequent manned vehicle controller receives data indicating the video from the leading unmanned vehicle controller; and
The subsequent manned vehicle controller outputs the data received in the video data receiving step to a display means provided in the subsequent manned vehicle, and
A control data input accepting step in which the succeeding manned vehicle controller accepts input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
The subsequent manned vehicle controller calculates a route on which the leading unmanned vehicle should travel based on data received in the control data input accepting step;
The subsequent manned vehicle controller transmits the data accepted in the control data input accepting step to the leading unmanned vehicle controller,
A control data receiving step in which the leading unmanned vehicle controller receives data for controlling the operation of the leading unmanned vehicle from the subsequent manned vehicle controller;
The leading unmanned vehicle controller controls the maneuvering of the leading unmanned vehicle based on the data received in the control data receiving step ,
A traveling locus data transmission step of transmitting data indicating a traveling locus of the leading unmanned vehicle that has traveled by the leading unmanned vehicle controller being controlled in the steering control step to the subsequent manned vehicle controller;
The subsequent manned vehicle controller receives data indicating the traveling locus from the leading unmanned vehicle controller, a traveling locus data receiving step;
The subsequent manned vehicle controller compares the route calculated in the route calculating step with the traveling locus of the leading unmanned vehicle indicated by the data received in the traveling locus data receiving step, and the error is a predetermined threshold value. An error determination stage for determining whether or not
The succeeding manned vehicle controller controls the maneuvering of the succeeding manned vehicle in order to cause the succeeding manned vehicle to travel along the traveling locus indicated by the data received in the traveling locus data receiving step, and an error is predetermined. A row running method comprising: a steering control step of controlling a steering of the succeeding manned vehicle so as to stop the succeeding manned vehicle when it is determined in the error judging step that a threshold value has been exceeded . In a row running system for running a plurality of vehicles in a row , the first computer is functioned as a head unmanned vehicle controller that is mounted on a head unmanned vehicle in a row where a person does not ride and controls the operation of the head unmanned vehicle, A program for causing a second computer to function as a subsequent manned vehicle controller that is mounted on a subsequent manned vehicle on which a person rides among the following vehicles and controls the operation of the subsequent manned vehicle,
The first computer ;
The leading data indicating the image photographed by the photographing means provided on the unmanned vehicle, the image data transmission unit to be transmitted to said subsequent manned vehicle controller,
A control data receiving unit for receiving data for controlling the operation of the leading unmanned vehicle from the subsequent manned vehicle controller;
Based on the data received by the control data receiving unit, a steering control unit that controls the steering of the leading unmanned vehicle ,
Function as a travel locus data transmission unit that transmits data indicating the travel locus of the leading unmanned vehicle that has traveled by being controlled by the steering control unit to the subsequent manned vehicle controller ;
Said second computer ;
A video data receiving unit for receiving data indicating the video from the leading unmanned vehicle controller;
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input accepting unit for accepting input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller ;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A travel locus data receiving unit for receiving data indicating the travel locus from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold Determination part,
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit If determined, a program that functions as an operation control unit that controls operation of the subsequent manned vehicle to stop the subsequent manned vehicle . In a row running system for running a plurality of vehicles in a row, the first computer is functioned as a head unmanned vehicle controller that is mounted on a head unmanned vehicle in a row where a person does not get on and controls the operation of the head unmanned vehicle, A recording medium in which a program for causing a second computer to function as a subsequent manned vehicle controller that is mounted on a subsequent manned vehicle on which a person rides among the following vehicles and controls the operation of the subsequent manned vehicle is recorded,
The first computer;
A video data transmission unit that transmits data indicating video captured by the imaging means provided in the leading unmanned vehicle to the subsequent manned vehicle controller;
A control data receiving unit for receiving data for controlling the operation of the leading unmanned vehicle from the subsequent manned vehicle controller;
Based on the data received by the control data receiving unit, a steering control unit that controls the steering of the leading unmanned vehicle,
A travel trajectory data transmission unit that transmits data indicating the travel trajectory of the leading unmanned vehicle that has traveled under the control of the steering control unit to the subsequent manned vehicle controller.
Function as
Said second computer;
A video data receiving unit for receiving data indicating the video from the leading unmanned vehicle controller;
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input accepting unit for accepting input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A travel locus data receiving unit for receiving data indicating the travel locus from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold Judgment part,
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit Control unit for controlling the maneuvering of the subsequent manned vehicle to stop the manned vehicle
A recording medium that records a program that functions as a computer. A succeeding manned vehicle controller that is mounted on a succeeding manned vehicle on which a person rides among the following vehicles in the formation and controls the maneuvering of the succeeding manned vehicle;
Data indicating an image captured by a photographing unit provided in a leading unmanned vehicle of a platoon where a person does not get on is received from a leading unmanned vehicle controller that is mounted on the leading unmanned vehicle and controls the operation of the leading unmanned vehicle. A video data receiver;
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input receiving unit that receives input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller ;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A traveling locus data receiving unit for receiving data indicating the traveling locus of the leading unmanned vehicle from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold A determination unit;
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit A subsequent manned vehicle controller comprising: a maneuvering control unit that controls maneuvering of the succeeding manned vehicle to stop the manned vehicle after the determination . A control method for controlling the maneuvering of a subsequent manned vehicle on which a person rides among the following vehicles in the formation,
The succeeding manned vehicle controller that is mounted on the succeeding manned vehicle and controls the maneuvering of the succeeding manned vehicle , the data indicating the image photographed by the photographing means provided in the leading unmanned vehicle of the row where no person is on board, A video data receiving step that is mounted on the leading unmanned vehicle and received from the leading unmanned vehicle controller that controls the operation of the leading unmanned vehicle;
The subsequent manned vehicle controller outputs the data received in the video data receiving step to a display means provided in the subsequent manned vehicle, and
A control data input accepting step in which the succeeding manned vehicle controller accepts input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
The subsequent manned vehicle controller transmits the data accepted in the control data input accepting step to the leading unmanned vehicle controller ,
The subsequent manned vehicle controller calculates a route on which the leading unmanned vehicle should travel based on data received in the control data input accepting step;
The subsequent manned vehicle controller receives data indicating the traveling locus of the leading unmanned vehicle from the leading unmanned vehicle controller, and a traveling locus data receiving step.
The subsequent manned vehicle controller compares the route calculated in the route calculating step with the traveling locus of the leading unmanned vehicle indicated by the data received in the traveling locus data receiving step, and the error is a predetermined threshold value. An error determination stage for determining whether or not
The succeeding manned vehicle controller controls the maneuvering of the succeeding manned vehicle in order to cause the succeeding manned vehicle to travel along the traveling locus indicated by the data received in the traveling locus data receiving step, and an error is predetermined. A steering control method including a steering control step of controlling steering of the succeeding manned vehicle to stop the succeeding manned vehicle when it is determined in the error determining step that the threshold value has been exceeded . A program that is mounted on a succeeding manned vehicle on which a person rides among the following vehicles in a convoy, and causes a computer to function as a succeeding manned vehicle controller that controls the operation of the succeeding manned vehicle,
The computer ,
Data indicating an image captured by a photographing unit provided in a leading unmanned vehicle of a platoon where a person does not get on is received from a leading unmanned vehicle controller that is mounted on the leading unmanned vehicle and controls the operation of the leading unmanned vehicle. Video data receiver,
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input accepting unit for accepting input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller ;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A travel locus data receiving unit for receiving data indicating the travel locus of the leading unmanned vehicle from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold Determination part,
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit If determined, a program that functions as an operation control unit that controls operation of the subsequent manned vehicle to stop the subsequent manned vehicle . A recording medium that records a program that is mounted on a succeeding manned vehicle on which a person rides among the following vehicles in a platoon and that causes a computer to function as a succeeding manned vehicle controller that controls the operation of the succeeding manned vehicle,
The computer,
Data indicating an image captured by a photographing unit provided in a leading unmanned vehicle of a platoon where a person does not get on is received from a leading unmanned vehicle controller that is mounted on the leading unmanned vehicle and controls the operation of the leading unmanned vehicle. Video data receiver,
A video data output unit for outputting the data received by the video data receiving unit to display means provided in the subsequent manned vehicle;
A control data input accepting unit for accepting input of data for controlling the maneuvering of the leading unmanned vehicle from maneuvering means provided in the succeeding manned vehicle;
A control data transmission unit that transmits data received by the control data input reception unit to the leading unmanned vehicle controller;
A route calculation unit that calculates a route on which the leading unmanned vehicle should travel based on data received by the control data input reception unit;
A travel locus data receiving unit for receiving data indicating the travel locus of the leading unmanned vehicle from the leading unmanned vehicle controller;
An error for comparing the route calculated by the route calculation unit and the traveling locus of the leading unmanned vehicle indicated by the data received by the traveling locus data receiving unit, and determining whether or not the error exceeds a predetermined threshold Judgment part,
In order to drive the succeeding manned vehicle along the traveling locus indicated by the data received by the traveling locus data receiving unit, the control of the succeeding manned vehicle is controlled, and when the error exceeds a predetermined threshold, the error determining unit Control unit for controlling the maneuvering of the subsequent manned vehicle to stop the manned vehicle
A recording medium that records a program that functions as a computer.

Images