JP7363173B2 - Vehicle control device - Google Patents

Description

The present disclosure relates to a vehicle control device.

Conventionally, there is a vehicle control device described in Patent Document 1 below. The vehicle control device described in Patent Document 1 includes a time calculation section, a heat amount calculation section, and an air conditioning control section. The time calculation unit calculates a predicted arrival time at which the vehicle will arrive at the boarding and alighting point based on the positional relationship between the vehicle's current location and the boarding and alighting point. The amount of heat calculation unit calculates the amount of heat flowing into and out of the vehicle when the door of the vehicle is opened at the boarding and alighting point. The air conditioning control section controls the air conditioning unit of the vehicle to increase the blowout volume of the conditioned air from before the predicted arrival time so as to offset the amount of heat calculated by the amount of heat calculation section. According to such a configuration, the amount of heat flowing in and out of the vehicle interior when the door is opened after arriving at the boarding point is offset by the amount of heat accumulated in the vehicle interior, so that the amount of heat entering and exiting the vehicle interior is offset by the amount of heat accumulated in the vehicle interior. Fluctuations in temperature can be suppressed.

Japanese Patent Application Publication No. 2008-143284

By the way, the inventors proposed a driving system in which a cruise car cruises along a predetermined travel route and another vehicle is connected to the cruise car, thereby allowing passengers to board the cruise car and disembark from the cruise car via another vehicle. We are considering the system. When using such a driving system, users who move between the cruise car and another vehicle may feel uncomfortable because the air conditioning conditions of the cruise car and the other vehicle are different from each other. there is a possibility.

The present disclosure has been made in view of these circumstances, and its purpose is to provide a vehicle control device that can reduce the discomfort of a user who moves between another vehicle and his or her own vehicle. It is in.

In order to solve the above problem, a control device for a vehicle that can move people between other vehicles by contacting the other vehicle (20) includes an air conditioning parameter acquisition section (383) and an air conditioning control section. (382). The air conditioning parameter acquisition unit acquires air conditioning parameters of other vehicles. The air conditioning control unit sets the air conditioning parameters of the own vehicle based on the air conditioning parameters of other vehicles acquired by the air conditioning parameter acquisition unit, and controls the air conditioning system (74, 75) of the own vehicle based on the set air conditioning parameters of the own vehicle. ).

According to this configuration, since the air conditioning state of the own vehicle is changed in accordance with the air conditioning state of the other vehicle, it is possible to reduce the discomfort of the user who moves between the other vehicle and the own vehicle.
Note that the above-mentioned means and the reference numerals in parentheses described in the claims are examples showing correspondences with specific means described in the embodiments to be described later.

According to the present disclosure, it is possible to provide a vehicle control device that can reduce the discomfort of a user who moves between another vehicle and his or her own vehicle.

FIG. 1 is a diagram schematically showing an overview of a vehicle traveling system according to a first embodiment. FIG. 2 is a diagram schematically showing an overview of the vehicle travel system according to the first embodiment. FIG. 3 is a diagram schematically showing an outline of the traveling route of the cruise vehicle of the first embodiment. FIG. 4 is a block diagram showing a schematic configuration of a vehicle traveling system according to the first embodiment. FIG. 5 is a diagram schematically showing a state in which the cruise car and the vehicle of the first embodiment are connected. FIG. 6 is a flowchart showing a part of the procedure of processing executed by the cruise control ECU of the cruise car and the ride control ECU of the passenger vehicle, respectively, according to the first embodiment. FIG. 7 is a flowchart showing a part of the procedure of the processing executed by the cruise control ECU of the cruise car and the ride control ECU of the passenger vehicle, respectively, according to the first embodiment. FIG. 8 is a graph showing changes in the outside air temperature Tout, the interior temperature TAa of the cruise car, and the interior temperature TAb of the passenger vehicle in winter for the vehicle traveling system of the first embodiment. FIG. 9 is a graph showing changes in the outside air temperature Tout, the interior temperature TAa of the cruising vehicle, and the interior temperature TAb of the passenger vehicle in summer for the vehicle traveling system of the first embodiment. FIG. 10 is a graph showing changes in the outside air temperature Tout, the interior temperature TAa of the cruise car, and the interior temperature TAb of the passenger vehicle in winter for the vehicle traveling system of the modified example of the first embodiment. . FIG. 11 is a graph showing changes in the outside air temperature Tout, the interior temperature TAa of the cruise car, and the interior temperature TAb of the passenger vehicle in summer for the vehicle travel system of the modified example of the first embodiment. . FIG. 12 is a block diagram showing a schematic configuration of a vehicle traveling system according to the second embodiment.

Hereinafter, embodiments of a vehicle control device will be described with reference to the drawings. In order to facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and redundant description will be omitted.
<First embodiment>
First, an overview of a vehicle traveling system using the control device of the first embodiment will be explained.

As shown in FIGS. 1 and 2, in the vehicle traveling system 10 of the present embodiment, when the vehicles 30 and 40 approach the cruise vehicle 20, the vehicle travel system 10 is configured to create a gap between the cruise vehicle 20 and the vehicles 30 and 40. This is a system that enables the movement of objects to be transported. The objects to be transported include the users who use the cruise vehicle 20, the goods transported by the cruise vehicle 20, and the like. In the following, a case where the object to be transported is a user will be explained as an example.

The cruise car 20 is traveling along a predetermined travel route Rd. The cruise vehicle 20 is a relatively large bus or the like that can accommodate a large number of people. The cruise vehicle 20 of this embodiment is an engine vehicle that runs using an engine as a power source. The cruise car 20 travels at a constant standard travel speed, except at places where it is legally required to stop, such as at a stop line at a temporary stop or at a stop line at a traffic light when the traffic light is red. As shown in FIG. 3, a plurality of approach travel sections Sa and Sb are set on the travel route Rd of the cruise car 20, in which the vehicles 30 and 40 can approach the cruise car 20. The cruise vehicle 20 passes through each of the approaching travel sections Sa and Sb at predetermined times.

The vehicle 30 shown in FIG. 1 is a vehicle used by a user when riding in the cruise car 20. Hereinafter, the vehicle 30 will also be referred to as the "ride vehicle 30." The passenger vehicle 30 of this embodiment is an engine vehicle that runs using an engine as a power source. The passenger vehicle 30 is a relatively small vehicle that can accommodate a small number of people. The boarding vehicle 30 is waiting at a boarding point P10 designated in advance. The designated boarding point P10 is located near the boarding approach section Sa on the driving route Rd. The user can board the ride vehicle 30 by heading to the designated boarding point P10 at a predetermined boarding time. The riding vehicle 30 carrying the user travels from the designated boarding point P10 to the approaching riding area Sa, and approaches the cruise car 20 that is traveling in the approaching riding area Sa. This allows the user riding in the riding vehicle 30 to move to the cruise car 20. When the user moves from the riding vehicle 30 to the cruise car 20, the user's boarding in the cruise car 20 is completed. After the user has completely boarded the cruise vehicle 20, the ride vehicle 30 separates from the cruise vehicle 20 and heads toward the designated boarding point P10 or a predetermined waiting point.

The vehicle 40 shown in FIG. 2 is a vehicle used by a user when getting off the cruise car 20. Hereinafter, the vehicle 40 will also be referred to as the "disembarking vehicle 40." Similarly to the getting-on vehicle 30, the getting-off vehicle 40 of this embodiment is also a relatively small-sized engine vehicle that runs using an engine as a power source and can accommodate a small number of people. The vehicle 40 for getting off the vehicle approaches the cruise vehicle 20 while the cruise vehicle 20 is traveling in the approach travel section Sb for getting off the vehicle provided on the travel route Rd. In this embodiment, the approach travel section Sa for boarding and the approach travel section Sb for disembarkation shown in FIGS. 1 and 2, respectively, are set as different sections in the travel route Rd. When the alighting vehicle 40 approaches the cruise car 20 in the alighting approach section Sb, the user riding in the cruise car 20 can move from the cruise car 20 to the alighting vehicle 40. After the user's movement from the cruise car 20 is completed, the alighting vehicle 40 moves away from the cruise car 20, travels to the designated alighting point P11, and stops. The designated alighting point P11 is located near the alighting approach section Sb on the driving route Rd. The user can get off at the designated alighting point P11 from the alighting vehicle 40 that has stopped at the designated alighting point P11.

Note that the user of the cruise car 20 can reserve the use of the traveling system 10 by operating his/her own mobile terminal. Specifically, the user can reserve, for example, a designated boarding point P10 at which the user will ride, a time to ride the boarding vehicle 30 at the designated boarding point P10, and the like. Further, the user can reserve a designated alighting point P11 at which the user will alight, a time to alight from the alighting vehicle 40 at the designated alighting point P11, and the like.

In the traveling system 10 of the present embodiment, the user gets on and off the cruise vehicle 20 via the vehicles 30 and 40 in this way, so that the cruise vehicle 20 follows the traveling route Rd at a constant reference traveling speed. I am able to drive. In this embodiment, the vehicles 30 and 40 correspond to the own vehicle, and the cruise car 20 corresponds to another vehicle other than the vehicles 30 and 40.

Next, specific configurations of the cruise car 20 and the vehicles 30, 40 will be explained.
As shown in FIG. 4, the cruise vehicle 20 includes a communication unit 21, a position sensor 22, a human sensor 23, a surrounding detection sensor 24, a vehicle speed sensor 25, a coupling device 26, a door device 27, A driving control ECU (Electronic Control Unit) 28 is provided.

The communication section 21 includes a long-distance communication section 210 and a short-range communication section 211. The long distance communication unit 210 is a part that enables wireless communication with a management center 50 that is separate from the cruise car 20 and the vehicles 30 and 40. The management center 50 is a part that manages the usage status of the cruise car 20 by each user. The long-distance communication unit 210 acquires, for example, information regarding the usage status of the cruise car 20 by each user through long-distance wireless communication with the management center 50. The short-range communication unit 211 is a part that enables short-range wireless communication with the vehicles 30 and 40.

The position sensor 22 acquires the current location of the cruise vehicle 20 using GPS (Global Positioning System) or the like. The position sensor 22 transmits the acquired information on the current location of the cruise vehicle 20 to the travel control ECU 28.
The human sensor 23 is a sensor that detects a user riding in the cruise car 20. The human sensor 23 can also detect a user moving between the cruise car 20 and the vehicles 30 and 40. The human sensor 23 transmits information about the detected user to the travel control ECU 28.

The surroundings detection sensor 24 is a sensor that detects surrounding information of the cruise car 20. The information acquired by the surroundings detection sensor 24 includes vehicles traveling around the cruise vehicle 20, obstacles located in front of the cruise vehicle 20, traffic lights located in front of the cruise vehicle 20, and information on vehicles traveling around the cruise vehicle 20. This includes the driving lanes, etc. The surrounding detection sensor 24 is configured by, for example, a camera, an infrared sensor, or a radar device. The surroundings detection sensor 24 transmits the detected surrounding information of the cruise vehicle 20 to the travel control ECU 28.

The vehicle speed sensor 25 detects the traveling speed of the cruise vehicle 20 and transmits information on the detected traveling speed to the traveling control ECU 28.
The coupling device 26 is a device for connecting the cruise vehicle 20 and the vehicles 30, 40 when the vehicles 30, 40 approach the cruise vehicle 20. Specifically, as shown in FIG. 5, the coupling device 26 is provided on the side surface of the cruise vehicle 20. The connecting device 26 is made of a rectangular frame-shaped member with a space formed inside that allows a person to pass through. A rectangular frame-shaped coupling device 36 having approximately the same size as the coupling device 26 of the cruise car 20 is mounted on the vehicles 30 and 40 . Each coupling device 26, 36 includes an electromagnet built therein. The coupling device 26 of the cruise vehicle 20 and the coupling devices 36 of the vehicles 30, 40 come into contact with each other when the vehicles 30, 40 approach the cruise vehicle 20. After the connecting devices 26, 36 come into contact with each other, an electromagnetic force is generated in each connecting device 26, 36 through the energization control, thereby connecting the connecting devices 26, 36 to each other. When the connecting devices 26 and 36 are in a connected state, the user can go back and forth between the cruise car 20 and the vehicles 30 and 40 by passing through the passage formed inside them. I can do it. In this embodiment, the connecting devices 26 and 36 correspond to contact portions that contact each other.

As shown in FIG. 5, the door device 27 of the cruiser 20 is provided to open and close the space inside the coupling device 26. Furthermore, the door devices 37 of the vehicles 30 and 40 are provided to open and close the space inside the coupling device 36. That is, when each door device 27, 37 is in an open state, movement between cruise car 20 and vehicles 30, 40 is possible, while when each door device 27, 37 is in a closed state, movement is possible. , movement between the cruise car 20 and the vehicles 30, 40 becomes impossible.

The travel control ECU 28 shown in FIG. 4 is mainly composed of a microcomputer including a CPU, memory, and the like. The travel control ECU 28 includes a travel control section 280, a connection control section 281, and an air conditioning control section 283.
The travel control unit 280 executes automatic travel control for automatically causing the cruise vehicle 20 to travel along the travel route Rd by executing a program stored in advance in the memory. Specifically, the travel control unit 280 is capable of exchanging various information with other ECUs mounted on the cruise vehicle 20, such as the engine ECU 60, the brake ECU 61, and the steering ECU 62. Engine ECU 60 centrally controls the engine of cruise vehicle 20 . The brake ECU 61 centrally controls the brake system of the cruiser vehicle 20. The steering ECU 62 centrally controls the steering device of the cruise vehicle 20.

The driving control unit 280 is necessary for the cruising car 20 to automatically travel a predetermined driving route Rd at a constant reference speed based on the surrounding information of the cruising car 20 detected by the surrounding detection sensor 24. It calculates control command values such as a target value of acceleration and a target value of steering angle of the vehicle, and transmits the calculated control command values to engine ECU 60, brake ECU 61, and steering ECU 62. Based on this control command value, the engine ECU 60, brake ECU 61, and steering ECU 62 control the engine, braking device, and steering device of the cruise vehicle 20, so that the cruise vehicle 20 automatically travels along the travel route Rd.

The connection control unit 281 connects the cruise car 20 to the vehicles 30 and 40 and disconnects them by controlling the drive of the connection device 26. The connection control unit 281 also controls opening and closing of the door device 27 provided on the connection device 26.
The air conditioning control unit 282 shares parameters used for air conditioning control between the cruise car 20 and the vehicles 30, 40, thereby controlling the air conditioning control being executed in the cruise car 20 and the air conditioning control being executed in the vehicles 30, 40. Correlate with air conditioning control.

Specifically, the air conditioning control unit 282 can exchange various information with the air conditioning ECU 63 mounted on the cruise car 20. The air conditioning ECU 63 centrally controls an air conditioner 64 mounted on the cruise vehicle 20. The air conditioner 64 is a device that can change the temperature and air volume of conditioned air blown into the cabin of the cruise car 20. The air conditioning control unit 282 controls the air conditioning device 64 to cause the temperature inside the vehicle to follow a set temperature set by the driver of the cruise vehicle 20 or the like. The air conditioning control unit 282 obtains, for example, information on the set temperature from the air conditioning ECU 63. The air conditioning control unit 282 transmits the acquired set temperature information to the vehicle 30, 40 via the long distance communication unit 210 to the management center 50. By executing the air conditioning control of the vehicles 30, 40 based on the information on the set temperature transmitted from the management center 50 to the vehicles 30, 40, the air conditioning control of the cruise car 20 and the air conditioning control of the vehicles 30, 40 are performed. It is possible to correlate. In addition, in this embodiment, the set temperature of the air conditioning control of the cruise car 20 and the set temperature of the air conditioning control of the vehicles 30 and 40 correspond to the air conditioning parameters.

The boarding vehicle 30 and the disembarking vehicle 40 basically have the same configuration. In addition to the coupling device 36 and the door device 37, the vehicles 30 and 40 include a communication unit 31, a position sensor 32, a human sensor 33, a surroundings detection sensor 34, a vehicle speed sensor 35, and a travel control ECU 38. There is. The communication section 31 includes a long-distance communication section 310 and a short-range communication section 311. The configuration and function of each element 31 to 38 of the vehicles 30 and 40 are basically the same or similar to the configuration and function of each element 21 to 28 of the cruise car 20, so a detailed explanation thereof will be omitted. The explanation will focus on the differences.

The travel control ECU 38 includes a travel control section 380, a connection control section 381, and an air conditioning control section 382, as well as an air conditioning parameter acquisition section 383 and a position detection section 384. In this embodiment, the travel control ECU 38 corresponds to a control device for the vehicles 30 and 40.
The travel control unit 380 executes an automatic travel control that causes the vehicles 30 and 40 to approach and then move away from the cruise car 20 traveling on the travel route Rd by executing a program stored in advance in the memory. The driving control unit 380 causes the vehicle 30, 40 to automatically travel by transmitting control command values to the engine ECU 70, brake ECU 71, and steering ECU 72 mounted on the vehicle 30, 40 when executing automatic driving control. let

The connection control unit 381 controls the connection device 36 and door device 37 mounted on the vehicles 30 and 40.
The air conditioning parameter acquisition unit 383 is a part that acquires information on the temperature setting for air conditioning control from the cruise car 20. Specifically, when the air conditioning parameter acquisition unit 383 receives information on the set temperature for air conditioning control transmitted from the cruise car 20 via the management center 50 via the long distance communication unit 310, the air conditioning parameter acquisition unit 383 receives the information on the set temperature. is transmitted to the air conditioning control unit 382.

The air conditioning control unit 382 correlates the air conditioning control being executed in the cruise car 20 with the air conditioning control being executed in the vehicles 30 and 40. Specifically, the air conditioning control unit 382 determines the set temperature of the air conditioning control of the vehicles 30 and 40 based on the set temperature of the air conditioning control of the cruise car 20 transmitted from the air conditioning parameter acquisition unit 383, and also Information on the set temperature is transmitted to the air conditioning ECU 73. The air conditioning ECU 73 controls the air conditioner 74 based on the transmitted set temperature information. The air conditioner 74 changes the temperature inside the vehicle 30, 40 based on this set temperature information, making it possible to correlate the air conditioning control of the cruise car 20 with the air conditioning control of the vehicles 30, 40. ing.

The position detection unit 384 detects the relative positions of the vehicles 30 and 40 with respect to the cruise car 20 based on information about the cruise car 20 detected by the surrounding detection sensor 34.
The management center 50 comprehensively manages the usage status of the cruise car 20 by users. Specifically, when a user uses the cruise car 20, he or she must operate his or her own mobile terminal 80 to reserve the use of the cruise car 20. When making a reservation, the user inputs information such as boarding location, boarding time, alighting place, and alighting time into the mobile terminal 80. The boarding location is information for specifying from which of the plurality of designated boarding points P10 the user will board the vehicle. The boarding time is information for specifying which of the boarding vehicles 30 departing from the boarding location designated by the user, which departure time of the boarding vehicle 30 is to be used. The alighting location is information for specifying at which of the plurality of designated alighting points P11 the user will alight. The alighting time is information for specifying which of the alighting vehicles 40 arriving at the alighting location designated by the user, which arrival time of the alighting vehicle 40 is to be used. The management center 50 individually manages this information input through the mobile terminal 80 for each user. The management center 50 transmits information regarding the users it manages to the cruise car 20 and the vehicles 30, 40 in response to requests from the cruise control ECU 28 of the cruise car 20 and the travel control ECUs 28, 38 of the vehicles 30, 40, respectively. Send.

Next, the procedure of the process executed by the cruise control ECU 28 of the cruise car 20 and the cruise control ECU 38 of the passenger vehicle 30 when the user gets on the cruise car 20 will be explained in detail with reference to FIGS. 6 and 7. explain. Note that the processes shown in FIGS. 6 and 7 are repeatedly executed by each ECU 28 and 38 before the cruise vehicle 20 reaches the approach travel section Sa for boarding.

As shown in FIG. 6, in the travel control ECU 28 of the cruise vehicle 20, the travel control unit 280 first determines whether or not the cruise vehicle 20 is approaching the next approach travel section Sa for boarding, as a process in step S10. to judge. Specifically, the travel control unit 280 of the cruise car 20 calculates the travel distance from the current location of the cruise car 20 to the start point of the next approaching riding section Sa, and the travel control unit 280 of the cruise car 20 By dividing by the traveling speed, the time T10 that the cruise vehicle 20 needs to travel from the current location to the approach travel zone Sa for boarding is calculated. The positional information of the start point and end point of each approaching traveling section Sa for boarding and the positional information of the starting point and ending point of each approaching traveling section Sb for getting off are stored in advance in the memory of the traveling control ECU 28 of the cruise car 20. . If the calculated travel time T10 of the cruise vehicle 20 exceeds the predetermined time Ttha, the travel control unit 280 of the cruise vehicle 20 determines that the cruise vehicle 20 is not approaching the boarding approach zone Sa. That is, the travel control unit 280 of the cruise vehicle 20 makes a negative determination in the process of step S10. In this case, as shown in FIG. 7, the travel control unit 280 of the cruise vehicle 20 temporarily ends the series of processes.

As shown in FIG. 6, in the process of step S10, the traveling control unit 280 of the cruising vehicle 20 causes the cruising vehicle 20 to travel close to the vehicle if the traveling time T10 of the cruising vehicle 20 is less than or equal to the predetermined time Ttha. It is determined that the vehicle is approaching section Sa. In this case, the travel control unit 280 of the cruise car 20 makes an affirmative determination in the process of step S10, and as the process of the subsequent step S11, the travel control unit 280 of the cruise car 20 transmits the information of the user who will board the cruise car 20 in the next approaching riding section Sa. , obtained from the management center 50 via the long distance communication unit 210. The information acquired from the management center 50 includes information regarding the number of users Npa who will board the cruise vehicle 20 in the next approaching riding section Sa.

The travel control unit 280 of the cruise vehicle 20 determines whether or not there is a user who will board the cruise vehicle 20 in the next approach travel section Sa for boarding, as a process in step S12 following step S11. Specifically, if the number of users Npa acquired in the process of step S11 is zero, the travel control unit 280 of the cruise vehicle 20 causes the cruise vehicle 20 to board the cruise vehicle 20 in the next boarding approach section Sa. It is determined that the user does not exist. That is, the travel control unit 280 of the cruise vehicle 20 makes a negative determination in the process of step S12. In this case, as shown in FIG. 7, the travel control unit 280 of the cruise vehicle 20 temporarily ends the series of processes.

As shown in FIG. 6, in the process of step S12, if the number of users Npa exceeds zero, the traveling control unit 280 of the cruise vehicle 20 controls the cruise vehicle in the next approaching riding section Sa. It is determined that there is a user boarding vehicle 20, and an affirmative determination is made in the process of step S12. In this case, the air conditioning control unit 282 of the cruise car 20 sends information on the air conditioning parameters of the cruise car 20, specifically information on the set temperature TAa of the air conditioning control of the cruise car 20, to the management center as the process of the subsequent step S13. 50 to the passenger vehicle 30. Note that when air conditioning control for the cruise car 20 is performed to reduce the temperature inside the cabin of the cruise car 20, the information on the set temperature TAa becomes information on the temperature set for the cooling control. Further, when heating control that increases the temperature inside the cabin of the cruise car 20 is executed as air conditioning control of the cruise car 20, the information on the set temperature TAa becomes information on the temperature set for the heating control.

The travel control unit 280 of the cruise vehicle 20 transmits information on the current location and traveling speed of the cruise vehicle 20 to the passenger vehicle 30 via the management center 50 as processing in step S14 following step S13. Note that, once the process of step S14 is executed, the traveling control unit 280 of the cruise car 20 performs the following operations until the connection between the coupling device 26 of the cruise vehicle 20 and the coupling device 36 of the passenger vehicle 30 is completed. , continues to transmit information on the current location and traveling speed of the cruise vehicle 20 to the passenger vehicle 30 at a predetermined period.

On the other hand, in the travel control ECU 28 of the passenger vehicle 30, the travel control section 380 transmits the information of the user who gets on the passenger vehicle 30 from the specified boarding point P10 via the long distance communication section 310 as the process of step S20. The information is obtained from the management center 50. The information acquired from the management center 50 includes information regarding the number of users Npa who board from the designated boarding point P10. The number of users Npa that the travel control unit 380 of the riding vehicle 30 acquires from the management center 50 is the same number as the number of users Npa that the travel control unit 280 of the cruise car 20 acquires in the process of step S11. be.

The traveling control unit 380 of the riding vehicle 30 determines whether or not there is a user who is boarding the riding vehicle 30 from the designated boarding point P10, as processing in step S21 following step S20. Specifically, if the number of users Npa acquired in the process of step S20 is zero, the travel control unit 380 of the ride vehicle 30 controls the number of users who board the ride vehicle 30 from the designated boarding point P10. judge that it does not exist. That is, the travel control unit 380 of the passenger vehicle 30 makes a negative determination in the process of step S21. In this case, as shown in FIG. 7, the travel control unit 380 of the passenger vehicle 30 temporarily ends the series of processes.

As shown in FIG. 6, in the process of step S21, if the number of users Npa exceeds zero, the traveling control unit 380 of the passenger vehicle 30 moves from the designated boarding point P10 to the passenger vehicle 30. It is determined that there is a user to board the vehicle, and an affirmative determination is made in the process of step S21. In this case, the air conditioning parameter acquisition unit 383 of the passenger vehicle 30 receives the air conditioning parameter information transmitted from the cruise car 20, specifically, the set temperature TAa of the air conditioning control of the cruise car 20, as the process of the subsequent step S22. and get it. Then, the air conditioning control unit 382 of the passenger vehicle 30 determines the set temperature TAb of the air conditioning control of the passenger vehicle 30 based on the received information on the set temperature of the cruise car 20 as the process of the subsequent step S23, and also determines the set temperature TAb of the air conditioning control of the passenger vehicle 30. By transmitting the set temperature TAb to the air conditioning ECU 73, the temperature inside the cabin of the passenger vehicle 30 is controlled to the set temperature TAb.

Specifically, when the current season is summer, the air conditioning control unit 382 of the passenger vehicle 30 subtracts a predetermined value α1 from the set temperature TAa of the air conditioning control of the cruise car 20. It is used as the set temperature TAb for the air conditioning control of the vehicle 30. The air conditioning control unit 382 controls the temperature inside the cabin of the passenger vehicle 30 to the set temperature TAb by transmitting this set temperature TAb to the air conditioning ECU 73. As a result, as shown in FIG. 8, the temperature TAb inside the passenger vehicle 30 is lower than the temperature TAa inside the passenger vehicle 20 in the summer.

On the other hand, when the current season is winter, the air conditioning control unit 382 of the passenger vehicle 30 sets a value obtained by adding a predetermined value α2 to the set temperature TAa of the air conditioning control of the cruise car 20. It is used as the set temperature TAb for air conditioning control of the vehicle 30. The air conditioning control unit 382 controls the temperature inside the cabin of the passenger vehicle 30 to the set temperature TAb by transmitting this set temperature TAb to the air conditioning ECU 73. As a result, as shown in FIG. 9, the temperature TAb in the passenger compartment of the passenger vehicle 30 becomes higher than the temperature TAa in the passenger compartment of the cruise vehicle 20 in winter. Note that the predetermined value α2 may be the same value as the predetermined value α1 shown in FIG. 8, or may be different values from each other.

As shown in FIG. 6, the travel control unit 380 of the passenger vehicle 30 receives the current location and travel speed of the cruise vehicle 20 that are transmitted from the cruise vehicle 20 via the management center 50 as processing in step S24 following step S23. Receive information about. Note that, once the process of step S24 is executed, the traveling control unit 380 of the passenger vehicle 30 performs a process until the connection between the connecting device 26 of the cruise car 20 and the connecting device 36 of the passenger vehicle 30 is completed. During this period, information on the current location and traveling speed of the cruise vehicle 20 is continuously received from the cruise vehicle 20 at a predetermined period.

The travel control unit 380 of the passenger vehicle 30 executes travel control to cause the passenger vehicle 30 to approach the traveling cruise vehicle 20 as processing in step S25 following step S24. Specifically, the traveling control unit 380 of the passenger vehicle 30 moves the passenger vehicle 30 to a designated boarding point at a predetermined departure time after the reserved user gets on the passenger vehicle 30. The vehicle is automatically dispatched from P10 toward the approach travel zone Sa for boarding. Thereafter, the travel control unit 380 of the passenger vehicle 30 causes the cruise vehicle 20 to travel near the starting point of the passenger approach travel section Sa based on the information on the current location and traveling speed of the cruise vehicle 20 acquired in the process of step S24. The riding vehicle 30 is automatically run so that the riding vehicle 30 can approach the cruise car 20 when the riding vehicle 30 is traveling. Further, when the travel control unit 380 of the passenger vehicle 30 determines that the passenger vehicle 30 has approached the cruise vehicle 20, the travel control unit 380 of the passenger vehicle 30 determines whether the passenger vehicle 30 is relative to the cruise vehicle 20 detected by the position detection unit 384. Based on the position information, the passenger vehicle 30 is automatically driven so that the connecting device 36 of the passenger vehicle 30 contacts the connecting device 26 of the cruise car 20 in the state shown in FIG.

The traveling control unit 380 of the passenger vehicle 30 determines whether or not the connection possible state shown in FIG. 5 has been reached as a process in step S26 following step S25. If the travel control unit 380 of the riding vehicle 30 makes a negative determination in the process of step S26, that is, if it determines that the connection possible state shown in FIG. 5 is not reached, the process returns to the process of step S24. Therefore, the travel control unit 380 of the passenger vehicle 30 repeatedly executes the processes of step S24 and step S25 until the passenger vehicle 30 approaches the cruise car 20 in the state shown in FIG. do.

When the travel control unit 380 of the passenger vehicle 30 determines that the connection possible state shown in FIG. 5 has been reached, it makes an affirmative determination in the process of step S26. In this case, the traveling control unit 380 of the riding vehicle 30 notifies the cruise car 20 that the connection is possible through the short-range communication unit 211 as a process in step S27. Further, the connection control unit 381 of the riding vehicle 30 executes connection control to connect the connecting device 36 of the riding vehicle 30 to the connecting device 26 of the cruise car 20 as the process of step S28. Specifically, the connection control unit 381 of the riding vehicle 30 causes the connecting device 36 of the riding vehicle 30 to generate electromagnetic force by energizing the connecting device 36 .

The travel control unit 280 of the cruise vehicle 20 receives the notification that the connection is possible, which is transmitted from the passenger vehicle 30, as the process of step S15. Based on the reception of this notification, the connection control unit 281 of the cruise car 20 executes connection control to connect the connection device 26 of the cruise car 20 to the connection device 36 of the passenger vehicle 30 as the subsequent process of step S16. Specifically, the connection control unit 281 of the cruise car 20 causes the connection device 36 of the cruise car 20 to generate electromagnetic force by energizing the connection device 26 of the cruise car 20 . Thereby, the cruise car 20 and the ride vehicle 30 are coupled to each other in the state shown in FIG. 5 by the respective electromagnetic forces of the coupling device 26 of the cruise car 20 and the coupling device 36 of the ride vehicle 30. At this time, the cruise car 20 and the passenger vehicle 30 maintain an automatically traveling state.

The connection control unit 281 of the cruise vehicle 20 executes the process of step S17 shown in FIG. 7 following the process of step S16. The connection control unit 281 of the cruise car 20 determines whether or not the connection with the riding vehicle 30 has been completed as the process of step S17, and if it determines that the connection has been completed, it makes an affirmative determination in the process of step S17. In this case, the connection control unit 281 of the cruise car 20 opens the door device 27 of the cruise car 20 as the process of step S18.

The connection control unit 381 of the passenger vehicle 30 executes the process of step S29 shown in FIG. 7 following the process of step S28 shown in FIG. The connection control unit 381 of the riding vehicle 30 determines whether or not the connection with the cruise car 20 has been completed in the process of step S29, and if it determines that the connection has been completed, it makes an affirmative determination in the process of step S29. In this case, the connection control unit 381 of the passenger vehicle 30 opens the door device 37 of the passenger vehicle 30 as the process of step S40.

In this way, the door device 27 of the cruise car 20 and the door device 37 of the passenger vehicle 30 are both in the open state, so that the user riding in the passenger vehicle 30 can not move to the cruise vehicle 20. It becomes possible.
The connection control unit 281 of the cruise car 20 determines whether the movement of the reserved user from the riding vehicle 30 to the cruise car 20 has been completed as processing in step S19 following step S18. Specifically, the connection control unit 281 of the cruise car 20 monitors the user who moves from the passenger vehicle 30 to the cruise car 20 using the human sensor 23, and when the user moves from the passenger vehicle 30 to the cruise car 20. When the number of users reaches the number of users Npa obtained in the process of step S11, it is determined that the movement of the reserved users from the riding vehicle 30 to the cruise car 20 is completed. In this case, the connection control unit 281 of the cruise vehicle 20 notifies the riding vehicle 30 via the short-range communication unit 211 that the user's movement has been completed, as the process of step S30. Further, the connection control unit 281 of the cruise car 20 closes the door device 27 of the cruise car 20 as the process of step S31, and stops the power supply to the coupling device 26 of the cruise car 20 as the process of step S32. The connection of the coupling device 26 to the coupling device 36 of the passenger vehicle 30 is released.

On the other hand, when the connection control unit 381 of the passenger vehicle 30 receives a notification that the user's movement has been completed from the cruise car 20 as a process in step S41, the connection control unit 381 of the passenger vehicle 30 performs a door device of the passenger vehicle 30 as a process in step S42. 37, and as a process of step S43, the connection of the coupling device 36 to the coupling device 26 of the cruise car 20 is released by stopping the power supply to the coupling device 36 of the passenger vehicle 30.

By thus disengaging the coupling device 26 of the cruise vehicle 20 and the coupling device 36 of the passenger vehicle 30, preparations are made for the passenger vehicle 30 to be separated from the cruise vehicle 20. Then, the travel control unit 380 of the passenger vehicle 30 executes separation travel control for automatically driving the passenger vehicle 30 away from the cruise vehicle 20 as the process of step S44. Specifically, the traveling control unit 380 of the riding vehicle 30 moves the riding vehicle 30 away from the cruise car 20 and then gradually decelerates the speed, thereby stopping the riding vehicle 30.

The series of processes shown in FIGS. 6 and 7 are executed by the travel control ECU 28 of the cruise car 20 and the travel control ECU 38 of the passenger vehicle 30, so that the user who has boarded the passenger vehicle 30 at the designated boarding point P10 is It becomes possible to move it to the cruise car 20.
Regarding the process executed by the travel control ECU 28 of the cruise car 20 and the travel control ECU 38 of the alighting vehicle 40 when the user gets off the cruise car 20, the occupant moves from the cruise car 20 to the alighting vehicle 40. A process similar to the series of processes shown in FIGS. 6 and 7 is executed, except that the points are different. Therefore, a detailed explanation of the processing will be omitted.

According to the travel control ECU 38 of the vehicle 30 of the present embodiment described above, the actions and effects shown in (1) and (2) below can be obtained.
(1) When a user gets on the cruise car 20, the user moves in the order of the riding vehicle 30 and the cruise car 20. At this time, in the summer, as shown by the arrow in FIG. 8, when the temperature of the outside air is "Tout", the user's sensible temperature is the temperature of the outside air Tout, the set temperature TAb of the passenger vehicle 30. , and the set temperature TAa of the cruise car 20. That is, the user will ride the cruise car 20 after once cooling down in the riding vehicle 30. As a result, even if the set temperature TAa of the cruise car 20 is higher than the set temperature TAb of the passenger vehicle 30, the user can get on the cruise car 20 with a feeling of coldness. It is possible to reduce discomfort caused by the sensible temperature of the user who moves between the riding vehicle 30 and the riding vehicle 30. Furthermore, by setting the set temperature TAa of the cruise car 20 higher than the set temperature TAb of the passenger vehicle 30, it is possible to suppress the energy spent on air conditioning control in the cruise car 20, thereby reducing the fuel consumption of the cruise car 20. It can be improved.

(2) In the winter, as shown by the arrow in FIG. 9, the user's perceived temperature is in the order of the outside air temperature Tout, the set temperature TAb of the passenger vehicle 30, and the set temperature TAa of the cruise car 20. It's going to change. That is, the user gets on the cruise car 20 after once heating up in the riding vehicle 30. As a result, even if the set temperature TAa of the cruise car 20 is lower than the set temperature TAb of the passenger vehicle 30, the user can ride the cruise car 20 with a warm sensation, so the user's experience Temperature discomfort can be reduced. In addition, by setting the set temperature TAa of the cruise car 20 lower than the set temperature TAb of the passenger vehicle 30, it is possible to suppress the energy spent on heating air conditioning control in the cruise car 20, thereby reducing the fuel consumption of the cruise car 20. It can be improved.

(Modified example)
Next, a modification of the travel control ECU 38 of the first embodiment will be described.
When the current season is summer, the air conditioning control unit 382 of the travel control ECU 38 of this modification sets a value obtained by adding a predetermined value β1 to the set temperature TAa of the air conditioning control of the cruise car 20. It is used as the set temperature TAb for the air conditioning control of the vehicle 30. As a result, as shown in FIG. 10, the temperature TAb inside the passenger vehicle 30 is higher than the temperature TAa inside the passenger vehicle 20 in the summer.

On the other hand, when the current season is winter, the air conditioning control unit 382 of the passenger vehicle 30 subtracts a predetermined value β2 from the set temperature TAa of the air conditioning control of the cruise car 20. It is used as the set temperature TAb for air conditioning control of the vehicle 30. As a result, as shown in FIG. 11, in winter, the temperature TAb inside the passenger vehicle 30 is lower than the temperature TAa inside the passenger vehicle 20. Note that the predetermined value β2 may be the same value as the predetermined value β1 shown in FIG. 10, or may be different values from each other.

By the way, when the cruise car 20 is air-conditioned in the summer, there is a possibility that the temperature difference between the inside and outside of the cruise car 20 becomes large. Therefore, when moving from an environment where the outside air temperature Tout is to an environment where the set temperature TAa of the cruise car 20 is set, the user may experience heat shock due to the temperature difference. In this regard, according to the configuration of this modified example, as shown by the arrows in FIG. Since the heat shock gradually decreases in this order, the user is less likely to experience the above-mentioned heat shock.

In addition, in winter, as shown by the arrow in FIG. 11, the user's perceived temperature gradually increases in the order of the outside air temperature Tout, the set temperature TAb of the passenger vehicle 30, and the set temperature TAa of the cruise car 20. do. Therefore, even in winter, the user is less likely to experience the above-mentioned heat shock.

<Second embodiment>
Next, a second embodiment of the travel control ECU 38 of the vehicle 30 will be described. Hereinafter, the differences from the traveling system 10 of the first embodiment will be mainly explained.
The driving system 10 of this embodiment differs from the driving system 10 of the first embodiment in that the air pressure inside the passenger vehicle 30 is controlled according to the air pressure inside the passenger vehicle 20.

Specifically, as shown in FIG. 12, the cruise car 20 is provided with an air pressure adjustment device 65 that adjusts the air pressure inside the vehicle. The operation of the air pressure adjustment device 65 is controlled by an air conditioning ECU 63 mounted on the cruise vehicle 20. The air conditioning ECU 63 controls the air pressure in the cabin of the cruise car 20 to a predetermined pressure as one of the air conditioning controls for the cruise car 20. The air conditioning control unit 282 of the cruise control ECU 28 of the cruise car 20 acquires information on the set atmospheric pressure of the cruise car 20 from the air conditioning ECU 63, and transmits the acquired information on the set atmospheric pressure to the vehicle via the management center 50 using the long distance communication unit 210. Send on 30, 40.

Similarly, the vehicles 30 and 40 are also provided with an air pressure adjustment device 75 that adjusts the air pressure inside the vehicle interior. The operation of the air pressure adjustment device 75 is controlled by an air conditioning ECU 73 mounted on the vehicles 30, 40. The air conditioning parameter acquisition unit 383 of the driving control ECU 38 of the vehicle 30, 40 receives the information on the set atmospheric pressure transmitted from the cruise car 20 via the management center 50, and also receives the received information on the set atmospheric pressure of the cruise car 20. It is transmitted to the air conditioning control section 382. The air conditioning control unit 382 determines the set atmospheric pressure of the vehicles 30 and 40 based on the set atmospheric pressure information transmitted from the air conditioning parameter acquisition unit 383, and transmits the determined set atmospheric pressure information to the air conditioning ECU 73. The air conditioning ECU 73 changes the air pressure inside the vehicle 30, 40 using the air pressure adjustment device 75 based on the information on the set air pressure, thereby correlating the air conditioning control of the cruise car 20 with the air conditioning control of the vehicles 30, 40. is possible. In this embodiment, the air pressure adjustment device 75 corresponds to an air conditioner.

Note that the contact portions of the coupling device 26 of the cruise car 20 and the coupling devices 36 of the vehicles 30 and 40 of this embodiment are covered with a member, for example, a rubber member, to improve their adhesion. Therefore, the coupling devices 26, 36 are in intimate contact when they are coupled.

Next, the procedure of the process executed by the travel control ECU 28 of the cruise car 20 and the travel control ECU 38 of the riding vehicle 30 when the user gets on the cruise car 20 will be specifically described.
The air conditioning control unit 282 of the cruise car 20 transmits information on the set atmospheric pressure PAa of the cruise car 20 to the passenger vehicle 30 via the management center 50 in the process of step S13 shown in FIG.

On the other hand, the air conditioning parameter acquisition unit 383 of the passenger vehicle 30 receives information on the set atmospheric pressure PAa transmitted from the cruise car 20 as the process of step S22. Then, the air conditioning control unit 382 of the passenger vehicle 30 determines the set atmospheric pressure PAb of the passenger vehicle 30 based on the received information on the set atmospheric pressure PAa of the cruise car 20 as a process of the subsequent step S23, and By transmitting the set atmospheric pressure PAb to the air conditioning ECU 73, the atmospheric pressure in the cabin of the passenger vehicle 30 is controlled to the set atmospheric pressure PAb.

Specifically, the air conditioning control unit 382 of the passenger vehicle 30 uses a value obtained by subtracting a predetermined value γ1 from the set pressure PAa of the cruise car 20 as the set pressure PAb of the passenger vehicle 30. As a result, the air pressure PAb inside the passenger vehicle 30 becomes lower than the air pressure PAa inside the cruise car 20.

According to the travel control ECU 38 of the vehicle 30 of the present embodiment described above, the actions and effects shown in (3) and (4) below can be obtained.
(3) Since the set pressure PAb in the passenger compartment of the cruise car 20 is higher than the set pressure PAb in the passenger compartment of the passenger vehicle 30, when the cruise car 20 and the passenger vehicle 30 are connected to each other, the passenger The flow of air in the direction from the vehicle 30 toward the cruise vehicle 20 can be blocked. As a result, it is possible to prevent, for example, air containing viruses from flowing into the cruise car 20 from the passenger vehicle 30, thereby reducing discomfort especially for the unspecified number of users riding in the cruise car 20. can.

(4) If a gap is formed in the contact area between the connecting device 26 of the cruise car 20 and the connecting device 36 of the passenger vehicle 30, the outside air containing viruses etc. will flow into the cabin of the cruise car 20 through the gap. or may flow into the passenger compartment of the passenger vehicle 30. In this regard, since the coupling devices 36 of the vehicles 30, 40 of this embodiment closely contact the coupling devices 26 of the cruise car 20, it is difficult to form a gap between the coupling devices 26, 36. As a result, it is possible to prevent outside air containing viruses and the like from flowing into the cabin of the cruise car 20 or the cabin of the passenger vehicle 30 through the gap formed between the coupling devices 26 and 36.

(Modified example)
Next, a modification of the travel control ECU 38 of the second embodiment will be described.
The air conditioning control unit 382 of the passenger vehicle 30 of this modification obtains the set air pressure PAa of the cruise car 20 before the user gets on the vehicle 30, thereby adjusting the set air pressure PAb inside the vehicle 30. , is set to a value smaller than the set air pressure PAa of the cruise car 20 and higher than the air pressure outside the vehicle 30, in other words, the atmospheric pressure. The air pressure adjustment device 75 of the passenger vehicle 30 adjusts the air pressure in the cabin of the vehicle 30 to the air pressure set by the air conditioning control section 382.

According to such a configuration, when the user gets on the ride vehicle 30, it is possible to prevent outside air containing viruses and the like from flowing into the ride vehicle 30. Furthermore, since air does not flow into the cruise vehicle 20 from the passenger vehicle 30, it is possible to more accurately suppress air containing viruses and the like from flowing into the cruise vehicle 20.

<Other embodiments>
Note that each embodiment can also be implemented in the following forms.
- The air conditioning control unit 382 of the passenger vehicle 30 of the first embodiment may set the set temperature TAb of the air conditioning control of the passenger vehicle 30 to the same temperature as the set temperature TAa of the air conditioning control of the cruise car 20.

- In the process of step S10 shown in FIG. 6, the process is based on whether the distance that the cruise car 20 needs to travel from the current location to the approach travel area Sa for boarding is less than or equal to a predetermined distance. Then, it may be determined whether the cruise vehicle 20 is approaching the next approach travel section Sa for boarding.

- The traveling speed of the cruise vehicle 20 when traveling in the approach traveling sections Sa and Sb may be changed. Specifically, the traveling speed of the cruise vehicle 20 is changed based on the lengths of the approaching travel sections Sa and Sb, the number of users getting on and off the cruise vehicle 20, the characteristics of the users, and the like. Note that the user characteristics include, for example, whether the user has a disability or not.
- The air-conditioning parameters used between the cruise car 20 and the vehicles 30, 40 are not limited to the temperature and pressure inside the vehicle interior, but may also be the humidity inside the vehicle interior.

- The cruise car 20 and vehicles 30, 40 of each embodiment are not limited to engine vehicles, but may be electric vehicles that run using an electric motor as a power source, or hybrid vehicles that run using both an engine and an electric motor as a power source. .
- The travel control ECU 28, 38 and the control method thereof described in the present disclosure are provided by configuring a processor and memory programmed to execute one or more functions embodied by a computer program. It may be implemented by one or more dedicated computers. The cruise control ECUs 28, 38 and their control methods described in this disclosure may be implemented by a dedicated computer provided by configuring a processor that includes one or more dedicated hardware logic circuits. The cruise control ECUs 28, 38 and the control methods thereof described in the present disclosure utilize a combination of a processor and memory programmed to perform one or more functions and a processor including one or more hardware logic circuits. It may be implemented by one or more dedicated computers configured. A computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. Dedicated hardware logic circuits and hardware logic circuits may be implemented by digital circuits that include multiple logic circuits, or by analog circuits.

- The present disclosure is not limited to the above specific examples. Design changes made by those skilled in the art to the specific examples described above are also included within the scope of the present disclosure as long as they have the characteristics of the present disclosure. The elements included in each of the specific examples described above, as well as their arrangement, conditions, shapes, etc., are not limited to those illustrated, and can be changed as appropriate. The elements included in each of the specific examples described above can be appropriately combined as long as no technical contradiction occurs.

20: Cruise car (other vehicles)
30, 40: Vehicle (own vehicle)
36: Connecting device (contact part)
38: Travel control ECU (control device)
74: Air conditioner 75: Air pressure regulator (air conditioner)
382: Air conditioning control unit 383: Air conditioning parameter acquisition unit

Claims (9)

A vehicle control device capable of moving a person between another vehicle (20) by contacting the other vehicle,
an air conditioning parameter acquisition unit (383) that acquires air conditioning parameters of the other vehicle;
Setting the air conditioning parameters of the own vehicle based on the air conditioning parameters of the other vehicle acquired by the air conditioning parameter acquisition unit, and controlling the air conditioning system (74, 75) of the own vehicle based on the set air conditioning parameters of the own vehicle. A vehicle control device comprising: an air conditioning control section (382) for controlling. The air conditioner (74) adjusts the temperature inside the vehicle's cabin,
The vehicle control device according to claim 1, wherein the air conditioning parameter is a temperature inside the vehicle. The vehicle control device according to claim 2, wherein the air conditioning control unit controls the air conditioner so that the temperature inside the vehicle's cabin is lower than the temperature inside the cabin of the other vehicle. The vehicle control device according to claim 2, wherein the air conditioning control unit controls the air conditioner so that the temperature inside the vehicle's own vehicle is higher than the temperature inside the vehicle of another vehicle. The vehicle control device according to claim 2, wherein the air conditioning control unit controls the air conditioning system so that the temperature inside the vehicle's own vehicle is the same as the temperature inside the vehicle of another vehicle. The air conditioner is an air pressure adjustment device (75) that adjusts the air pressure in the cabin of the own vehicle,
The vehicle control device according to claim 1, wherein the air conditioning parameter is an air pressure inside the vehicle. The vehicle control device according to claim 6, wherein the air conditioning control unit controls the air pressure adjustment device so that the air pressure in the cabin of the host vehicle is lower than the air pressure in the cabin of the other vehicle. According to claim 7, the air conditioning control unit controls the air pressure adjustment device so that the air pressure inside the own vehicle is lower than the air pressure inside the other vehicle and higher than the air pressure outside the own vehicle. Control device for the vehicle described. The vehicle control device according to any one of claims 6 to 8, wherein the vehicle is provided with a contact portion (36) that closely contacts the other vehicle.

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