JPH11250400A - Group or vehicles running control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a group of vehicles running control system capable of performing effective running of vehicles by forming proper groups of vehicles. SOLUTION: A group of vehicles is formed out of plural vehicles, running control information is transmitted between vehicles of the formed group of vehicles and a specified running in a file is performed by the group of vehicles by the transmitted running control information by the group of vehicles running control system. The group of vehicles running control system is constituted by providing a running controller 2, running control ECU 14 of the running controller 2 is provided with a group formation judging means 50 to judge whether a specified number of vehicles or specified length of the group has been formed or not and a lane changing means 52 to change lanes of the group of vehicles. When the group of vehicles reaches the specified number of vehicles or the specified length, a group formation signal is generated by the group formation judging means 50, a lane changing signal is generated based on the generated group formation signal and the lane of the leading vehicle is changed from a specified lane to other lane which is different from the specified lane based on the lane changing signal by the lane changing means 52.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle group traveling control system that travels on a highway or the like while forming a vehicle group.

[0002]

2. Description of the Related Art On an expressway, an automobile exclusive road, or the like, it has been considered that the driving of an automobile is automated, and a plurality of vehicles form a train called a platoon and a group of vehicles travels as a unit. Automated driving and formation of a group of vehicles for platooning are expected to reduce labor and ease traffic.

[0003] As a prior art relating to forming a vehicle group and performing platoon running, for example, Japanese Patent Laid-Open No. 8-31 is disclosed.
4541 and JP-A-7-334790. In the traveling control system disclosed in Japanese Patent Application Laid-Open No. 8-314541, if a confluent vehicle is detected when a group of vehicles passes a confluence point during platooning, the inter-vehicle distance is increased so that merging into the platoon is facilitated. To control. In addition, Japanese Patent Application Laid-Open No. 7-3347
In the travel control system disclosed in No. 90, the following vehicle running independently monitors the behavior of the preceding vehicle, and increases the inter-vehicle distance when a merged vehicle is expected to be present at the junction. It controls the merging vehicle so that it can smoothly enter the preceding vehicle.

[0004]

For example, when a group of vehicles travels in a platoon on a traveling lane, and a large number of vehicles join the group at the junction, the length of the platoon of the vehicles in the lane increases. In such a case, if the traffic volume in the overtaking lane is small, the traffic flow on the entire road becomes slow, and the vehicle cannot travel efficiently. Therefore, in order to perform efficient traveling, when the length of the platoon of the vehicle group is increased to some extent, these are treated as one vehicle group, and the vehicle travels with the lane changed from the traveling lane to the overtaking lane, for example. Is desired.

[0005] However, the above prior arts all enable a vehicle that joins at a junction to easily join a group of vehicles, and form a group of vehicles to perform efficient traveling. Rather, it has been desired to realize a traveling control system for performing such traveling.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle group traveling control system capable of forming an appropriate group of vehicles so that the vehicle can travel efficiently.

[0007]

According to the present invention, a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between the vehicles in the formed vehicle group. Group running determination system for determining whether a predetermined number of vehicles or a predetermined group length has been formed, and a lane changing unit for changing lanes of the vehicle group Wherein the group formation determining means and the lane changing means are provided at least in the first vehicle of the vehicle group, and when the vehicle group has reached the number of vehicles or a predetermined group length, the group formation determining means has a group formation signal. The lane changing means generates a lane change signal based on the group formation signal, and the leading vehicle changes lanes from a specific lane to another lane different from the specific lane based on the lane change signal. thing A vehicle group traveling control system according to claim.

According to the present invention, when the number of vehicles in the vehicle group reaches a predetermined number or when the group length reaches a predetermined length, the lane changing means generates a lane change signal, whereby the leading vehicle of the vehicle group is identified. The lane is changed from the lane to another lane, and the following vehicle also changes lanes following the leading vehicle. Therefore, the length of the vehicle group does not become longer than the predetermined range, such a vehicle group travels as one group, and thus the traffic flow is smooth, and the vehicle can travel efficiently. .

According to the present invention, a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between the vehicles of the formed vehicle group, whereby the vehicle group travels in a predetermined platoon. A control system, comprising: group formation determining means for determining whether a predetermined number of vehicles or a predetermined group length has been formed; and a diverging junction that is one or both of a diverging point and a merging point on a road. A merging point judging means for judging a point, and a lane changing means for changing lanes of a vehicle group, wherein the group formation judging means, the merging point judging means and the lane changing means are provided by the vehicle Equipped at least in the leading vehicle of the group, when the vehicle group reaches the number of vehicles or a predetermined group length, the group formation determining means generates a group formation signal, and when the vehicle group approaches the branching point, Minute The junction determining unit generates a junction signal, the lane changing unit generates a lane change signal based on the group formation signal and the junction signal, and the leading vehicle is identified based on the lane change signal. A vehicle group traveling control system, wherein a lane is changed from a lane to another lane different from the specific lane.

According to the present invention, when the number of vehicles in the vehicle group reaches a predetermined number, or when the group length reaches a predetermined length, the lane changing means generates a lane change signal at the junction where the vehicle group changes. The first vehicle changes lanes from a specific lane to another lane, and subsequent vehicles also change lanes following the first vehicle. Therefore, the length of the vehicle group is adjusted at the junction, such a vehicle group travels as one group,
Thus, the traffic flow is smooth, and the vehicle can travel efficiently.

Further, the present invention is characterized in that the junction point judging means generates the junction point signal based on branch junction map information from map data of a navigation device mounted on the vehicle.

According to the present invention, map data in a navigation device can be used as information on a junction.

[0013] Further, the present invention is characterized in that the junction point determination means generates the junction point signal based on a road information signal from a road device provided along the road.

According to the present invention, a road information signal from a road device can be used as information relating to a junction point.

Further, according to the present invention, each vehicle in the vehicle group includes a transmitting means and a receiving means, and when the lane changing means of the leading vehicle generates the lane changing signal, prior to the leading vehicle changing lanes, The lane change signal generated by the leading vehicle is transmitted from the transmitting means to the receiving means of a succeeding vehicle.

According to the present invention, the vehicle change signal generated by the lane changing means is transmitted to the succeeding vehicle before the leading vehicle of the vehicle group changes lanes. The lane change of the following vehicle can be performed smoothly.

Further, the present invention further comprises a plurality of junction points judging means for judging whether or not a plurality of the junction points exist within a predetermined distance range, and a lane selecting means for selecting a lane. A point judging means and the lane selecting means are provided at least in the leading vehicle, and the lane selecting means selects a lane based on the judgment result of the plural merging point judging means, and the leading vehicle is selected by the lane selecting means. It is characterized in that a lane change is performed for the set lane.

According to the present invention, the multiple junction point judging means judges whether or not there are a plurality of junction points within a predetermined distance range, and the lane selecting means judges whether the plural junction points are judged by the plural junction point judging means. Is selected on the basis of the following, the lane is selected in consideration of the existing merging point, so that the vehicle group can travel comfortably.

Also, in the present invention, the plurality of merging point determination means obtains the number of the merging points connected to each lane within the predetermined distance range, and the lane selecting means calculates the number of the merging lanes having a smaller number of merging points. Is selected.

According to the present invention, the lane selecting means selects a lane with a small number of merging points determined by the plural merging point judging means, so that the lane change of the running vehicle group is small, and thereby the comfort of the vehicle group is improved. Traveling can be performed.

Further, according to the present invention, a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between the vehicles of the formed vehicle group, whereby the vehicle group travels in a predetermined platoon. A control system, a shunt point determining means for determining a shunt point on the road, a shunt vehicle presence / absence determining means for determining whether or not there is a vehicle shunting at a specific shunt point in the vehicle group; With a lane selection means to select, the diversion point determination means, the diversion vehicle presence / absence determination means and the lane selection means are equipped in at least the leading vehicle of the vehicle group, when the vehicle group approaches the diversion point, The shunt point determination means generates a shunt point signal, the shunt vehicle presence / absence determination means generates a shunt vehicle presence signal when a shunt vehicle is present in the vehicle group, and the lane selection means selects the shunt point signal and the shunt point signal. A vehicle group traveling control system and selects the lane in which the particular diverting point on the basis of the chromatic signal is present.

According to the present invention, if the vehicle group includes a vehicle that diverges at the specific branch point, and when the vehicle group approaches the specific branch point, the lane selecting means changes the lane where the specific branch point exists. select. Therefore, the vehicle group changes lanes to this lane, and the diverted vehicle can be smoothly diverted to the diverting channel at the specific diverting point.

Further, according to the present invention, a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between the vehicles of the formed vehicle group, whereby the vehicle group travels in a predetermined platoon. A control system, comprising: a lane decrease point determining unit for determining a lane decrease point where a lane of a road decreases; and a lane selecting unit for selecting a lane, wherein the lane decrease point determining unit and the lane selecting unit are When the vehicle group approaches the lane reduction point, the lane reduction point determination unit generates a lane reduction point signal, and the lane selection unit generates the lane reduction point signal when the vehicle group approaches the lane reduction point signal. A vehicle group travel control system characterized by selecting a lane that does not decrease based on the vehicle group.

According to the present invention, when approaching the lane reduction point, the lane selecting means selects the lane that does not decrease. Therefore, the vehicle group that has been traveling on the decreasing lane is changed to the lane that does not decrease. Safe driving can be performed.

Further, according to the present invention, a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between the vehicles of the formed vehicle group, whereby the vehicle group travels in a predetermined platoon. A control system, comprising: a traffic amount determining unit for determining a traffic amount in a predetermined range based on position information of surrounding vehicles; a lane changing unit for performing a lane change of a vehicle group; and a lane by the lane changing unit. A lane change prohibiting unit for prohibiting a change, wherein the traffic amount judging unit, the lane changing unit and the lane change prohibiting unit are mounted on at least a leading vehicle of the vehicle group, and the traffic on the specific lane is determined by the traffic amount judging unit. When it is determined that the traffic is large, the lane change prohibiting means generates a lane change prohibition signal for prohibiting the lane change to the specific lane, whereby the lane change prohibiting signal is generated by the lane changing means. A vehicle group traveling control system, characterized in that the vehicle changes to the particular lane of the vehicle is prohibited.

According to the present invention, when the traffic volume of the specific lane is large, the lane change prohibiting means prohibits the lane change to the specific lane, thereby preventing the traffic volume of the specific lane from further increasing. Therefore, the traffic flow is prevented from being concentrated on the specific lane, and the vehicle can travel efficiently.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of a vehicle group traveling control system according to the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram schematically showing a main part of a first embodiment of a vehicle group traveling control system according to the present invention.

Referring to FIG. 1, the illustrated vehicle group travel control system includes a travel control device indicated by reference numeral 2, and in this embodiment, such a travel control device 2
(See FIG. 3). Each of the travel control devices 2 includes a communication control unit 8 (hereinafter, referred to as a “communication control ECU”) for transmitting information signals such as travel control information between vehicles 4 in a vehicle group 6 (see FIG. 3) forming a platoon; A vehicle control unit 12 (hereinafter, referred to as a "vehicle control ECU") for controlling a traveling device 10 of a vehicle 4 on which the traveling control device 2 is mounted, and a traveling control unit 14 (hereinafter, "traveling") for controlling lane change of a vehicle group. Control ECU 8), and the communication control ECU 8 and the vehicle control ECU 12
The travel control ECU 14 includes, for example, a dedicated microprocessor for them.

In connection with the communication control ECU 8, an optical communication device 16 for transmitting and receiving an optical signal is provided. The optical communication device 16 includes a light emitter 18 for transmitting an optical signal and a light receiving device for receiving an optical signal. And a receiver 20 are connected. The light emitter 18 transmits a predetermined light signal to the vehicle 4 ahead, in this embodiment, a vehicle number signal and a vehicle length signal, and transmits a predetermined signal to the rear vehicle 4, which will be described later in this embodiment. Send a lane change signal. The light receiver 20 receives the optical signals (vehicle number signal and vehicle length signal) from the rear vehicle 4 and also receives a lane change signal from the front vehicle 4.

In connection with the communication control ECU 8, a transmitter 22 and a receiver 24 are further provided. Transmitter 2
The receiver 2 and the receiver 24 transmit and receive a predetermined signal to and from infrastructure equipment such as a beacon provided along the road 28 (see FIG. 3). The radio signal transmitted from the transmitter 22 is transmitted as a radio wave from the antenna 30, and the radio signal transmitted from the infrastructure equipment is received by the receiver 24 via the antenna 30.

A millimeter wave radar 32 and a CCD camera 34 are provided in connection with the vehicle control ECU 12. The millimeter wave radar 32 is for measuring an inter-vehicle distance with the preceding vehicle 4, transmits a high-frequency signal forward and receives a reflected signal from the preceding vehicle 4,
Thereby, the inter-vehicle distance with the preceding vehicle 4 is measured. The CCD camera 34 is for following the preceding vehicle 4 and recognizes the preceding vehicle 4.

In connection with the vehicle control ECU 12,
A navigation device 36 and a vehicle speed sensor 38 are provided. Map data is stored in the navigation device 36, and the map data can be displayed on display means (not shown). In this embodiment, the map data of the navigation device 36 is sent to the vehicle control ECU 12, and the traveling device 10 is controlled using the map data. The vehicle speed sensor 38 detects the traveling speed of the vehicle 4, and this detection signal is sent to the vehicle control ECU 12.

The vehicle control ECU 12 controls the operation of the traveling device 10 to control the actual traveling state of the vehicle. ,
The traveling device 10 includes, for example, a vehicle engine, a brake, a steering, and the like, and these components include a vehicle control ECU.
12.

Referring also to FIG.
Includes a vehicle number counter 40, a vehicle number storage means 42, a vehicle group length calculation means 44, and a group length storage means 46. The vehicle number counter 40 counts the number of vehicles 4 forming the vehicle group 6 (see FIG. 3) that runs in a platoon. The group number storage means 42 stores the number of vehicles 4 constituting the platoon, for example, five vehicles, and one group of vehicle groups is formed based on the number stored in the group number storage means 42. Further, the vehicle group length calculating means 44
Calculates the length of the vehicle group 6 that runs in a platoon. The group length storage means 46 stores the vehicle groups 6 constituting the row.
, For example, 25 m, and one group of vehicle groups is formed based on the group length stored in the group length storage means 46.

The travel control ECU 14 further includes a vehicle information storage unit 48, a group formation determining unit 50, and a lane changing unit 52. The vehicle information storage means 48 stores information on the vehicle, for example, the total length of the vehicle. In addition, the group formation determining unit 50 determines whether or not the vehicle group 6 forming the platoon should be formed. In this embodiment, the number of vehicles counted by the number-of-vehicles counter 40 is compared with the number of groups stored in the number-of-groups storage means 42. Generates a group formation signal. Further, the group length calculated by the vehicle group length calculation means 44 is compared with the group length stored in the group length storage means 46,
When the calculation group length by the vehicle group length calculation means 44 reaches or exceeds the storage group length, the group formation determination means 50 generates a group formation signal.

Next, the lane changing operation of the vehicle group in the vehicle group traveling control system will be described with reference to FIGS. 3 and 4 together with FIGS.

As shown in FIG. 3, the vehicle 4 normally travels in a traveling lane 54 which is a specific lane, for example. When the number of vehicles increases, the vehicle 4 forms a vehicle group 6 and travels in a row. During this traveling, it is determined whether or not the vehicle group 6 forming the platoon is a predetermined number. When the number of the vehicle groups 6 forming the platoon reaches a predetermined number (the number counted by the vehicle number counter 40), that is, five in this embodiment, the process proceeds from step S-1 to step S-2, and the group formation determining means 50 Generates a group formation signal.

On the other hand, if the number of the vehicle groups 6 forming the platoon is less than the predetermined number in step S-1, the process proceeds to step S-3, and the group length (the vehicle group length) of the vehicle group 6 forming the next platoon is determined. It is determined whether or not the group length calculated by the calculating means 44) is equal to or greater than the predetermined group length. Then, when the calculated length of the vehicle group 6 is equal to or longer than the storage group length, the process proceeds to step S-2, and the group formation determining unit 50 forms a group formation signal as described above. In step S-3, if the length of the vehicle group 6 is shorter than the predetermined group length, the process proceeds to step S-4, and the vehicles 4 constituting the vehicle group 6 continue to travel on the traveling lane 54.

In this embodiment, in the traveling control ECU 14 of the leading vehicle 4 of the vehicle group 6 forming the row, the vehicle number counter 40, the group number storage means 42, the vehicle group length calculation means 44, and the group length storage means 46 , Vehicle information storage means 4
8. All of the group formation determining means 50 and the vehicle changing means 52 function, and when the lane change to the overtaking lane 56 is necessary, the leading vehicle 4 changes lanes as described later. On the contrary,
Driving control ECU 1 for succeeding vehicle 4 following leading vehicle 4
4, the vehicle number counter 40 and the vehicle group length calculating means 4
4 and the vehicle information storage unit 48 function, the group number storage unit 42, the group length storage unit 46, the group formation determination unit 50, and the lane change unit 52 do not substantially function, and the following vehicle 4
The vehicle follows the leading vehicle 4. As described above, the control regarding the lane change is performed in the leading vehicle 4 of the vehicle group 6. In the vehicle group 6 forming the platoon, in the case of the last vehicle 4, since this vehicle 4 is the last vehicle, the vehicle counter 40 counts one vehicle as a group number for the own vehicle, and the vehicle group length The calculation means 44 calculates the total length of the vehicle stored in the vehicle information storage means 48 as a calculation group length for the own vehicle. The group number information and the group length information of the rearmost vehicle 4 are transmitted from the light emitter 18 to the vehicle 4 ahead of the vehicle 4 via the communication control ECU 8 and the optical communication device 16 in the vehicle 4, and the vehicle 4 Receives transmission information from the rearmost vehicle 4 via the light receiver 20. When received in this manner, in the case of the second vehicle 4 from the last,
Since the group number information from the last vehicle 4 is received, the vehicle counter 40 in this vehicle 4 counts two vehicles as the group number for the own vehicle and receives the group length information from the last vehicle 4. The vehicle group length calculating means 44 of the vehicle 4 stores the vehicle information storing means 4 in the group length information.
The total length and the inter-vehicle distance of the vehicle stored in 8 are added to calculate a calculation group length for the own vehicle. In this way,
The vehicle counter 40 of the leading vehicle 4 counts the number of vehicles 4 constituting the vehicle group 6, and the vehicle group length calculating means 44 calculates the group length of the vehicle group 6. When the vehicle 4 is further attached behind the rearmost vehicle 4 of the vehicle group 6, the newly attached vehicle 4 becomes the rearmost vehicle and counts the number of vehicles in the vehicle group 6 and calculates the vehicle group length. Are performed to update these numerical values.

Driving control E for the leading vehicle 4 of the vehicle group 6
When the group formation signal is generated by the group formation determination unit 50 of the CU 14, the process proceeds to step S-5, and the lane change unit 52 of the leading vehicle 4 generates a lane change signal based on the group formation signal. Thus, the lane change signal is transmitted to the vehicle control EC.
U12, the vehicle control ECU 12 automatically operates the steering (not shown) of the vehicle based on the lane change signal, and the leading vehicle 4 follows the lane 54 as indicated by an arrow 58 (FIG. 3). The lane is changed to the overtaking lane 56 (step S-6), so that the following vehicle 4 follows and changes to the overtaking lane 56 (step S-7).

Thus, the vehicle group 6 whose platoon is short is formed.
Travels in the traveling lane 54, and when the platoon reaches a predetermined number or a predetermined group length, the vehicle group 6 forms one group and changes lanes to the overtaking lane 56, so that the vehicle travels smoothly and , And efficient traveling is enabled.

In the above-described first embodiment, when the vehicle group 6 forming the platoon reaches a predetermined number or a predetermined group length, the vehicle group 6 is formed at that time and the lane is changed. Alternatively, the vehicle group 6 may be formed to change lanes when the vehicle group 6 approaches a branch channel and / or a junction channel in a state where the vehicle group 6 has a predetermined number or a predetermined length. .

FIG. 5 is a block diagram schematically showing a second embodiment of the vehicle group traveling control system according to the present invention. In the second embodiment, members that are substantially the same as those in the first embodiment are given the same reference numerals, and descriptions thereof are omitted.

Referring to FIG. 5, in the second embodiment,
The map data from the navigation device 36 is the vehicle control E
This map data is sent to the CU 12 and the vehicle control ECU
It is configured to be further supplied to the travel control ECU 14 from the ECU 12. Then, the lane change of the vehicle group 6 is performed based on the merging and merging map information from the map data of the navigation device 36. In connection with this, the travel control ECU
Reference numeral 14 further includes a junction determination unit (not shown).
Other configurations in the second embodiment are the same as those in the first embodiment.
The embodiment is substantially the same as the embodiment.

Next, the lane changing operation of the vehicle group in the vehicle group traveling control system according to the second embodiment will be described with reference to FIGS.

As shown in FIG. 6, the vehicle 4 normally travels in a traveling lane 54, for example, a specific lane. When the number of vehicles 4 increases, the vehicle 4 forms a vehicle group 6 and travels in a row. During this traveling, it is determined whether or not the vehicle group 6 forming the platoon is a predetermined number. When the number of vehicles 6 forming the platoon reaches a predetermined number, the process proceeds from step S-11 to step S-12, and the group formation determining unit 50 generates a group formation signal. On the other hand, if the number of vehicle groups 6 forming the platoon is less than the predetermined number in step S-11, the process proceeds to step S-13, and the group length of the vehicle group 6 forming the next platoon is the predetermined group length, or It is determined whether or not the length exceeds the predetermined group length. Then, when the calculated length of the vehicle group 6 is equal to or longer than the storage group length, the process proceeds to step S-12, and the group formation determining unit 50 generates a group formation signal as described above. The counting of the number of vehicles in the vehicle group 6 and the calculation of the vehicle group length are performed in the same manner as in the first embodiment. If the length of the vehicle group 6 is shorter than the predetermined group length in step S-13, the process proceeds to step S-14, and the vehicles 4 constituting the vehicle group 6 continue to travel on the traveling lane 54.

When the group formation signal is generated in step S-12, the process proceeds to step S-15, and it is determined whether or not the vehicle group 6 has approached the junction. In this embodiment,
The map information from the navigation device 36 mounted on the vehicle 4 is used as the point information regarding the merging point.
The navigation device 36 stores various information related to road information. The stored information is transmitted to the vehicle control ECU 12, and the branching map information of the information, that is, the position of the branching point and the position of the branching point. The information is sent to the travel control ECU 14. For example,
As shown in FIG. 6, when the vehicle group 6 approaches the merging point 72, for example, 500 m before the merging point, as shown in FIG. 6, the merging point judging means of the traveling control ECU 14 (shown in FIG. 6). Zu)
A branching signal is generated based on branching map information from the navigation device 36. When the group formation signal and the junction point signal are generated in this way, the lane changing means 52 of the traveling control ECU 14 generates a lane change signal based on these signals (step S-16). And vehicle group 6
Prior to the lane change of the leading vehicle 4, the generated lane change signal is transmitted to the following vehicles 4 of the vehicle group 6. The transmission of the lane change signal is performed by the communication control ECU 16 of the leading vehicle 4.
The operation is performed from the light emitting device 18 by the action of the optical communication device 16 and the succeeding vehicle 4 following the leading vehicle 4
Is received by the light receiver 20, the received lane change signal is sent to the travel control ECU 12 through the communication control ECU 8, and furthermore, the communication control EC
By the action of U8 and the optical communication device 16, the light is transmitted further from the light emitter 18 to the following vehicle, and thus the lane change signal is transmitted to the following vehicle 4 of the vehicle group 6, and
Receives the lane change signal from the leading vehicle 4 (step S-18).

When the lane change signal is transmitted to the following vehicle 4 in this manner, the process proceeds to step S-19, and the leading vehicle 4 of the vehicle group 6 is moved to the traveling lane 5 as indicated by an arrow 74 (FIG. 6).
Change lane from No. 4 to passing lane 56 (step S-1)
9), whereby the following vehicle 4 also follows and follows the overtaking lane 56
(Step S-20). In this way, by causing the leading vehicle 4 to change lanes after the subsequent vehicle 4 receives the lane change signal, the vehicle group 6 can smoothly change lanes.

Thus, the vehicle group 6 whose platoon is short is formed.
Travels in the traveling lane 54, and when this platoon reaches a predetermined number or a predetermined group length, the vehicle group 6 forms one group and changes lanes to the overtaking lane 56. Similarly, the traveling of the vehicle is smooth and efficient traveling is possible. When the number of vehicles in the vehicle group 6 is large (or the length of the vehicle group is long), a predetermined number (or a predetermined group length) of the vehicle groups 6 constitute one group and change lanes, and the remaining vehicle groups are changed. 6 and FIG.
Are performed. If the number of vehicles in the remaining vehicle group 6 is equal to or greater than a predetermined number (or a predetermined group length), one vehicle group 6 is constituted by the predetermined number (or a predetermined group length). The lane change is performed, and such an operation is repeatedly performed on the remaining vehicle groups 6.

In the second embodiment, it is determined whether or not the vehicle has approached the merging point by using the map data of the navigation device 36 mounted on the vehicle 4. A road information signal transmitted from an infrastructure device 78 such as a ground device installed along the vehicle 28, for example, a beacon, can also be used. In such a case, the road information signal includes the branching information signal,
The road information signal from the infrastructure equipment 78 is transmitted to the antenna 30
The received road information signal is received by the receiver 24 via the communication control ECU 8 via the communication control ECU 8.
And a branching point determining means (not shown) determines that the vehicle has approached the branching point based on the road information signal and generates a branching point signal. Even with this configuration, the vehicle group 6 changes lanes as required when approaching the merging point. It is also possible to use information on the merging point of both the navigation device 36 and the ground infrastructure equipment 78.

In the second embodiment, the lane is changed at both the junction of the traveling lane 54 and the junction 80 and the junction of the traveling lane 54 and the junction (not shown). However, the same effect can be achieved by changing the lane at either the junction or the junction.

The travel control ECU can be configured as shown in FIG. 8, for example.
Even if a plurality of junctions exist in the predetermined distance range, the vehicle can run smoothly. FIG. 8 shows the traveling control EC.
FIG. 7 is a block diagram schematically showing a first modification of U.
FIG. 9 is a simplified diagram for explaining a running state, and FIG.
0 is a flowchart showing a control operation when the travel control ECU of FIG. 8 is used. Note that members that are substantially the same as those in the above-described embodiment are given the same reference numerals, and descriptions thereof are omitted.

In FIG. 8, the traveling control ECU 102 of the first modified embodiment includes a plurality of merging point judging means 104 and a lane selecting means 106 in addition to the various means 40 to 52 shown in FIG. Multiple junction point determination means 104
Determines whether there are a plurality of junctions within a predetermined distance range, for example, a range of 4 km, using a road information signal from the infrastructure equipment 78 as a ground device. Diversion point 112 existing in
(The point where the branch channel 108 is connected) and the junction 11
4 (points where the merging channels 110 are connected) are obtained. In addition, the lane selecting means 106 is provided with a plurality of merging point determining means 1.
The lane in which the vehicle group 6 travels is selected based on the number of junctions obtained in step 04. Such a traveling control ECU 102
Is used instead of the travel control ECU 14 in the first embodiment.

Next, the lane changing operation of the vehicle group in the vehicle group traveling control system using the traveling control ECU 102 of the first modification will be described with reference to FIGS.

As shown in FIG. 9, the vehicle 4 normally travels on a traveling lane 54 which is a specific lane, for example. When the number of vehicles 4 increases, the vehicle 4 forms a vehicle group 6 and travels in a row. Then, the vehicle group 6 has a predetermined number (or a predetermined group length).
As described above, the vehicle group 6 forms a row as described above, and the vehicle group 6 changes lanes to the passing lane 56. Therefore, it is determined whether or not the vehicle group 6 forming the platoon constitutes the predetermined vehicle group 6, and when the vehicle group 6 constitutes the predetermined vehicle group 6, the vehicle travels on the passing lane 56, Proceed to step S-32. On the other hand, when the vehicle group 6 does not form the predetermined vehicle group 6, the process proceeds from step S-31 to step S-33, and the vehicle group 6 (including one vehicle) travels on the traveling lane 54.

When the vehicle group 6 approaches the branch point 112 or the junction 114, the leading vehicle 4 of the vehicle group 6 moves to the road 28.
Infrastructure equipment 78 as ground equipment provided along
Receives the road information signal transmitted from the
-32), this road information signal is sent to the travel control ECU 102. The road information signal includes information about the junction, and when there are a plurality of junctions in a predetermined distance range H on the front side in the traveling direction from the junction, for example, a range of 4 km, a plurality of junctions are determined. Contains information about the junction. When the information about the multiple junctions is sent to the travel control ECU 102, the multiple junction determination means 104 determines that the multiple junctions are present based on the above-described information, and The number of junctions existing in each of the lanes 54 and 56 within H is obtained (step S-34). For example, on the road 28 shown in FIG. 9, the number of the junctions 54 in the traveling lane 54 is determined by the plural junctions determination means 104 and the number of the junctions 56 in the passing lane 56 is one. Can be When the number of junctions in each of the lanes 54 and 56 is determined in this way, the lane selection means 106 selects the lane in which the vehicle group 6 travels based on the number determined by the multiple junctions determination means 104. I do. In this embodiment, the lane selecting means 106 determines that the number of junctions in the predetermined distance range H is small, that is, the overtaking lane 5
6 is selected (step S-35).

When the traveling lane is selected as described above,
In step S-36, it is determined whether the vehicle group 6 is traveling in the selected lane. In this embodiment, if the vehicle group 6 is traveling on the passing lane 56, there is no need to change lanes, so the process proceeds to step S-37, and the vehicle group 6 continues traveling on the passing lane 56. . If the overtaking lane 56 has more junctions than the traveling lane 54, the traveling lane 54 is selected by the lane selecting means 106. In this case, the vehicle group 6 moves to the selected lane, that is, the traveling lane 54. Change lanes (S-38). in this way,
When a plurality of junctions exist within the predetermined distance range H,
Since a lane with a small number of junctions is selected, the vehicle group 6 does not frequently change lanes, and the vehicle group 6 can run smoothly. In addition, since the vehicle travels on a lane with a small number of merging points, the vehicle group 6 is less likely to hinder the vehicles 4 to be merged. If it is determined in step S-34 that a plurality of junctions do not exist, the process proceeds to step S-37, and the traveling state is maintained.

In the above-described embodiment, it is determined whether or not a plurality of junctions exist using the road information signal from the infrastructure equipment 78 as a road device. The junction point information in the map data of the navigation device 36 mounted can also be used.

The diverting vehicle 4 at the diverting point is provided by providing the traveling control ECU 102 of FIG. 8 with a specific diverting point determining means (not shown) for determining a specific diverting point and a diverting vehicle presence / absence determining means (not shown). Branch 10
9 can be smoothly performed. In this case, the lane change is performed according to the flowchart shown in FIG.

First, in step S-41, it is determined whether or not the vehicle 4 that diverges in the branch channel 108 (see FIG. 9) is included in the vehicle group 6. When such a shunt vehicle 4 is included in the vehicle group 6, a shunt signal from the shunt vehicle 4 is transmitted to the leading vehicle 4 of the vehicle group 6, and the shunt vehicle presence / absence determination means ( (Not shown) determines that the vehicle group 6 includes the vehicle 4 that branches off at the specific branch point, and proceeds to step S-42. On the other hand, when the vehicle group 4 does not include the branch vehicle 4, the process proceeds to step S-43, and the vehicle group 6 travels on the passing lane 56. As described above, when the number of the vehicle groups 6 exceeds a predetermined number (or a predetermined group length) or more, one group is formed as described above to form a platoon, and the vehicle group 6 becomes a lane in the overtaking lane 56. change. Therefore, when the vehicle group 6 forms the predetermined vehicle group 6, the vehicle travels on the overtaking lane 56. When the vehicle group 6 does not form the predetermined vehicle group 6, the vehicle group 6 (one vehicle). ) Is traveling in the traveling lane 54.

In step S-42, it is determined whether or not the vehicle group 6 has approached a specific branch point, that is, a point where the branch vehicle 4 branches. Then, when the vehicle group 6 approaches a specific branch point, for example, a branch point 112 (see FIG. 9), the leading vehicle 4 of the vehicle group 6 is transmitted from the infrastructure equipment 78 as a ground device provided along the road 28. The received road information signal is sent to the travel control ECU 102. When the information signal relating to the specific branch point is sent to the travel control ECU 102, the branch point determining means (not shown) determines that the vehicle has approached the specific branch point, and generates a branch point signal. Thus, the shunt point signal is sent to the lane selection means 106, and the lane selection means 106 selects the lane where the shunt point 112 (see FIG. 9) exists, that is, the traveling lane 54, based on the shunt point signal. (Step S-44).

When the traveling lane is selected in this way,
In step S-45, it is determined whether the vehicle group 6 is traveling on the selected lane. In this embodiment, if the vehicle group 6 is traveling in the passing lane 56, it is necessary to change lanes. Therefore, the process proceeds to step S-46, and the vehicle group 6 moves from the passing lane 56 to the traveling lane 54 in the lane 54. change. When the vehicle group 6 is traveling in the traveling lane 54, there is no need to change lanes, so the vehicle group 6 continues to travel in the traveling lane 54.

As described above, when the vehicle group 6 including the shunt vehicle 4 approaches the specific branch point, the vehicle group 6 changes lanes to the lane including the specific branch point. 4 can smoothly diverge from the specific diversion point to the diversion channel 108.

In the above-described embodiment, it is determined whether or not there are a plurality of specific junctions using the road information signal from the infrastructure equipment 78 as a road device. Thus, the junction point information in the map data of the navigation device 36 mounted on the vehicle 4 can also be used.

A lane change point determining means (not shown) for judging a lane decrease point is further provided in the travel control ECU 102 of FIG. 8 so that a lane change at the lane decrease point (a lane change to a non-decreasing lane) can be performed. Can be done as required. In this case, the lane change is performed according to the flowchart shown in FIG.

First, in step S-51, it is determined whether the vehicle has approached the lane reduction point. For example, at locations where the number of lanes on the road is decreasing due to a small number of vehicles traveling, or at locations where the number of lanes under construction is temporarily reduced due to road construction, etc. (Not shown). Therefore, when the vehicle group 6 (see FIG. 9) approaches the lane reduction point,
The leading vehicle 4 of the vehicle group 6 receives the road information signal transmitted from the infrastructure equipment provided on the road, and the road information signal is transmitted to the traveling control ECU 102 (see FIG. 8). An information signal about the lane reduction point is output by the travel control ECU
When the vehicle is fed to the lane 102, a lane decrease point determining means (not shown) determines that the vehicle is approaching the lane decrease point, and generates a lane decrease point signal. Then, the lane decrease point signal is sent to the lane selecting means 106, and the lane selecting means 10
No. 6 selects a lane whose lane has not decreased, that is, a lane in which the vehicle can run, based on the lane decrease point signal (step S-52).

When the traveling lane is selected as described above,
In step S-53, it is determined whether the vehicle group 6 is traveling on the selected lane. And vehicle group 6
If the vehicle is traveling in a lane whose number of lanes has not decreased, that is, in the selected lane, there is no need to change lanes, so the process proceeds to step S-54, and the vehicle group 6 continues traveling in that lane. On the other hand, if the vehicle group 6 is traveling in a lane where the number of lanes is decreasing, it is necessary to change lanes, so the process proceeds from step S-53 to step S-55, and the vehicle group 6
Is changed to a lane whose lane has not decreased.

If the vehicle group 6 does not approach the lane reduction point, the process proceeds from step S-51 to step S-56, and the vehicle group 6 continues to travel in the running lane without changing lanes.

As described above, when approaching the lane reduction point, the vehicle group 6 automatically changes lanes to the lane where the lane has not decreased, so that safe driving can be performed even if such a point exists. .

In such a vehicle group traveling control system, it is desirable to forcibly prohibit the lane change from the traveling lane to the overtaking lane when the traffic volume of the specific lane, for example, the overtaking lane is large. . In this case, for example, FIG.
The travel control ECU 102 shown in (1) is further provided with traffic volume determining means for determining the traffic volume in a predetermined range of the lane, and lane change inhibiting means for inhibiting lane change by the lane changing means. In this case, the lane change is prohibited according to the flowchart shown in FIG.

First, in step S-61, the traffic volume in a predetermined range of each lane is detected. The detection of the traffic volume can be performed by the ground device provided on the road. When the traffic volume is detected as described above, the traffic volume detected by the ground device is transmitted to the leading vehicle 4 of the vehicle group 6. The traffic volume can also be detected by mutual communication from vehicles traveling around, and when detected in this way, it can be detected directly at the leading vehicle in the vehicle group.

When the traffic amount is detected as described above, the process proceeds to step S-62, and it is determined whether or not the traffic amount in each lane is equal to or more than a predetermined amount. When the vehicle can run, it is determined whether there are 90 or more vehicles. In this embodiment, when the traffic volume judging means (not shown) judges that the traffic volume in the specific lane is equal to or more than the predetermined volume, step S-63.
The lane change prohibition means (not shown) generates a lane change prohibition signal based on the above-described determination. Thus, the generation of the lane change signal in the lane changing means 52 is forcibly prohibited, and the lane change of the vehicle group from the lane other than the specific lane to this specific lane is forcibly prohibited, whereby the vehicle travels in the specific lane. An increase in the number of traveling vehicles can be prevented, and the vehicle group 6 can travel efficiently and efficiently.

The traffic volume can be detected based on the vehicle length instead of the number of vehicles. In this case, if a vehicle group is formed over 90% or more of a predetermined range. It can be determined that the traffic volume is equal to or greater than the predetermined traffic volume.

The embodiments of the vehicle group traveling control system according to the present invention have been described above. However, the present invention is not limited to these embodiments, and various modifications and corrections can be made without departing from the scope of the present invention. It is possible.

For example, in the above-described embodiment, the lane change is performed based on the number of vehicles in the vehicle group and the group length of the vehicle group. A similar effect can be achieved by configuring the lane change based on either the number of vehicles or the group length.

[0076]

According to the vehicle group traveling control system of the first aspect of the present invention, when the number of vehicles in the vehicle group reaches a predetermined number or when the group length reaches a predetermined length, the lane changing means outputs a lane change signal. Then, the leading vehicle of the vehicle group changes lanes from a specific lane to another lane, and the following vehicles also change lanes following the leading vehicle. Therefore, the length of the vehicle group does not become longer than the predetermined range, such a vehicle group travels as one group, and thus the traffic flow is smooth, and the vehicle can travel efficiently. .

According to the vehicle group traveling control system of the second aspect of the present invention, when the number of vehicles in the vehicle group reaches a predetermined number or when the length of the group reaches a predetermined length, the lane changing means is provided at the junction. A lane change signal is generated, whereby the leading vehicle in the vehicle group changes lanes from a specific lane to another lane, and the following vehicles also change lanes following the leading vehicle. Therefore, the length of the vehicle group is adjusted at the junction point, such a vehicle group travels as one group, and thus the traffic flow is smooth, and the vehicle can travel efficiently.

According to the vehicle group traveling control system of the third aspect of the present invention, the map data in the navigation device can be used as the information on the junction.

According to the vehicle group traveling control system of the fourth aspect of the present invention, a road information signal from a road device can be used as information relating to a junction.

According to the vehicle group traveling control system of the present invention, before the leading vehicle of the vehicle group changes lanes, the vehicle change signal generated by the lane changing means is transmitted to the following vehicles. Therefore, the lane change of the following vehicle accompanying the lane change of the leading vehicle can be performed smoothly.

According to the vehicle group traveling control system of the sixth aspect of the present invention, the multi-junction point judging means judges whether or not a plurality of merging points exist within a predetermined distance range, and the lane selecting means. Selects a lane based on the determination result of the multiple junction point determination means. Therefore, the lane is selected in consideration of the existing junction point, so that the vehicle group can travel comfortably.

Further, according to the vehicle group traveling control system of the present invention, the lane selecting means selects a lane with a small number of merging points obtained by the plural merging point judging means. There are few lane changes, so that the vehicle group can travel comfortably.

According to the vehicle group traveling control system of the eighth aspect of the present invention, if a vehicle group includes a vehicle that diverges at a specific branch point, the vehicle group moves to the lane when the vehicle group approaches the specific branch point. The selecting means selects a lane in which the specific branch point exists. Therefore, the fleet changes lanes to this lane,
The diverted vehicle can be smoothly diverted to the shunt channel at the specific shunt point.

According to the vehicle group traveling control system of the ninth aspect of the present invention, when approaching the lane decreasing point, the lane selecting means selects the lane which does not decrease. The lane can be changed to a lane that does not decrease, and the vehicle group can safely travel.

Further, according to the vehicle group traveling control system of the present invention, when the traffic volume in the specific lane is large, the lane change prohibiting means prohibits the lane change to the specific lane.
This prevents the traffic in the specific lane from further increasing. Therefore, the traffic flow is prevented from being concentrated on the specific lane, and the vehicle can travel efficiently.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a first embodiment of a vehicle group traveling control system according to the present invention.

FIG. 2 is a block diagram schematically showing a traveling control ECU 14 in the vehicle group traveling control system of FIG.

FIG. 3 is a simplified diagram for explaining a lane change of a vehicle group.

FIG. 4 is a flowchart illustrating a vehicle changing operation in the vehicle group traveling control system of FIG. 1;

FIG. 5 is a block diagram schematically showing a second embodiment of the vehicle group traveling control system according to the present invention.

FIG. 6 is a simplified diagram for explaining a lane change by the vehicle group traveling control system of FIG. 5;

FIG. 7 is a flowchart illustrating a vehicle changing operation in the vehicle group traveling control system of FIG. 5;

FIG. 8 is a block diagram schematically showing a first modification of the travel control ECU.

9 is a simplified diagram for explaining traveling of a vehicle group by the traveling control ECU of FIG. 8;

FIG. 10 is a flowchart illustrating traveling of a vehicle group when the traveling control ECU of FIG. 8 is used.

FIG. 11 is a flowchart illustrating traveling of a vehicle group including a branch vehicle.

FIG. 12 is a flowchart illustrating traveling of a group of vehicles when approaching a lane reduction point.

FIG. 13 is a flowchart illustrating traveling of a vehicle group when the traffic volume is large.

[Explanation of symbols]

 2 Travel Control Device 4 Vehicle 6 Vehicle Group 8 Communication Control ECU 12 Vehicle Control ECU 14, 102 Travel Control ECU 28 Road 36 Navigation Device 40 Vehicle Number Counter 44 Vehicle Group Length Calculation Means 50 Group Formation Determination Means 52 Lane Change Means 54 Travel Lane 58 Overtaking lane 72,114 Merging point 78 Infrastructure equipment 80,110 Merging point 104 Multiple merging point judging means 106 Lane selecting means 108 Minute channel 112 Minute point

Claims (10)

[Claims] 1. A vehicle group is formed by a plurality of vehicles,
Travel control information is transmitted between vehicles of the formed vehicle group,
A vehicle group travel control system in which the vehicle group travels in a predetermined platoon, wherein group formation determining means for determining whether a predetermined number of vehicles or a predetermined group length is formed; Lane changing means for changing the lane of the vehicle, wherein the group formation determining means and the lane changing means are mounted on at least a leading vehicle of the vehicle group, and when the vehicle group has the number of vehicles or a predetermined group length. The group formation determining means generates a group formation signal, the lane changing means generates a lane change signal based on the group formation signal, and the leading vehicle is moved from a specific lane to the specific lane based on the lane change signal. A vehicle group travel control system characterized in that a lane change is made to another lane different from the lane. 2. A vehicle group is formed by a plurality of vehicles,
Travel control information is transmitted between vehicles of the formed vehicle group,
This is a vehicle group traveling control system in which the vehicle group travels in a predetermined platoon, and a group formation determining means for determining whether a predetermined number of vehicles or a predetermined group length has been formed, A branching point determining means for determining a branching point which is one or both of a branching point and a merging point, and a lane changing means for performing lane change of a vehicle group, the group formation determining means, The merging point judging means and the lane changing means are mounted on at least the leading vehicle of the vehicle group. When the vehicle group reaches the number of vehicles or a predetermined group length, the group forming judging means generates a group forming signal. Further, when the vehicle group approaches the junction, the junction determination means generates a junction signal, and the lane changing means controls the vehicle based on the group formation signal and the junction signal. To generate a modified signal, said leading vehicle is a vehicle group traveling control system characterized by performing the lane change to a different other lanes between the specific lane from a particular lane on the basis of the lane change signal. 3. The branching point signal according to claim 2, wherein the branching point determination means generates the branching point signal based on branching map information from map data of a navigation device mounted on the vehicle. Vehicle group travel control system. 4. The branching point signal according to claim 2, wherein the branching point determination means generates the branching point signal based on a road information signal from a road device provided along the road.
The vehicle group traveling control system according to the above. 5. Each of the vehicles in the vehicle group includes a transmitting unit and a receiving unit. When the lane changing unit of the leading vehicle generates the lane changing signal, the leading vehicle changes the lane before the leading vehicle changes lanes. The vehicle group traveling control system according to any one of claims 1 to 4, wherein the lane change signal generated in (1) is transmitted from the transmitting unit to a receiving unit of a subsequent vehicle. 6. A multi-junction point determining means for judging whether or not a plurality of said merging points exist in a predetermined distance range, and a lane selecting means for selecting a lane. And the lane selecting means is provided at least in the leading vehicle, and the lane selecting means selects a lane based on the determination result of the plurality of merging point determining means, and the leading vehicle is the lane selected by the lane selecting means. The lane change is performed on the vehicle.
6. The vehicle group travel control system according to any one of claims 5 to 5. 7. The multi-junction point determination means obtains the number of the junction points connected to each lane within the predetermined distance range, and the lane selection means selects a lane with a small number of the junction points. The vehicle group traveling control system according to claim 6, wherein: 8. A vehicle group is formed by a plurality of vehicles,
Travel control information is transmitted between vehicles of the formed vehicle group,
This is a vehicle group traveling control system in which the vehicle group travels in a predetermined platoon, and a branch point determining means for determining a branch point on a road;
A shunt vehicle presence / absence determining means for determining whether or not there is a vehicle diverting at a specific shunt point in the vehicle group, and a lane selecting means for selecting a lane; And the lane selecting means is mounted on at least the leading vehicle of the vehicle group. When the vehicle group approaches the shunt point, the shunt point determining means generates a shunt point signal, and the shunt vehicle presence / absence determining means A vehicle that generates a shunting vehicle presence signal when a shunting vehicle is present in the group, wherein the lane selecting means selects a lane in which the specific shunting point exists based on the shunting point signal and the shunting vehicle presence signal; Group running control system. 9. A vehicle group is formed by a plurality of vehicles,
Travel control information is transmitted between vehicles of the formed vehicle group,
This is a vehicle group traveling control system in which the vehicle group travels in a predetermined platoon, the vehicle group traveling control system comprising: a lane reduction point determination unit for determining a lane reduction point at which a road lane decreases; and a lane selection unit for selecting a lane. The lane decrease point determination means and the lane selection means,
Equipped at least in the leading vehicle of the vehicle group, when the vehicle group approaches the lane reduction point, the lane reduction point determination means generates a lane reduction point signal, and the lane selection means based on the lane reduction point signal. A vehicle group traveling control system characterized by selecting a lane that does not decrease. 10. A vehicle group travel control system in which a vehicle group is formed by a plurality of vehicles, and travel control information is transmitted between vehicles of the formed vehicle group, whereby the vehicle group travels in a predetermined platoon. Traffic volume determining means for determining a traffic volume in a predetermined range based on position information of surrounding vehicles; lane changing means for changing lanes of a vehicle group; and lane changing by the lane changing means is prohibited. Traffic lane change prohibiting means, the traffic volume judging means, the lane changing means and the lane change prohibiting means are mounted on at least the leading vehicle of the vehicle group, and the traffic volume judging means has a large traffic volume in a specific lane. The lane change prohibition means generates a lane change prohibition signal for prohibiting the lane change to the specific lane, whereby the lane change prohibition means generates the lane change prohibition signal. A vehicle group travel control system wherein vehicle change to a specific lane is prohibited.