KR100394167B1 - Vehicle running management method and system, and vehicle running assisting apparatus - Google Patents

Abstract

The present invention relates to a vehicle running control system that allows vehicles running in opposite directions to smoothly pass through each other without having to stop frequently. The method comprises the steps of detecting the positions of the first and second vehicles approaching each other and based on the detected position whether the first and second vehicles are the vehicles closest to each other within a predetermined range in front of each other. Determining. When it is determined that the first and second vehicles are the vehicles closest to each other within a predetermined range in front of each other, the double track portion located between the first and second vehicles is set to the target position, and the first and second The speed of the first and / or second vehicle is controlled such that the vehicle reaches the target position at substantially the same time.

Description

VEHICLE RUNNING MANAGEMENT METHOD AND SYSTEM, AND VEHICLE RUNNING ASSISTING APPARATUS

The present invention relates to a vehicle driving support apparatus and a vehicle driving control method and system, and more particularly, to a vehicle driving support apparatus and a vehicle driving control method and system for controlling driving states of vehicles on a road having disconnection portions.

Conventionally, a vehicle running control system for controlling the running state of a vehicle is known as disclosed in Japanese Patent Laid-Open No. 61-285168. In this system, the road on which the vehicle travels includes single-track parts and double-track parts.

In order to ensure the safety of vehicles traveling in opposite directions, it is preferable that the entire road is doubled. However, if the road is double tracked as a whole, a larger infrastructure is required than if the road is partially disconnected. According to the above-described conventional system, since the road includes disconnections and double tracks as described above, the scale of the infrastructure required can be reduced.

In the conventional system described above, the vehicle starts to oscillate from the station upon receiving the departure permit signal. After driving the disconnection, the vehicle reaches the double track, where the vehicle stops and waits for the approaching vehicle to come. When the approaching vehicle reaches the double track, a departure permit signal is sent to these two vehicles, and these vehicles start to drive each disconnection.

In this way, two vehicles running in opposite directions can cross each other on a double track. Thus, according to the conventional system described above, it is possible to allow vehicles to safely travel on the road without colliding without requiring a large-scale infrastructure.

However, in the conventional system described above, a vehicle that arrives in the double track before the oncoming vehicle must stop and wait until the oncoming vehicle reaches the double track. Therefore, vehicles must stop and start frequently on the double tracks, which results in worsening the ride comfort of the occupants of the vehicles.

It is a first object of the present invention to provide a vehicle driving control method and system that allows vehicles traveling in opposite directions to smoothly pass through each other without frequently stopping.

It is a second object of the present invention to provide a vehicle driving assistance apparatus that allows vehicles traveling in opposite directions to smoothly pass through each other without frequently stopping.

The first object of the present invention is the step (a) of detecting the positions of the first and second vehicles approaching each other, and based on the detected position, the first and second vehicles are mutually within a predetermined range in front of each other. (B) determining whether or not the vehicle is closest to the vehicle and located between the first and second vehicles when the first and second vehicles are determined to be the vehicles closest to each other within a predetermined range in front of each other. Setting the double track to the target position (c) and controlling the speed of the first and / or second vehicle such that the first and second vehicles reach the target position substantially simultaneously (d) And it can be achieved by a vehicle driving control method for controlling the driving state of the vehicle running on the road having a disconnection.

In the present invention, in the case where the first vehicle and the second vehicle are the vehicles closest to each other within a predetermined range in front of each other, the double track portion located between the first vehicle and the second vehicle is selected as the target position. The speed of the first and / or second vehicles is controlled such that the first and second vehicles reach the target position substantially simultaneously. Thus, the first and second vehicles can pass each other on the double track without stopping. Thus, according to the present invention, vehicles can smoothly travel on roads with disconnections without having to stop to pass vehicles approaching on double tracks.

In this case, step (d) is a step (e) of calculating the time it takes for the first and second vehicles to reach the target position, and the first and second vehicles being more than the remaining vehicles to reach the target position. (F) calculating the time it takes for one vehicle to take a long time to reach the target position, and the speed of the remaining vehicle so that the remaining vehicle substantially reaches the target position at the time calculated in step (f). And controlling (g).

In the present invention, step (f) calculates the time for one vehicle to reach the target position, which takes more time to reach the target position than the rest of the first and second vehicles. In step (g), the speed is controlled so that the rest of the vehicle, i.e., the vehicle which takes a little time to reach the target position, can reach the target position at substantially the calculated time. In particular, the rest of the vehicle is decelerated. In this case, the first and second vehicles arrive at the double track at substantially the same time so that the two vehicles pass by each other without stopping. Thus, according to the present invention, vehicles can smoothly travel on roads with disconnections without having to stop to pass vehicles approaching on double tracks.

In addition, the vehicle driving control method includes the steps of (h) detecting a position of a third vehicle that is traveling in the same direction as the first vehicle in front of the first vehicle, and the third vehicle is preset in front of the first vehicle. Determining (i) whether or not the vehicle is closest to the first vehicle within a predetermined range, and if the third vehicle is determined to be the vehicle closest to the first vehicle within a predetermined range in front of the first vehicle, (J) setting the first double track portion positioned at the target position such that at least one double track portion exists between the second double track portions at the rear of the second double track portion from which the vehicle will next reach, and the third vehicle is connected to the second double track portion. Calculating (k) substantially the time of arrival, and controlling (L) the speed of the first vehicle such that the first vehicle reaches the target position at the time calculated in step (k). have.

In the present invention, in the case where the third vehicle is the vehicle closest to the first vehicle within a predetermined range in front of the first vehicle, the target position is located at the rear of the second double track portion in which the third vehicle next arrives. The target position is set to the first double track portion. The first double track portion is selected such that at least one double track portion exists between the first double track portion and the second double track portion. The speeds of the first and / or third vehicles are controlled such that the first and third vehicles can reach the first and second double tracks, respectively, at substantially the same time. Thus, the first vehicle may pass over the vehicle approaching on the double track portion located between the first and second double track portions after the third vehicle reaches the second double track portion. Thus, according to the present invention, vehicles can smoothly travel on roads with disconnections while passing through vehicles approaching on double tracks without having to stop when the preceding vehicle is running in front.

A second object of the present invention is to provide a transmitter for transmitting vehicle information, a receiver for receiving information including a specific double track portion located in front of the vehicle, a target time for the vehicle to reach the specific double track portion, and a vehicle target. It can be achieved by a vehicle driving support apparatus provided to a vehicle traveling on a road having disconnection units and double track portions including a driving controller for controlling a driving state of a vehicle that must reach a specific double track portion in time.

In the present invention, the vehicle can reach a particular double track portion located in front of the vehicle at the time indicated by the information transmitted by the communication device provided in the infrastructure. Thus, according to the present invention, the vehicle can smoothly travel on roads with disconnections without having to stop to pass the vehicle approaching on the double track. The vehicle information may include a driving direction, speed, location, and ID of the vehicle.

Other objects and additional features of the present invention will become apparent from the following detailed description when read in conjunction with the accompanying drawings.

1 is a schematic diagram of an infrastructure facility to which a vehicle driving control method of an embodiment according to the present invention is applied;

2 is a block diagram of a system for achieving a vehicle travel control method of an embodiment of the invention.

3 is a diagram illustrating the principle of driving rules used when an oncoming vehicle is present.

4 is a diagram illustrating the principle of a driving rule used when a preceding vehicle is present.

5 is a flowchart of an example of a routine performed by a control ECU in accordance with an embodiment of the present invention.

6A-6D are diagrams showing examples of driving rules used in embodiments of the present invention.

7A to 7C are diagrams showing the results of processing performed by the control ECU in the situation shown in Figs. 6A to 6C, respectively.

8 is a diagram showing a driving state of a vehicle achieved in an embodiment of the present invention.

9A-9B are diagrams showing the running state of a vehicle when the maximum number of vehicles are traveling on the road shown in FIG.

* Description of the simple symbols for the main parts of the drawings *

10: first station 11: second station

12: road 14: double track

16: disconnection part 18: control center

20: control ECU 22, 32: communication device

28: vehicle ECU 30: vehicle speed sensor

50: vehicle 52: approach vehicle

54: leading vehicle

1 is a schematic diagram of an infrastructure facility of an embodiment to which a vehicle driving control system according to the present invention is applied. As shown in FIG. 1, the infrastructure facility includes a first station 10 and a second station 11. The road 12 is provided between the first station 10 and the second station 11. The vehicles travel on the road 12 to transport passengers between the first station 10 and the second station 11.

Road 12 is double-track portion (16 in-line sections _(14-1 to _14-7), and two cars to run in opposite directions in the vehicle can run in only one direction to be able to pass across one another _{- 1} to 16 _-6 ). Disconnection units _(14-1 to _14-7) and the multi-conductor sections _(16-1 to _16-6) is provided in the pre-shift to the expected interval. Each multi-conductor sections _(16-1 to _16-6) has a longer length than the total length of the vehicle.

Claim to a vehicle station to the disconnection units (14 _-1 to 14 _-7) and double-track portions (16 _-1 to 16 _-6) in the right direction in FIG. 1 starting from the first station will reach the second station 11 do. Similarly, the second station 11 from the vehicle is a broken portions in the left direction of the first _(14-7 to _14-1) and the multi-conductor sections _(16-6 to _16-1) onto the station by the first station from the (11) is reached.

The infrastructure facility also includes a control center 18. The control center 18 monitors the positions of the vehicles traveling on the road 12 between the first station 10 and the second station 11 and sends control signals to each of the vehicles to prevent collisions of the vehicles. to provide.

Now, with reference to FIG. 2 in relation to a system for achieving a vehicle running control method of an embodiment of the present invention. 2 is a block diagram of a system of an embodiment of the invention.

As shown in FIG. 2, the control center 18 includes a control ECU 20. The communication device 22 is connected to the control ECU. The communication device 22 performs wireless communications between the control center 18 and each of the vehicles. The control ECU 20 detects IDs, positions, speeds and driving directions of the vehicle based on the information supplied from the communication device 22. In addition, the control ECU 20 controls the communication device 22 to transmit information including the target time, the target position, and the like, to each vehicle according to the control scheme to be described later, which will be described in more detail below.

Each of the vehicles includes a vehicle ECU 28 and is controlled by the vehicle ECU 28. The vehicle ID is stored in the vehicle ECU 28. The vehicle ID identifies the vehicle on which the vehicle ECU 28 is mounted. In addition, the vehicle ECU 28 includes a clock generator. The vehicle ECU 28 detects the current time based on the clock signal generated by the clock generator.

The vehicle speed sensor 30 is connected to the vehicle ECU 28. The vehicle speed sensor 30 outputs a pulse signal having a period corresponding to the vehicle speed. The vehicle ECU 28 detects the vehicle speed based on the output signal of the vehicle speed sensor 30.

In addition, the vehicle ECU 28 includes map information stored therein. Map information to the first station 10 and the road 12, such as the second station (11) and break away portions (14 _-1 to 14 _-7) and double-track portions (16 _-1 to 16 _-6) between Contains information about The vehicle ECU 28 detects the current position of each of the vehicles based on the map information and the output signal of the vehicle speed sensor 30.

The communication device 32 is connected to the vehicle ECU 28. The communication device 32 performs wireless communications between the control center 18 and the vehicle. The vehicle ECU 28 controls the communication device 32 to transmit information such as the driving direction of the vehicle, the vehicle speed, the vehicle position, and the vehicle ID. In addition, the vehicle ECU 28 detects the target position and the target time based on the information supplied from the communication device 32.

In addition, the accelerator actuator 34 and the brake actuator 36 are also connected to the vehicle ECU 28. The vehicle ECU 28 supplies operation signals to the accelerator actuator 34 and the brake actuator 36 based on the target position and the target time. The accelerator actuator 34 controls the accelerator opening of the vehicle according to the operation signal supplied from the vehicle ECU 28, and the brake actuator 36 generates a braking force in accordance with the operation signal supplied from the vehicle ECU 28.

In the system of the embodiment of the present invention, the speed of each of the vehicles is based on the driving positions and the driving directions of the vehicles running within a predetermined range in front of each of the vehicles, so that the vehicles do not stop and the double track portions ( On 16 it is controlled to cross over with oncoming vehicles.

3 is a diagram illustrating the principle of driving rules used in embodiments of the present invention when there is an oncoming vehicle. Figure 3 shows a situation in which the vehicle 50 is operated to the multi-conductor section _(16-2), and the oncoming vehicle 52 is operated to the disconnection unit _(14-5).

In an embodiment of the invention, the control ECU 20 detects the positions of the vehicles 50, 52 as described above. If the vehicles 50 and 52 are the closest approach vehicles to each other and the number of disconnection portions 14 located between the vehicles 50 and 52 is less than three, the control ECU 28 is connected to the vehicles 50 and 52. The positions that must pass through each other are calculated as the target positions of the vehicles 50 and 52.

In the situation shown in FIG. 3, the positions through which the vehicles 50, 52 can pass through each other are limited to one of the double track portions _16-2 , _16-3 , _16-4 . In this embodiment, the target position is set to the vehicle to the closest double track section in a central location between 50 and 52 _(16-3) on the basis of information of the vehicle position.

In this case, the vehicles 50 and 52 is that they can each continue to operate as a phase-line sections _{(14-3, 14-4)} prior to reaching the target position. Thus, to achieve efficient operation conditions of the vehicle (50, 52) than the multi-conductor section _(16-3) in case of the double track section _(16-2 or _16-4) by setting a target position set by the target position It is possible.

However, when the target position is set as described above, a time delay may occur between the times when the vehicles 50 and 52 reach the target position. In this case, one of the vehicles 50, 52 must wait until the other vehicle reaches the target position.

In this embodiment, the control ECU 20 calculates the time taken by the vehicles 50, 52 to reach the target position based on the speed and position information of the vehicles 50, 52. The control ECU 20 then calculates the required time of the vehicle, which takes more time to reach the target position among the vehicles 50, 52. This calculated time is set as the target time. The control ECU 20 transmits a control signal indicative of the target position and the target time to the other vehicle, that is, the vehicle 50 or 52 which takes a shorter time to reach the target position. Receiving this signal, the vehicle 50 or 52 controls (in particular decreases) its speed to reach the target position at the target time. Thus, according to the present embodiment, the vehicles 50 and 52 can pass each other in the double track portions 16 without stopping.

In the present embodiment, the above-described driving rule is applied to all vehicles traveling on the road 12. Thus, according to the present embodiment, all the vehicles can pass the vehicle approaching on the double track portions 16 without having to stop.

4 illustrates the basic driving rules used in this embodiment when the vehicle 50 is following the preceding vehicle 54. Vehicle 50 in the situation shown in Figure 4, and operates the UP burnout unit _(14-2), the preceding vehicle has been operating for a disconnection unit _(14-4).

In this situation, if the vehicle 54 is the preceding vehicle closest to the vehicle 50, and the number of disconnection portions 14 located between the vehicles 50, 54 is less than three, the control ECU 20 determines the preceding vehicle ( 54) the multi-conductor section _(16-4) than the vehicle (50 in the double-track portion _(16-2) located behind the two areas that are reached in the following) is determined to have reached to the next. That is, the double-track portion _(16-2) is selected as the target position of the vehicle (50).

When the preceding vehicle 54 reaches the double-track portion _(16-4) It is assumed the situation when abandoned by the vehicle 50 passes through the multi-conductor section _(16-2). In this situation, if the vehicle is approaching the vehicle 50 is shown, that is, the preceding vehicle 54, the double-track portion _(16-4), if past the vehicle approaching on the vehicle (50) is double-track portion (16 _-3 ) Then, the vehicle 50 has been reached is the vehicle 50, which must wait for the vehicle to access on the double track section _(16-3), or approach it should be waiting on the double track section _(16-4). According to an embodiment of the invention, since the multi-conductor set in section _(16-2), as the target position of the vehicle 50 described above, without having to stop the vehicle 50 and the vehicle access multi-conductor section _(16-3) You can pass by

However, if, in each of the double-track portion when set to _(16-3), the vehicle (50, 54) is double-track portions _{(16-4, 16-2),} as the target position of the vehicle 50 described above There may be a time delay between the times of arrival. In this case, if the vehicle 50, the preceding vehicle 54, the double-track portion _(16-4) earlier than the time the target position (double track section; _16-2) to reach, if reached, the vehicle 50 is at a target position stops to wait for the double track section _(16-4), the preceding vehicle 54 to reach.

In the case where the present embodiment, the preceding vehicle 54 is determined to be the multi-conductor section _(16-4), the vehicle (50) earlier than the time to reach to reach the target position, a control ECU (20) is double-track portion ( _16-4 ) calculate the time it takes for the preceding vehicle 54 to reach. This calculated time is selected as the target time of the vehicle 50. The control ECU 20 transmits a control signal indicating the target position and the target time to the vehicle 50. Receiving this control signal, the vehicle 50 controls its speed so as to reach the target position at the target time. Thus, according to this embodiment, the vehicle 50 can be reached at the same time as the target position of the preceding vehicle (54) reaches the next multi-conductor section _(16-4), and therefore, the vehicle 50 is not interrupted It can follow the preceding vehicle 54.

In this embodiment, the driving rules described above apply to all vehicles. Thus, according to the present embodiment, all the vehicles traveling on the road 12 can properly follow each preceding vehicle without having to stop on the double tracks 16.

5 shows a flowchart of an example of a routine performed by the control ECU 20 to achieve the functions described above. The routine shown in FIG. 5 starts repeatedly at predetermined intervals. When the routine shown in Fig. 5 starts, the processing of step 100 is first performed.

In step 100, information regarding the IDs, locations, driving directions and speeds, etc. of all vehicles on the road 12 are received.

In step 101, one of the vehicles is selected. The vehicle selected in this step will hereinafter be referred to as a process target vehicle.

In step 102, it is determined whether there is a vehicle running in the N blocks in front of the vehicle to be processed. This " block " is a unit of the number of the disconnected portion 14 and the double stranded portion 16 pairs. In this embodiment, N is three or more predetermined values. If a positive result is obtained in step 102, then the processing of step 103 is performed.

In step 103, the vehicle closest to the processing target vehicle among the vehicles running in front of the N blocks is selected as the control target vehicle of the processing target vehicle.

In step 104, based on the information received in step 100, it is determined whether the driving direction of the control target vehicle is the same as the processing target vehicle. If the driving direction of the control target vehicle is determined to be the same as the direction of the processing target vehicle, then the processing of step 106 is performed.

In step 106, the double track unit 16 to which the controlled vehicle arrives next is determined based on the map information and the positional information of the controlled vehicle.

In step 108, the target position is set to the double track portion located two blocks back from the double track portion 16 calculated in step 106.

In step 110, the time at which the controlled vehicle reaches the target position is calculated.

In step 112, the target time is set to the time calculated in step 110.

In step 114, a control signal indicative of the target position and the target time is transmitted to the processing target vehicle. Upon receiving this control signal, the processing target vehicle controls the speed so that the speed reaches the target position at the target time. When the process of step 114 is complete | finished, the process of step 122 is performed after that.

On the other hand, if it is determined in step 104 that the driving direction of the controlled vehicle is opposite to the traveling direction of the processed vehicle, it may be determined that the controlled vehicle is approaching the processed vehicle. In this case, the process of step 116 is performed.

In step 116, the intermediate position between the vehicle to be processed and the vehicle to be controlled is calculated based on the positional information of these vehicles.

In step 118, the target position is set to the double track portion 16 closest to the intermediate position calculated in step 116.

In step 119, the time α required for the processing vehicle to reach the target position and the time β for controlling the vehicle to reach the target position are calculated based on the speed and position information of these vehicles. do.

In step 120, it is determined whether or not time α is less than time β. When it is determined that α is smaller than β, it can be determined that the vehicle to be processed reaches the target position earlier than the controlled vehicle. In this case, it is determined that the speed of the processing target vehicle is decreased so that the control target vehicle and the processing target vehicle simultaneously reach the target point. Then, the processing of step 110 described above is performed.

If it is determined negatively at step 120, it may be determined that the processing target vehicle arrives at the target position later than the controlling target vehicle. In this case, the speed of the vehicle to be processed does not need to be changed, and the processing of step 122 described above is performed.

If it is determined negatively at step 102 described above, it can be determined that no operation is necessary for the current vehicle to be processed. In this case, the process of step 122 is performed.

In step 122, it is determined whether the processing of the above-described steps 102-122 has been performed for all vehicles traveling on the road 12, which is the vehicle to be processed. If positively determined, the current routine is terminated. On the other hand, if it is negatively determined in step 122, the next vehicle is selected as the processing target vehicle in step 124, and then the processing of step 102 is performed again.

According to the above-described processing, in the case where the control target vehicle is a vehicle approaching the processing target vehicle, the target position is set to the double track section 16 closest to the intermediate position between the processing target vehicle and the approaching control target vehicle. In this case, the time when the control target vehicle reaches the next double track section 16 is calculated as the target time.

On the other hand, when the control target vehicle is a vehicle preceding the processing target vehicle, the target position is set to the double track portion 16 located two blocks behind from the double track portion 16 to which the preceding control target vehicle reaches next. do. In this case, the time at which the control target vehicle reaches the target position is calculated as the target time of the processing target vehicle.

In both cases, a control signal indicative of the target position and the target time is transmitted to the processing target vehicle, and the processing target vehicle controls its speed to reach the target position at the target time. This process is performed for all vehicles running on the road 12. Therefore, it is possible to appropriately control the driving states of all vehicles traveling on the road 12 in accordance with the routine shown in FIG.

6A to 6D are diagrams showing driving rules used in this embodiment. 7A-7C are diagrams showing the results of calculations performed by the control ECU 20 according to the routine shown in FIG. 5 in the situation shown in FIGS. 6A-6C, respectively.

Figure 6a is a vehicle 50, the disconnection unit _(14-2) to the station, and a preceding vehicle 54. The vehicle 52 and the operation phase disconnection unit _(14-4), the access disconnection unit (14 _{- 7} ) It shows the situation of running a statue. Figure 6b is a vehicle (50) is double-track portion _(16-2) onto the station, and the preceding vehicle (54) is double-track portion _(16-4) and the operating phase, approach the vehicle 52, the multi-conductor part (16 a _{- 6} ) It shows the situation of running a statue. Figure 6c illustrates a situation, the vehicle 50 is operated to the multi-conductor section _(16-3), and the vehicle (52) preceding the vehicle (54) and passing each other on double track access unit _(16-5). Figure 6d illustrates a situation in which pass each other on the vehicle (52) is double-track portion _(16-4) approaching the vehicle 50 and the preceding vehicle 54 is driving the multi-conductor section _(16-6) a.

As shown in FIG. 6A, the vehicle 54 is the vehicle closest to the vehicle 50 running within the three front blocks of the vehicle 50. In addition, the vehicles 54 and 52 are the vehicles closest to each other running in three blocks ahead of each other. Thus, the vehicle 54 is selected as the controlled vehicle of the vehicle 50, and the vehicles 54 and 52 are selected as the controlled vehicles of each other.

As described above, the control ECU 20 calculates the target time and the target position of each vehicle based on the speed, the driving direction, the position, and the ID of each vehicle. In particular, the target position in the situation shown in Figure 6a, the control ECU (20) is the closest to the double track unit with the vehicle _(16-5) in an intermediate position between such a vehicle as described (54, 52) shown in Figure 7a Set. The control ECU 20 then calculates the time it takes for the vehicles 54 and 52 to reach the target position and determines the vehicle that will reach the target position later than the other vehicle. This calculated time is the later than the other reaches the target position vehicle (54 or 52) is set as a target time (T _1a), so that the vehicle reaches a target position on the target time (T _1a), the target position and the target A control signal indicative of time T _1a is transmitted to the other vehicle.

Additionally, in the situation shown in Figure 6a, the control ECU (20) is a preceding vehicle (54) is double-track portion is reached the following _(16-4) from the vehicle to the rear of the two blocks double-track portion _(16-2) setting a target position 50 and the preceding vehicle 54 is calculated as the target time (T _2a) as shown in Figure 7a for the approach to the next multi-conductor section _(16-4). Then, a control signal indicative of the target position and the target time T _2a is transmitted to the vehicle 50 such that the vehicle 50 reaches the target position at the target time T _2a . Thus, the vehicle (50, 54) is reached at the same time to each of the multi-conductor parts _{(16-2, 16-4)} as shown in Figure 6b.

In the situation shown in FIG. 6B, the vehicle 54 is selected as the controlled vehicle of the vehicle 50, and as shown in FIG. 6A, the vehicles 54 and 52 are selected as the controlled vehicles of each other. . In this situation, the control ECU 20 sets the target positions of the vehicles 54 and 52 to the double track portions _16-5 , and sets the target position of the vehicle 50 as shown in FIG. 7B. 54) is set from a double-track portion _(16-5) to reach the next to the double-track portion _(16-3) in the rear two blocks.

Similar to the situation shown in FIG. 6A, the control ECU 20 calculates the time it takes for the vehicle 54, 52 to reach its target position, and which vehicle will reach the target position later than the other vehicles. Determine. The calculated time of the vehicle that will later than the other reaches the target position is set to the target time (T _1b), the target position and the control signal indicating the target time (T _1b) is transmitted to the rest of the vehicle is the vehicle target time The target position is reached at (T _1b ).

Additionally, a control ECU (20) is double-track portion _(16-5) than the double-track portion _(16-3) located in the rear two blocks to be the preceding vehicle 54, the target position of the vehicle 50 reaches the next Set to. Then, the vehicle 50 is transmitted, a control signal indicating the target time, the target position and the target time (T _1b) so as to reach the target position in the (T _1b) in the vehicle (50).

Thus, the vehicle 50 as shown in Figure 6c is that when the vehicle 52 is approaching the preceding vehicle (54) reaches the double-track portion _(16-5) reaches to multi-conductor section _(16-3) .

Preceding vehicle 54 and the vehicle approaches (52) after passing through one another on a double-track portion _(16-5) as shown in Figure 6c, the vehicle 52 is a vehicle that is within the forward three blocks of the vehicle 50, which The vehicle closest to 50 becomes. Therefore, the vehicle to be controlled of the vehicle 50 is changed from the preceding vehicle 54 to the approaching vehicle 52.

In this situation, a control ECU (20) sets the target position of the multi-conductor as the closest portion _(16-4) of the vehicle in an intermediate position between these vehicles as 50 and 52 shown in Figure 7c. The control ECU 20 then calculates the time it takes for the vehicles 50 and 52 to reach the target position and determines which vehicle will reach the target position later than the other vehicle. The calculated time of the vehicle that will reach the target position later than the rest of the vehicle is set to the target time T3, and the control signal indicating the target position and the target time T3 such that the vehicle reaches the target position at the target time T3. Is sent to the rest of the vehicle. Thus, as shown in Figure 6d, the vehicle (50, 52) is at the same time to reach the double-track portion _(16-4).

As described above, two vehicles approaching each other can always reach the same double track 16 at the same time. Therefore, according to the present embodiment, all vehicles traveling on the road 12 can pass by the vehicle approaching on the double track 16 without having to stop.

8 is a first station 10 and the second is the distance between stations is 30km 11, the disconnection units _(14-1 to _14-7) and the multi-conductor sections _(16-1 to _16-6) and any gap In this case, the driving state of the vehicle achieved according to the present embodiment is shown. In FIG. 8, the double track portion 16 is hatched.

As shown in FIG. 8, the preceding vehicle 54 departs from the first station 10 at time “1”. The vehicle 50 then departs from the first station 10 at approximately time 401, and the vehicle 56 following the vehicle 50 departs from the first station 10 at approximately time 551. . On the other hand, the approach vehicle 52 departs from the second station 11 at approximately time 501 and the second approach vehicle 58 departs from the second station at approximately time “1101”.

Each of the vehicles 50, 52, 54, 56, 58 travels on the road 12 in accordance with the above-described driving rules. Thus, each vehicle overtakes the vehicle approaching from one of the double tracks 16 as shown in FIG. Additionally, when the preceding vehicle has reached one of the double tracks 16, the subsequent vehicle of the preceding vehicle is on the double track 16 located two blocks behind or from the double track 16 at which the preceding vehicle arrives. It will run before that. Therefore, according to the above-described driving rule, the vehicle can effectively and smoothly travel on the road 12 having the disconnection portions 14 without having to stop on the double track portions 16.

9A and 9B illustrate a situation in which the maximum number of vehicles are traveling on the road 12. In the situation shown in FIGS. 9A and 9B, the vehicles 80 to 88 are running on a road 12 connecting the first station 10 and the second station 11. In this situation, each of the vehicles 80 to 88 overruns the approaching vehicle at one of the double tracks 16 and then overtakes the vehicle following the approaching vehicle at the double track 16.

In particular, the vehicle (80 and 86) Figure 9a a double-track portion after passing through each other on the _(16-5), a second station, the vehicle 87 is a vehicle 80 that is stopped at 11 as shown in Is selected as the control target vehicle, and the vehicle 80 is selected as the control target vehicle of the vehicle 87. Similarly, the vehicle (81 and 85) is double-track portion _(16-3) after passing through one another on a vehicle (86) is selected as the control target vehicle of the vehicle 81, the vehicle 81 is a vehicle (86 Is selected as the control target vehicle. Additionally, the vehicle (82,84) is double-track portion after passing through each other on the (16 _1), the vehicle (85) is selected as the control target vehicle of the vehicle 82, the vehicle 82 is a vehicle ( 85) is selected as the control target vehicle.

Thus, as shown in Figure 9b, the vehicle (80, 87) and double-track portion to pass through each other on the _(16-6), the vehicle (81, 86) to pass each other on double track section _(16-4), the vehicle (82, 85) pass through each other on double track section _(16-2). After the situation shown in FIG. 9B, each of the vehicles 80 to 88 passes in a manner similar to that described above, with the vehicle approaching from one of the double tracks 16 with the approach vehicle selected as the controlled vehicle.

As described above, each of the vehicles 80 to 88 may travel between the first station 10 and the second station 11 without stopping. When the vehicle arrives at the first station 10 or the second station 11, the vehicle is stopped while the other vehicles are driving two blocks. While the vehicle is stationary, the passengers get off or get on the vehicle. Thus, according to the present embodiment, the vehicle can travel on the road 12 with the disconnections 14 without having to stop between stations to pass the access vehicles on the double track 16.

In this embodiment, the running state of each vehicle running between the first station 10 and the second station is a predetermined program to decelerate when the vehicles approach the first station 10 or the second station 11. Based on the control. In addition, the vehicles are decelerated in response to control signals transmitted from the control center 18. Thus, according to the present embodiment, there is no need to provide a traffic light on the road 12 to control the driving conditions of the vehicles. Therefore, according to the present embodiment, it is possible to simplify the driving control system of the vehicle.

In the present embodiment, when the vehicle 50 reaches the target position faster than the approach vehicle 52, the vehicle 50 decelerates so that the vehicles 50, 52 simultaneously reach the target position as described above. Will be. However, the approach vehicle 52 may be accelerated or the vehicles 50, 52 may be decelerated and accelerated, respectively, to cause the vehicles 50, 52 to reach the target position at the same time in the situation described above.

Additionally, in the present embodiment, the vehicle 50 causes the vehicle 50 to precede the vehicle so that the vehicle 50 reaches the target position when the preceding vehicle 54 reaches the next double track 16. It slows down as it approaches 54. However, it is also possible for the preceding vehicle 54 to be accelerated.

The present invention is not limited to these embodiments, and variations and modifications may be implemented without departing from the scope of the present invention.

According to the present invention, there is provided a vehicle driving control method and system that allows vehicles traveling in opposite directions to smoothly pass through each other without frequently stopping.

According to the present invention, there is provided a vehicle driving assistance apparatus that allows vehicles traveling in opposite directions to smoothly pass through each other without frequently stopping.

Claims (9)

A vehicle driving control method for controlling driving states of vehicles traveling on a road having disconnection units and double track units, (A) detecting the positions of the first and second vehicles approaching each other, (B) determining whether the first and second vehicles are the vehicles closest to each other within a predetermined range in front of each other based on the detected positions; (C) setting a double track located between the first and second vehicles to a target position when it is determined that the first and second vehicles are the vehicles closest to each other within a predetermined range in front of each other; Wow, The first and second vehicles running in opposite directions may pass from each other at the target position including the double track and the first and second vehicles reach the target position at substantially the same time. Or (d) controlling the speed of the second vehicle. The method of claim 1, wherein the step (c) sets the target position to a double track portion closest to an intermediate position between the first and second vehicles. The method of claim 1, wherein step (d) (E) for calculating the time taken by the first and second vehicles to reach the target position; (F) calculating a time taken for one of the first and second vehicles to reach the target position to reach the target position; (G) controlling the speed of the remaining vehicle such that the remaining vehicle substantially reaches the target position at the time calculated in step (f). The method according to any one of claims 1 to 3, (H) detecting a position of a third vehicle traveling in the same direction as the first vehicle in front of the first vehicle; (I) determining whether the third vehicle is the vehicle closest to the first vehicle within the predetermined range in front of the first vehicle based on the detected positions of the first and third vehicles. Wow, A first double track located at a rear of a second double track section to which the third vehicle will subsequently arrive, when the third vehicle is determined to be the vehicle closest to the first vehicle within the predetermined range in front of the first vehicle; (J) for setting the unit to the target position, wherein the step (j) wherein at least one double track portion exists between the first double track portion and the second double track portion, (K) for calculating a time for the third vehicle to reach the second double track part; And controlling (L) the speed of the first vehicle such that the first vehicle reaches the target position at the time calculated in step (k). A vehicle driving assistance device provided to a vehicle traveling on a road having disconnections and double tracks, A transmitter for transmitting vehicle information, A receiver for receiving information including a specific double track portion located in front of the vehicle and a target time for the vehicle to reach the specific double track portion; In the vehicle driving support apparatus comprising a driving controller for controlling the driving state of the vehicle such that the vehicle reaches the specific double track portion at the target time, The particular double track portion is determined as a target position based on the driving directions of one vehicle and the other vehicle, And the target time is determined based on estimated times for the one and the other vehicles to pass through the target location. A vehicle driving control system for controlling driving states of vehicles traveling on a road having disconnection units and double track units, A control center for transmitting a signal indicative of a target position and a target time of each vehicle, A receiver provided in each vehicle to receive the signal; And a travel controller provided in each vehicle to control the speed of the vehicle such that the vehicle substantially reaches the target position at the target time. A particular double track is determined as the target position based on the driving directions of one vehicle and the other vehicle, The target time is determined based on estimated times for the one and the other vehicles to pass through the target position. The method of claim 6, The control center, A position detector for detecting positions of first and second vehicles approaching each other; A determining unit that determines whether the first and second vehicles are the closest vehicles to each other within a predetermined range in front of each other based on the detected positions; A target position setting unit for setting a double track located between the first and second vehicles as the target position when it is determined that the first and second vehicles are the vehicles closest to each other within a predetermined range in front of each other Wow, And a target time setting unit for setting the target times of the first and second vehicles to substantially the same time. The vehicle of claim 7, wherein the target time setting unit takes a longer time than the other vehicles to reach the target position of the first and second vehicles. And setting the time taken to reach the target position as the target time. The method according to claim 7 or 8, A second position detector for detecting a position of a third vehicle that runs in the same direction as the first vehicle in front of the first vehicle; A second determination unit that determines whether the third vehicle is the vehicle closest to the first vehicle within a predetermined range in front of the first vehicle based on the detected positions of the first and third vehicles. Wow, When it is determined that the third vehicle is the vehicle closest to the first vehicle within a predetermined range in front of the first vehicle, the third vehicle will subsequently reach the target position of the first vehicle. A second target position setting section for setting the first double track section located behind the second double track section, wherein the second target position setting section has at least one double track section between the first double track section and the second double track section; And a second target time setting unit configured to set a target time of the first vehicle to a time when the third vehicle reaches the first double track portion.