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WO2018135630A1 - Vehicle platoon and platoon travel method - Google Patents

Vehicle platoon and platoon travel method Download PDF

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Publication number
WO2018135630A1
WO2018135630A1 PCT/JP2018/001628 JP2018001628W WO2018135630A1 WO 2018135630 A1 WO2018135630 A1 WO 2018135630A1 JP 2018001628 W JP2018001628 W JP 2018001628W WO 2018135630 A1 WO2018135630 A1 WO 2018135630A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicles
vehicle
information
row running
travel
Prior art date
Application number
PCT/JP2018/001628
Other languages
French (fr)
Japanese (ja)
Inventor
修 菊地
勇一郎 浅川
裕樹 長谷部
英夫 土田
Original Assignee
ナブテスコオートモーティブ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ナブテスコオートモーティブ株式会社 filed Critical ナブテスコオートモーティブ株式会社
Priority to JP2018562457A priority Critical patent/JPWO2018135630A1/en
Publication of WO2018135630A1 publication Critical patent/WO2018135630A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/508—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to vehicles driving in fleets or convoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a row running vehicle group including a plurality of vehicles that form a row and run in a row.
  • the present invention also relates to a row running method in which a plurality of vehicles travel in a row.
  • the present invention has been made in consideration of such points, and can inform the surroundings of the fact that a plurality of vehicles are running in a row and the status of the row running, etc. It is an object to provide a platooning vehicle group and a method thereof.
  • the convoy travel vehicle group according to the present invention is: A plurality of vehicles that form a formation and travel in a formation; And a notification unit that is provided in one or more of the plurality of vehicles, and that notifies the row running information related to the row running to a notification target other than the plurality of vehicles.
  • the row running vehicle group according to the present invention is provided in at least one of the plurality of vehicles, monitors the surrounding environment, and notifies the row running information in the surrounding environment to be notified.
  • the notification unit may transmit the formation running information when the determination unit determines that the notification target exists in the surrounding environment.
  • the convoy travel vehicle group according to the present invention further includes a detection unit that is provided in at least one of the plurality of vehicles and detects own vehicle travel information related to the travel state of the vehicle,
  • the notification means may notify the host vehicle travel information detected by the detection means as the platoon travel information.
  • the notifying unit may notify other vehicle traveling information related to a traveling state of a vehicle other than the vehicle provided with the notifying unit among the plurality of vehicles as the row traveling information.
  • the notification means includes: a light emitting means for emitting light according to the row running information; a display means for displaying the row running information; a sound generating means for generating a sound according to the row running information; You may include at least 1 or more of the communication means which wirelessly communicates formation drive information, and the connection means which connects between the two vehicles located in a row direction among the said some vehicles.
  • the platooning vehicle group according to the present invention further includes a camera for photographing the surrounding environment or a recording device for recording sounds in the surrounding environment, which is provided on at least one of the plurality of vehicles. Also good.
  • the row running method according to the present invention includes: A platooning method in which a plurality of vehicles organize and travel in a platoon, Notifying means provided in one or more of the plurality of vehicles notifies the row running information related to the row running to the notification target other than the plurality of vehicles.
  • the determination unit provided in at least one of the plurality of vehicles monitors the surrounding environment and notifies the surroundings of the row to be notified of the row running information. Determine the presence or absence in the environment, The notification unit may transmit the formation running information when the determination unit determines that the notification target exists in the surrounding environment.
  • the detection means provided in at least one of the plurality of vehicles detects own vehicle running information related to the running state of the vehicle
  • the notification means may notify the host vehicle travel information detected by the detection means as the platoon travel information.
  • the notification means may notify other vehicle travel information related to travel of a vehicle other than the vehicle provided with the notification means among the plurality of vehicles.
  • the notifying means emits light according to the row running information, displays the row running information, generates a sound according to the row running information, wirelessly communicates the row running information with a notification target, and You may make it implement one or more of the connection of two vehicles located in a row direction among several vehicles.
  • a camera provided on at least one of the plurality of vehicles captures the surrounding environment, or at least any one of the plurality of vehicles.
  • the recording device provided in may record sound in the surrounding environment.
  • the present invention when a plurality of vehicles perform a platooning, it is possible to inform the surroundings that the platooning is in progress and the status of the platooning.
  • FIG. 1 is a diagram for explaining a first embodiment of a row running vehicle group according to the present invention
  • FIG. 2 is a block diagram showing an overall configuration of a leading vehicle and a succeeding vehicle shown in FIG. is there.
  • the convoy travel vehicle group 1 of the first embodiment includes a plurality of vehicles that form a convoy and travel in a convoy. Specifically, the convoy travel vehicle group 1 includes a leading vehicle 10 and subsequent vehicles 11 and 12 that follow the leading vehicle 10. In the example shown in FIG. 1, the convoy travel vehicle group 1 includes two subsequent vehicles 11 and 12, but the number of subsequent vehicles is not limited to this, and the convoy travel vehicle group 1 includes one subsequent vehicle. May be included, or three or more following vehicles may be included.
  • the leading vehicle 10 included in the platooning vehicle group 1 is a vehicle that is operated by a person (driver) to drive the vehicle, but automatically controls the vehicle. It may be a vehicle capable of automatic driving.
  • the succeeding vehicles 11 and 12 are vehicles capable of both automatic driving and normal driving, but may be vehicles capable of only automatic driving.
  • the leading vehicle 10 and the following vehicles 11 and 12 of the present embodiment basically have steering wheels 21a and 21b, brakes 22a and 22b, engines 23a and 23b, and the like operated by drivers 20a and 20b.
  • Each has a driving function consisting of
  • the leading vehicle 10 and the following vehicles 11 and 12 include a control ECU (electronic control unit) 24a and 24b, communication devices 25a and 25b that perform wireless communication between the vehicles 10, 11 and 12, and the vehicles 10 and 11, respectively.
  • the leading vehicle 10 and the following vehicles 11 and 12 are cameras 70 that capture images of the surrounding environment of each of the vehicles 10, 11, and 12, in particular, two vehicles arranged in the row direction among the plurality of vehicles 10, 11, and 12. have.
  • the communication devices 25a and 25b perform wireless communication between the vehicles 10, 11, and 12.
  • the information communicated between the vehicles 10, 11, 12 through the communication devices 25 a, 25 b is, for example, control information necessary for controlling the automatic driving of the following vehicles 11, 12 transmitted from the leading vehicle 10, , 11, 12 and the like, the information regarding the running state of the vehicle.
  • Information relating to the traveling state of the vehicle transmitted from each of the vehicles 10, 11, 12 is detected by detection means 50a, 50b described later provided on each of the vehicles 10, 11, 12.
  • the control information necessary for controlling the automatic driving of the succeeding vehicles 11 and 12 includes the speed and acceleration that the succeeding vehicles 11 and 12 should take, and whether or not a right or left turn or lane change is necessary.
  • Information on the running state of the vehicle issued from each of the vehicles 10, 11 and 12 includes the actual running speed and acceleration of the vehicle, whether or not a right or left turn is performed, whether or not a lane change is performed, and whether or not a stop is performed.
  • the distance between the preceding vehicle, the automatic operation mode or the normal operation mode, the presence or absence of abnormality in the vehicle and the content of the abnormality, information on the surrounding environment of the vehicle, the destination, from the platoon The presence or absence of the withdrawal.
  • the information transmitted from each of the vehicles 10, 11, 12 is handled as own vehicle traveling information related to the traveling state of the vehicle in the vehicles 10, 11, 12 that transmit the information.
  • Vehicles other than the vehicle from which the information is transmitted among 12 are treated as other vehicle travel information related to the travel state of other vehicles.
  • information relating to the running state of the vehicle 11 transmitted from the vehicle 11 is handled as own vehicle running information in the vehicle 11, but as other vehicle running information relating to the running state of the other vehicle 11 in the vehicles 10 and 12. Be treated.
  • the control ECUs 24a and 24b receive signals from the respective parts of the vehicles 10, 11, and 12 in which the control ECUs 24a and 24b are provided, and control the respective parts of the vehicles 10, 11, and 12. In particular, when the succeeding vehicles 11 and 12 are set to the automatic operation mode by the operation mode switching SW (switch) 26, the control ECU 24b of the following vehicles 11 and 12 replaces the driver 20b with each of the driving functions 21b. , 22b, and 23b are controlled.
  • the leading vehicle 10 and the following vehicles 11 and 12 included in the convoy travel vehicle group 1 of the present invention have notification means 30a and 30b for notifying convoy travel information related to the convoy travel, respectively.
  • the row running information related to the row running is typically information indicating that the row running is being performed, but as other information, the information on the vehicles 10, 11, 12 included in the row running vehicle group 1 is provided. Number, total length L of platooning vehicle group 1, destination, speed, presence / absence of lane change, left / right turn, presence / absence of stop, acceleration / deceleration, The presence / absence of abnormality and the content of abnormality are listed.
  • the row running information includes the above-mentioned own vehicle running information and other vehicle running information.
  • the formation information is not limited to such information.
  • care should be taken not to perform specific actions (such as interruption into the convoy travel vehicle group 1) on the vehicle 13 or the person 14 etc. that are generated based on the various information described above and exist in the vicinity of the convoy travel vehicle group 1 May be warning information that prompts the user to stop the action immediately when the action is performed by the vehicle 13, the person 14, or the like.
  • Such row running information is generated by the above-described control ECUs 24a and 24b.
  • the notification means 30a and 30b display platooning information related to platooning. More specifically, the display means displays character information, graphic information, image information, and the like. It is. A liquid crystal display or an organic EL display can be used as the display. Of course, the means for displaying the platooning information is not limited to the display, and various means can be adopted. For example, even if the desired information is displayed on the road surface by projecting characters or figures on the road surface. Good.
  • the notification means 30a, 30b may not display the convoy travel information on a display or the like.
  • the notification means 30a and 30b may be light emission means that emit light according to information to be notified, such as a revolving light or a flashing light.
  • the light emitting means may change the rotation speed, blinking interval, color, brightness, etc. of the light emitter according to the information to be notified.
  • the notification means 30a and 30b may be sound generation means for generating sound or sound corresponding to information to be notified, such as sirens and speakers. In this case, the sound generating means may change the volume, tone, etc.
  • the sound generation means may include a directional speaker, and may generate a sound toward a specific notification target.
  • the leading vehicle 10 and the following vehicles 11 and 12 have notification means 30 a and 30 b, respectively, but the notification means 30 a and 30 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
  • the discriminating means 40a and 40b are for monitoring the surrounding environment and discriminating whether or not there is a notification target surrounding environment in which the row running information related to the row running should be notified.
  • the notification target to be notified of the row running information related to the row running includes the driver 131 of the vehicle 13, the pedestrian 14, animals, objects, and the like existing around the vehicle group 1.
  • the discriminating means 40 a and 40 b are cameras 41 a and 41 b that are attached to the outside of the vehicles 10, 11, and 12 and photograph the surrounding environment of the vehicles 10, 11, and 12, It has discriminating units 42a and 42b for discriminating whether or not the notification target to be notified of the row running information in the surrounding environment by detecting the vehicle 13 or the pedestrian 14 or the like from the image or video taken by 41b. .
  • the discriminating means 40a, 40b may be any device as long as it can discriminate the presence or absence of vehicles, pedestrians, animals, and objects in the surrounding environment.
  • the presence or absence of a vehicle or the like in the surrounding environment may be determined using a radar or a sound wave.
  • the presence or absence of a vehicle or the like in the surrounding environment may be determined by combining both images and video captured by the camera and information obtained by transmitting radar and sound waves.
  • the leading vehicle 10 and the following vehicles 11 and 12 have the discriminating means 40a and 40b, respectively, but the discriminating means 40a and 40b are a plurality of vehicles 10 and 11 respectively. , 12 may be provided at one or more of them.
  • the detecting means 50a and 50b detect the own vehicle traveling information relating to the traveling state of the vehicle provided with the detecting means 50a and 50b.
  • the detection means 50a and 50b are acceleration sensors 51a and 51b that detect the acceleration of the vehicle, speed sensors 52a and 52b that detect the speed of the vehicle, and a steering angle sensor that detects the steering angle of the vehicle.
  • acceleration sensors 51a and 51b the speed sensors 52a and 52b, the steering angle sensors 53a and 53b, the inter-vehicle distance sensors 54a and 54b, and the abnormality detection units 55a and 55b, known ones can be employed.
  • the leading vehicle 10 and the following vehicles 11 and 12 have detection means 50 a and 50 b, respectively, but the detection means 50 a and 50 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
  • the illuminance sensors 60a and 60b detect the illuminance of the surrounding environment of the vehicles 10, 11, and 12 provided with the illuminance sensors 60a and 60b.
  • illumination sensor 60a, 60b a well-known thing is employable as illumination sensor 60a, 60b.
  • the leading vehicle 10 and the following vehicles 11 and 12 have illuminance sensors 60 a and 60 b, respectively.
  • the illuminance sensors 60 a and 60 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
  • the operation mode switching SW (switch) 26 sets the operation mode of the following vehicles 11 and 12 to the automatic operation mode or the normal operation mode.
  • the camera 70 photographs the surrounding environment of the vehicles 10, 11, and 12 provided with the camera 70.
  • the camera 70 images the surrounding environment including the space between two vehicles 10, 11, and 12 that are arranged in the row direction.
  • images and moving images of the vehicles 13 and people 14 existing around the vehicles 10, 11, and 12 are recorded. Can do.
  • the vehicle 13 or the person 14 entering the platooning vehicle group 1 can be photographed, and the obtained images and moving images can be recorded.
  • Such images and videos are materials that show the situation at the time of trouble when some trouble occurs between the vehicle 10, 11, 12 and the vehicle 13, the person 14 or the like existing in the surrounding environment.
  • the vehicles 10, 11, and 12 may include a recording device that records sounds in the surrounding environment instead of the camera 70 or together with the camera 70. The sound recorded by such a recording device can also be used as data indicating the situation at the time of occurrence of the above-mentioned trouble.
  • the leading vehicle 10 and the following vehicles 11 and 12 each have a camera 70, but the camera 70 is one or more of the plurality of vehicles 10, 11, and 12. As long as it is provided.
  • the driver 20a operates the motion functions such as the steering 21a, the brake 22a, and the engine 23a. Further, the control ECU 24a of the leading vehicle 10 generates information necessary for controlling the automatic driving of the following vehicles 11 and 12 based on information obtained from each part of the leading vehicle 10, and the information is transmitted via the communication device 25a. Sent.
  • the driving mode of the following vehicles 11 and 12 is set to the automatic driving mode using the driving mode switching SW (switch) 26, and the motion functions such as the steering 21b, the brake 22b, and the engine 23b of the following vehicles 11 and 12 are set. Is operated by the control ECU 24b. As a result, the motion functions such as the steering 21b, the brake 22b, and the engine 23b of the following vehicles 11 and 12 are controlled based on information necessary for controlling the automatic driving from the leading vehicle 10.
  • the inter-vehicle distance between the vehicles 10, 11, and 12 in the platooning vehicle group 1 should be maintained at 20 m, which is obtained from the following vehicle 12 via the communication devices 25b and 25a.
  • information indicating that the following vehicle 12 should be accelerated is transmitted from the control ECU 24a of the leading vehicle 10 by the communication device 25a.
  • this information is acquired by the communication device 25b of the following vehicle 12, the opening degree of the engine 23b of the following vehicle 12 is controlled by the control ECU 24b of the following vehicle 12, and the following vehicle 12 is accelerated.
  • the camera 70 provided in each of the vehicles 10, 11, 12 can capture images of the surrounding environment of each of the vehicles 10, 11, 12, in particular, between two vehicles arranged in the row direction of the vehicles 10, 11, 12. Be started.
  • the own vehicle travel information relating to the travel state of the vehicle provided with the detection means 50a, 50b is detected by the detection means 50a, 50b.
  • These information or information based on these information is generated in the control ECUs 24a, 24b regarding the vehicles 10, 11, 12 and the platooning vehicle group 1 and passed to other vehicles via the communication devices 25a, 25b.
  • a convoy travel vehicle group in which three convoy travel vehicle groups 1 are in convoy travel from the leading vehicle 10 to subsequent vehicles 11 and 12 via communication devices 25a and 25b.
  • Information about 1 is passed.
  • information that the vehicle 11 makes a right turn is passed from the vehicle 11 to the vehicles 10 and 12 via the communication devices 25a and 25b.
  • the other vehicle traveling information related to the traveling state of the other vehicles and the information related to the platoon traveling vehicle group 1 passed to the vehicles 10, 11, 12 via the communication devices 25a, 25b are passed to the control ECUs 24a, 24b of the vehicles. .
  • the determination means 40 a and 40 b determine whether or not there is a notification target surrounding environment to be notified of the platooning information related to the platooning.
  • the discriminating means 40a and 40b discriminate that there are vehicles 13 and pedestrians 14 not included in the convoy travel vehicle group 1 in the surrounding environment of the convoy travel vehicle group 1, the discriminating means 40a and 40b control the Signals are sent to the ECUs 24a and 24b.
  • the control ECU 24a, 24b obtains the own vehicle travel information acquired from the detecting means 50a, 50b and the other information acquired from the communication devices 25a, 25b. From the vehicle travel information and information related to the convoy travel vehicle group 1, the convoy travel information is generated and passed to the notification means 30a, 30b.
  • information indicating that the convoy travel vehicle group 1 is in convoy travel with three vehicles and the own vehicle travel information indicating that the vehicle 11 will soon turn right are controlled. Passed from the ECU 24b to the notification means 30b. Further, in the vehicle 12, information that the row running vehicle group 1 is running in a row with three vehicles, other vehicle running information that the vehicle 11 is about to make a right turn, and that the vehicle 12 is accelerating. Is transmitted from the control ECU 24b to the notification means 30b.
  • information relating to the illuminance of the surrounding environment detected by the illuminance sensors 60a and 60b is passed to the notification means 30a and 30b.
  • the notification means 30a and 30b indicate that the convoy travel information related to the convoy travel is bright according to the illuminance of the surrounding environment, that is, the driver 131 and the pedestrian 14 of the vehicle 13 traveling in the surrounding environment.
  • the driving information is displayed with brightness that is easy to see. In this way, the convoy travel information related to the convoy travel is notified to the driver 131 and the pedestrian 14 in the surrounding environment of the convoy travel vehicle group 1.
  • the convoy travel vehicle group 1 includes a plurality of vehicles 10, 11, and 12 that form a convoy and travel in a convoy and one or more of the plurality of vehicles 10, 11, and 12. Provided, and notification means 30a, 30b for notifying a subject to be notified of the convoy travel information related to the convoy travel.
  • row running information related to row running is notified by the notification means 30a and 30b. Accordingly, it is possible to prevent the vehicle 13 or the pedestrian 14 that is not included in the platooning vehicle group 1 from entering the platooning vehicle group 1 by mistake. As a result, the following vehicles 11 and 12 that are automatically driven and have a behavior that is difficult to predict and the vehicle 13 that is not included in the vehicle group 1 run together, causing stress to the driver 131 that drives the vehicle 13. The risk of being lost is reduced.
  • the convoy travel vehicle group 1 of the first embodiment it is provided in at least one of the plurality of vehicles 10, 11, 12 to monitor the surrounding environment.
  • discriminating means 40a and 40b for discriminating the presence or absence of the notification objects 131 and 14 to be notified of the row running information in the surrounding environment.
  • the notifying means 30a and 30b include the discriminating means 40a and 40b in the surrounding environment.
  • the row running information is notified until there is no notification target in the surrounding environment where the row running information should be notified, noise pollution, etc. The risk of becoming a cause of this is reduced.
  • the convoy travel vehicle group 1 of 1st Embodiment it is provided in at least any one vehicle 10, 11, 12 of the some vehicles 10, 11, 12, and the driving
  • the notification means 30a, 30b allows the driver 131, the pedestrian 14, etc. to drive the vehicle 13 not included in the convoy travel vehicle group 1, and the driver 131, the pedestrian 14, etc. It is possible to provide information for taking an appropriate response according to the traveling state of the vehicle. As a result, it is possible to more effectively prevent traffic disturbance between the platooning vehicle group 1 and the vehicles 13 and pedestrians 14 not included in the vehicle group 1.
  • notification means 30a, 30b is driving
  • Other vehicle travel information related to the state is notified as platoon travel information.
  • the driver 131, the pedestrian 14 and the like driving the vehicle 13 not included in the platooning vehicle group 1 are vehicles other than the vehicles provided with the notification means 30a, 30b among the plurality of vehicles 10, 11, 12. It becomes possible to grasp the running state. As a result, it is possible to more effectively prevent traffic disturbance between the platooning vehicle group 1 and the vehicles 13 and pedestrians 14 not included in the vehicle group 1.
  • the notification means 30a and 30b are display means for displaying row running information related to row running.
  • the notification means 30a, 30b is a light emitting means for emitting light according to the row running information related to the row running or a sound generating means for generating a sound according to the row running information. can get.
  • the notifying means is a connecting means for connecting two vehicles arranged in the row direction among a plurality of vehicles. 1 and substantially the same as the first embodiment shown in FIG.
  • the same parts as those in the first embodiment shown in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
  • the notification unit 230 is a connection unit that connects two vehicles arranged in the row direction among a plurality of vehicles as described above.
  • the connecting means for connecting two vehicles visually connects the two vehicles with light rays.
  • the connecting means 230 includes a laser transmitter 231 attached to the front surface of the rear vehicles 11 and 12 between the two vehicles 10, 11 or 11, 12 arranged in the row direction, and a front vehicle. 10 and 11, and a laser receiver 232 attached to the rear surface of the laser beam receiver 232.
  • the laser receiver 232 can receive the laser light R transmitted from the corresponding laser transmitter 231.
  • the vehicles 10 and 12 may not have the laser receiver 232, and the laser transmitter 231 may be a laser transmitter used as the inter-vehicle distance sensors 54a and 54b for measuring the inter-vehicle distance. Good.
  • the notification means 230 may be a connection means for physically connecting two vehicles 10, 11 or vehicles 11, 12 arranged in the row direction among a plurality of vehicles, for example, a string.
  • the string is preferably a string made of a material that can be expanded and contracted according to the distance between the vehicles, or the automatic winding that is automatically unwound and wound according to the distance between the vehicles.
  • a cord reel is preferred.
  • control ECUs 24a and 24b are used from the discrimination means 40a and 40b that detect the vehicle 13 and the pedestrian 14. A signal is sent to.
  • the control ECUs 24a and 24b send signals to the laser transmitter 231.
  • the laser transmitter 231 transmits the laser light R.
  • the laser beam is received by the laser receiver 232 facing the laser transmitter 231 that has transmitted the laser beam, that is, the laser receiver 232 provided on the rear surface of the vehicles 10 and 11 traveling immediately before the vehicles 11 and 12.
  • the intensity of the laser beam R is detected.
  • the control ECUs 24a and 24b of the vehicles 10 and 11 provided with the laser receiver 232 When information on the intensity of the laser light R detected by the laser receiver 232 is acquired by the control ECUs 24a and 24b of the vehicles 10 and 11 provided with the laser receiver 232, the control ECUs 24a and 24b Is transmitted from the communication devices 25a and 25b.
  • the control ECU 24b of the vehicles 11 and 12 Based on the above, the intensity of the laser beam R transmitted from the laser transmitter 231 is adjusted to an intensity at which the driver 131, the pedestrian 14 and the like who drive the vehicle 13 in the surrounding environment can visually recognize the laser beam R.
  • the two vehicles 10, 11 or 11, 12 arranged in the row direction are visually connected by the laser light R, and the driver 131 driving the vehicle 13 in the surrounding environment of the row running vehicle group 200. Or the pedestrian 14 or the like is notified that the plurality of vehicles 10, 11, and 12 are running in a row.
  • the notification unit 230 is a connection unit that connects two vehicles 10, 11 or 11, 12 arranged in the row direction among a plurality of vehicles.
  • the two vehicles 10, 11 or 11, 12 arranged in the row direction among the plurality of vehicles are connected.
  • the driver 131, the pedestrian 14 and the like who drive the vehicle 13 in the surrounding environment of the platooning vehicle group 200 that the plurality of vehicles 10, 11, and 12 are traveling in platooning. is there.
  • the vehicles 10, 11, and 12 are visually connected using a light source such as a laser transmitter, the vehicles 10, 11, and 12 perform platooning even in a poor visibility environment such as in fog. It is possible to notify the surrounding driver 131, the pedestrian 14, and the like.
  • the notification means is a communication means for wirelessly communicating information with the notification target, and is not included in the convoy travel vehicle group.
  • the intrusion detection means for detecting that a vehicle or the like has entered is different, other configurations are substantially the same as those of the first embodiment shown in FIGS.
  • the same parts as those in the first embodiment shown in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
  • the notification unit 330 is a communication unit that wirelessly communicates the row running information with the notification targets 131 and 16 as described above.
  • the notification unit 330 includes communication devices 325a and 325b.
  • the communication devices 325a and 325b illustrated in FIG. 4 perform wireless communication with each other in the same manner as the communication devices 25a and 25b illustrated in FIG. 1 and also wirelessly communicate with the communication device 135 provided in the vehicle 13 that is not included in the convoy travel vehicle group 300. It communicates or wirelessly communicates with a roadside device 16 that is installed on a road and senses vehicles, pedestrians, etc. and provides information to the vehicles, pedestrians, etc.
  • the discriminating means 40a, 40b obtains the row running information based on the row running information obtained from the communication device 135, the roadside device 16, etc. of the vehicle 13 via the communication devices 325a, 325b. The presence / absence of the notification target surrounding environment to be notified is determined.
  • the intrusion detection means 340 is attached to the front surface of the rear vehicles 11 and 12 between the two vehicles 10 and 11 or the vehicles 11 and 12 arranged in the row direction among the plurality of vehicles 10, 11 and 12.
  • An ultrasonic transmitter 341 and an ultrasonic receiver 342 attached to the rear surfaces of the front vehicles 10 and 11.
  • the ultrasonic receiver 342 receives ultrasonic waves transmitted from the corresponding ultrasonic transmitter 341. It can be received.
  • an ultrasonic transmitter 341 and an ultrasonic receiver 342 it is possible to detect a vehicle, a person, or the like that has entered between two vehicles arranged in the row direction among a plurality of vehicles 10, 11, and 12. It has become.
  • the means for detecting a vehicle, a person, or the like that has entered between two vehicles arranged in the row direction among the plurality of vehicles 10, 11, and 12 is not limited to those using ultrasonic waves, for example, using wireless communication. It may be what you did.
  • ultrasonic waves are transmitted from the ultrasonic transmitters 341 of the vehicles 11 and 12, and the ultrasonic waves are received by the corresponding ultrasonic receivers 342 of the preceding vehicles 10 and 11. ing.
  • a vehicle 13 or a pedestrian 14 that is not included in the vehicle group 300 is present in the surrounding environment of the platooning vehicle group 300, the vehicle 13 or the pedestrian 14 is detected by the roadside device 16, and the vehicle 13 or the walker Information on the person 14 and the like is sent to the communication devices 325a and 325b of the convoy travel vehicle group 300.
  • information related to the vehicle 13 is transmitted from the communication device 135 of the vehicle 13 to the communication devices 325 a and 325 b of the platoon traveling vehicle group 300.
  • the control ECUs 24a and 24b acquire information acquired from the detection means 50a and 50b, and the communication devices 325a and 325b. From the information acquired from the lane, platoon travel information relating to platoon travel is generated, passed to the communication devices 325a and 325b, and transmitted. In this case, the convoy travel information from the communication devices 325a and 325b is acquired by the communication device 135 of the vehicle 13 and displayed on the display 136 provided in the vehicle 13, for example, to be notified to the driver 131 that drives the vehicle 13. Is done.
  • the platooning information from the communication devices 325a and 325b is acquired by the roadside device 16 and displayed on the display 17 installed on the road, and is notified to the pedestrian 14 and the like.
  • the row running information related to the row running is notified by the communication means 330 that wirelessly communicates information with the notification targets 135 and 16.
  • the ultrasonic waves transmitted from the ultrasonic transmitter 341 are blocked by the vehicle 13.
  • an alarm is generated as platooning information, and is passed to the communication devices 325a and 325b for transmission.
  • an alarm device (not shown) provided in the vehicle 13 is activated.
  • the notification unit 330 includes the communication unit 330 that wirelessly communicates the row running information with the notification targets 135 and 16. In this case, it is possible to more reliably notify the notification targets 135 and 16 to be notified of the row running information related to the row running.

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Abstract

A vehicle platoon (1) equipped with multiple vehicles (10, 11, 12) forming a platoon and traveling as a platoon, and reporting means (30a, 30b) that are provided on one or more of the multiple vehicles, and that report platoon travel information associated with the platoon travel.

Description

隊列走行車両群及び隊列走行方法Convoy travel vehicle group and convoy travel method
　本発明は、隊列を編成して隊列走行する複数の車両を含む隊列走行車両群に関する。また、本発明は、複数の車両が隊列を編成して走行する隊列走行方法に関する。 The present invention relates to a row running vehicle group including a plurality of vehicles that form a row and run in a row. The present invention also relates to a row running method in which a plurality of vehicles travel in a row.
　近年、例えば複数の車両が隊列を組んで走行する際に、先頭車両に後続車両を自動で追従させる方法が知られている。このような隊列走行方法においては、例えば特許第３２３７４５１号公報で開示されているように、先頭車両から発信される加速や減速等に関する情報や、各車両において検出される先行する車両との車間距離に関する情報等に基づいて、後続車両のアクセル操作やブレーキ操作が自動で制御されて、車間距離を保った走行が行われるようになっている。 In recent years, for example, when a plurality of vehicles travel in a row, a method of automatically following a leading vehicle to a leading vehicle is known. In such a row running method, as disclosed in, for example, Japanese Patent No. 3237451, information on acceleration and deceleration transmitted from the leading vehicle, and an inter-vehicle distance from a preceding vehicle detected in each vehicle On the basis of the information related to the above, the accelerator operation and the brake operation of the following vehicle are automatically controlled, and the vehicle travels while maintaining the inter-vehicle distance.
　ところで、複数の車両が隊列を編成して１つの隊列走行車両群として走行中、当該車両群が隊列走行を行っていることを知らないで、他の車両等が当該車両群内に割り込んできてしまうことがある。隊列走行車両群において自動運転される後続車両は、急な加速や減速を繰り返すなど、人が操作して車両を運転する場合とは異なった挙動を取ることがある。したがって、後続車両の挙動は他者にとって予測の付きにくいものであり、とりわけ当該後続車両の直前あるいは直後において車両を運転する者に、大変なストレスを生じさせることがある。また、隊列走行中の車両群内に急に他の車両等が割り込むと、隊列が乱れてしまって、後続車両の挙動がさらに予測の付きにくいものとなり、交通が乱れる原因となってしまう虞がある。 By the way, while a plurality of vehicles are forming a convoy and traveling as one convoy traveling vehicle group, without knowing that the vehicle group is traveling in convoy, other vehicles or the like have interrupted the vehicle group. May end up. A succeeding vehicle that is automatically driven in a platooning vehicle group may behave differently from a case where a vehicle is operated by a person, such as repeated rapid acceleration and deceleration. Therefore, the behavior of the following vehicle is difficult for others to predict, and in particular, a person who drives the vehicle immediately before or after the following vehicle may cause great stress. Also, if another vehicle suddenly cuts into the group of vehicles that are running in the formation, the formation will be disturbed, and the behavior of the following vehicle will become more difficult to predict, which may cause traffic disruption. is there.
　本発明は、このような点を考慮してなされたものであり、複数の車両が隊列走行中に、周囲に隊列走行をしていることや隊列走行の状況等を周囲に知らせることが可能な隊列走行車両群及びその方法を提供することを目的とする。 The present invention has been made in consideration of such points, and can inform the surroundings of the fact that a plurality of vehicles are running in a row and the status of the row running, etc. It is an object to provide a platooning vehicle group and a method thereof.
　本発明による隊列走行車両群は、
　隊列を編成して隊列走行する複数の車両と、
　前記複数の車両のうちの一以上に設けられ、隊列走行に関連した隊列走行情報を前記複数の車両以外の通知対象に通知する通知手段と、を備える。 The convoy travel vehicle group according to the present invention is:
A plurality of vehicles that form a formation and travel in a formation;
And a notification unit that is provided in one or more of the plurality of vehicles, and that notifies the row running information related to the row running to a notification target other than the plurality of vehicles.
　本発明による隊列走行車両群は、前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、周辺環境を監視して、前記隊列走行情報を通知すべき通知対象の前記周辺環境内における有無を判別する判別手段を、さらに備え、
　前記通知手段は、前記判別手段が前記周辺環境内に前記通知対象が存在すると判断した場合に、前記隊列走行情報を発信するようにしてもよい。 The row running vehicle group according to the present invention is provided in at least one of the plurality of vehicles, monitors the surrounding environment, and notifies the row running information in the surrounding environment to be notified. A determination means for determining presence or absence;
The notification unit may transmit the formation running information when the determination unit determines that the notification target exists in the surrounding environment.
　本発明による隊列走行車両群は、前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、当該車両の走行状態に関する自車両走行情報を検出する検出手段を、さらに備え、
　前記通知手段は、前記検出手段が検出した前記自車両走行情報を前記隊列走行情報として通知するようにしてもよい。 The convoy travel vehicle group according to the present invention further includes a detection unit that is provided in at least one of the plurality of vehicles and detects own vehicle travel information related to the travel state of the vehicle,
The notification means may notify the host vehicle travel information detected by the detection means as the platoon travel information.
　前記通知手段は、前記複数の車両のうち前記通知手段が設けられた車両以外の車両の走行状態に関する他車両走行情報を、前記隊列走行情報として通知するようにしてもよい。 The notifying unit may notify other vehicle traveling information related to a traveling state of a vehicle other than the vehicle provided with the notifying unit among the plurality of vehicles as the row traveling information.
　前記通知手段は、前記隊列走行情報に応じた発光を行う発光手段、前記隊列走行情報を表示する表示手段、前記隊列走行情報に応じた音を発生する音発生手段、通知対象との間で前記隊列走行情報を無線通信する通信手段、及び、前記複数の車両のうちの隊列方向に並んだ二つの車両間を連結する連結手段の少なくとも一以上を含んでもよい。 The notification means includes: a light emitting means for emitting light according to the row running information; a display means for displaying the row running information; a sound generating means for generating a sound according to the row running information; You may include at least 1 or more of the communication means which wirelessly communicates formation drive information, and the connection means which connects between the two vehicles located in a row direction among the said some vehicles.
　本発明による隊列走行車両群は、前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、周囲環境を撮影するカメラあるいは周囲環境内の音を録音する録音装置を、さらに備えていてもよい。 The platooning vehicle group according to the present invention further includes a camera for photographing the surrounding environment or a recording device for recording sounds in the surrounding environment, which is provided on at least one of the plurality of vehicles. Also good.
　本発明による隊列走行方法は、
　複数の車両が隊列を編成して走行する隊列走行方法であって、
　前記複数の車両のうちの一以上に設けられた通知手段が、隊列走行に関連した隊列走行情報を前記複数の車両以外の通知対象に通知する。 The row running method according to the present invention includes:
A platooning method in which a plurality of vehicles organize and travel in a platoon,
Notifying means provided in one or more of the plurality of vehicles notifies the row running information related to the row running to the notification target other than the plurality of vehicles.
　本発明による隊列走行方法において、前記複数の車両のうちの少なくともいずれか一台の車両に設けられた判別手段が、周辺環境を監視して、前記隊列走行情報を通知すべき通知対象の前記周辺環境内における有無を判別し、
　前記通知手段は、前記判別手段が前記周辺環境に前記通知対象が存在すると判断した場合に、前記隊列走行情報を発信するようにしてもよい。 In the row running method according to the present invention, the determination unit provided in at least one of the plurality of vehicles monitors the surrounding environment and notifies the surroundings of the row to be notified of the row running information. Determine the presence or absence in the environment,
The notification unit may transmit the formation running information when the determination unit determines that the notification target exists in the surrounding environment.
　本発明による隊列走行方法において、前記複数の車両のうちの少なくともいずれか一台の車両に設けられた検出手段が、当該車両の走行状態に関する自車両走行情報を検出し、
　前記通知手段は、前記検出手段が検出した前記自車両走行情報を前記隊列走行情報として通知するようにしてもよい。 In the row running method according to the present invention, the detection means provided in at least one of the plurality of vehicles detects own vehicle running information related to the running state of the vehicle,
The notification means may notify the host vehicle travel information detected by the detection means as the platoon travel information.
　前記通知手段は、前記複数の車両のうち前記通知手段が設けられた車両以外の車両の走行に関する他車両走行情報を、通知するようにしてもよい。 The notification means may notify other vehicle travel information related to travel of a vehicle other than the vehicle provided with the notification means among the plurality of vehicles.
　前記通知手段は、前記隊列走行情報に応じた発光、前記隊列走行情報の表示、前記隊列走行情報に応じた音の発生、通知対象との間での前記隊列走行情報の無線通信、及び、前記複数の車両のうちの隊列方向に並んだ二つの車両の連結の一以上を実施するようにしてもよい。 The notifying means emits light according to the row running information, displays the row running information, generates a sound according to the row running information, wirelessly communicates the row running information with a notification target, and You may make it implement one or more of the connection of two vehicles located in a row direction among several vehicles.
　本発明による隊列走行方法において、前記複数の車両のうちの少なくともいずれか一台の車両に設けられたカメラが周囲環境を撮影し、あるいは、前記複数の車両のうちの少なくともいずれか一台の車両に設けられた録音装置が周囲環境内の音を録音するようにしてもよい。 In the row running method according to the present invention, a camera provided on at least one of the plurality of vehicles captures the surrounding environment, or at least any one of the plurality of vehicles. The recording device provided in may record sound in the surrounding environment.
　本発明によれば、複数の車両が隊列走行を実施する場合、隊列走行をしていることや隊列走行の状況等を周囲に知らせることができる。 According to the present invention, when a plurality of vehicles perform a platooning, it is possible to inform the surroundings that the platooning is in progress and the status of the platooning.
本発明の第１の実施の形態を説明する図であって、隊列走行車両群を示す図。It is a figure explaining the 1st Embodiment of this invention, Comprising: The figure which shows a convoy travel vehicle group. 図１に示す先頭車両及び後続車両の全体的な構成を示すブロック図である。It is a block diagram which shows the whole structure of the leading vehicle and subsequent vehicle which are shown in FIG. 本発明の第２の実施の形態を説明する図であって、隊列走行車両群を示す図。It is a figure explaining the 2nd Embodiment of this invention, Comprising: The figure which shows a convoy travel vehicle group. 本発明の第３の実施の形態を説明する図であって、隊列走行車両群を示す図。It is a figure explaining the 3rd Embodiment of this invention, Comprising: The figure which shows a convoy travel vehicle group.
　以下、図１及び図２を参照して本発明の第１の実施の形態について説明する。 Hereinafter, a first embodiment of the present invention will be described with reference to FIG. 1 and FIG.
　図１は、本発明による隊列走行車両群の第１の実施の形態を説明するための図であり、図２は、図１に示す先頭車両及び後続車両の全体的な構成を示すブロック図である。 FIG. 1 is a diagram for explaining a first embodiment of a row running vehicle group according to the present invention, and FIG. 2 is a block diagram showing an overall configuration of a leading vehicle and a succeeding vehicle shown in FIG. is there.
　第１の実施の形態の隊列走行車両群１は、隊列を編成して隊列走行する複数の車両を含んでいる。具体的には、隊列走行車両群１は、先頭車両１０と、先頭車両１０に追従する後続車両１１，１２と、を含んでいる。図１に示す例においては、隊列走行車両群１は２台の後続車両１１，１２を含んでいるが、後続車両の数はこれに限られず、隊列走行車両群１は、１台の後続車両を含んでいてもよいし、３台以上の後続車両を含んでいてもよい。 The convoy travel vehicle group 1 of the first embodiment includes a plurality of vehicles that form a convoy and travel in a convoy. Specifically, the convoy travel vehicle group 1 includes a leading vehicle 10 and subsequent vehicles 11 and 12 that follow the leading vehicle 10. In the example shown in FIG. 1, the convoy travel vehicle group 1 includes two subsequent vehicles 11 and 12, but the number of subsequent vehicles is not limited to this, and the convoy travel vehicle group 1 includes one subsequent vehicle. May be included, or three or more following vehicles may be included.
　図１及び図２に示す例において、隊列走行車両群１に含まれる先頭車両１０は、人（ドライバ）が操作して車両を運転する通常運転がなされる車両であるが、車両を自動で制御する自動運転が可能な車両であってもよい。また、後続車両１１，１２は、自動運転と通常運転との両方が可能な車両であるが、自動運転のみが可能な車両であってもよい。 In the example shown in FIGS. 1 and 2, the leading vehicle 10 included in the platooning vehicle group 1 is a vehicle that is operated by a person (driver) to drive the vehicle, but automatically controls the vehicle. It may be a vehicle capable of automatic driving. The succeeding vehicles 11 and 12 are vehicles capable of both automatic driving and normal driving, but may be vehicles capable of only automatic driving.
　以下、図１及び図２を参照して、隊列走行車両群１及び各車両１０，１１，１２の構成について、より詳細に説明する。本実施の形態の先頭車両１０及び後続車両１１，１２は、図２に示すように、基本的にはドライバ２０ａ，２０ｂによって操作されるステアリング２１ａ，２１ｂ、ブレーキ２２ａ，２２ｂ及びエンジン２３ａ，２３ｂ等からなる運転機能をそれぞれ備えている。また、先頭車両１０及び後続車両１１，１２は、それぞれ、制御ＥＣＵ（電子コントロールユニット）２４ａ，２４ｂと、車両１０，１１，１２間で無線通信を行う通信機２５ａ，２５ｂと、車両１０，１１，１２から当該車両１０，１１，１２以外の通知対象（例えば車両１０，１１，１２の周辺の車両１３のドライバ１３１や歩行者１４等）に情報を通知する通知手段３０ａ，３０ｂと、車両１０，１１，１２の周辺の車両１３や歩行者１４等の有無を判別する判別手段４０ａ，４０ｂと、各車両１０，１１，１２の走行状態を検出する検出手段５０ａ，５０ｂと、各車両１０，１１，１２の周辺の照度を検出する照度センサ６０ａ，６０ｂと、を有している。また、後続車両１１，１２は、それぞれ、当該後続車両の運転モードを切り替える運転モード切替ＳＷ（スイッチ）２６を有している。また、先頭車両１０及び後続車両１１，１２は、各車両１０，１１，１２の周囲環境、特には複数の車両１０，１１，１２のうち隊列方向に並んだ二つの車両間を撮影するカメラ７０を有している。 Hereinafter, with reference to FIG. 1 and FIG. 2, the configuration of the convoy travel vehicle group 1 and each of the vehicles 10, 11, 12 will be described in more detail. As shown in FIG. 2, the leading vehicle 10 and the following vehicles 11 and 12 of the present embodiment basically have steering wheels 21a and 21b, brakes 22a and 22b, engines 23a and 23b, and the like operated by drivers 20a and 20b. Each has a driving function consisting of The leading vehicle 10 and the following vehicles 11 and 12 include a control ECU (electronic control unit) 24a and 24b, communication devices 25a and 25b that perform wireless communication between the vehicles 10, 11 and 12, and the vehicles 10 and 11, respectively. , 12 and notification means 30a, 30b for notifying the notification target other than the vehicles 10, 11, 12 (for example, the driver 131 and the pedestrian 14 of the vehicle 13 around the vehicles 10, 11, 12) and the vehicle 10 , 11, 12, discriminating means 40 a, 40 b for discriminating the presence or absence of a pedestrian 14, detection means 50 a, 50 b for detecting the traveling state of each vehicle 10, 11, 12, 11 and 12 and illuminance sensors 60a and 60b for detecting the illuminance around the area. Each of the subsequent vehicles 11 and 12 has an operation mode switching SW (switch) 26 for switching the operation mode of the subsequent vehicle. The leading vehicle 10 and the following vehicles 11 and 12 are cameras 70 that capture images of the surrounding environment of each of the vehicles 10, 11, and 12, in particular, two vehicles arranged in the row direction among the plurality of vehicles 10, 11, and 12. have.
　通信機２５ａ，２５ｂは、車両１０，１１，１２間において無線通信を行うものである。通信機２５ａ，２５ｂを通じて車両１０，１１，１２間で通信される情報とは、例えば、先頭車両１０から発信される後続車両１１，１２の自動運転の制御に必要な制御情報や、各車両１０，１１，１２から発信される当該車両の走行状態に関する情報などである。各車両１０，１１，１２から発信される当該車両の走行状態に関する情報は、各車両１０，１１，１２に設けられた後述の検出手段５０ａ，５０ｂによって検出される。 The communication devices 25a and 25b perform wireless communication between the vehicles 10, 11, and 12. The information communicated between the vehicles 10, 11, 12 through the communication devices 25 a, 25 b is, for example, control information necessary for controlling the automatic driving of the following vehicles 11, 12 transmitted from the leading vehicle 10, , 11, 12 and the like, the information regarding the running state of the vehicle. Information relating to the traveling state of the vehicle transmitted from each of the vehicles 10, 11, 12 is detected by detection means 50a, 50b described later provided on each of the vehicles 10, 11, 12.
　ここで、後続車両１１，１２の自動運転の制御に必要な制御情報とは、後続車両１１，１２の取るべき速度及び加速度、並びに、右折や左折、車線変更の実施の要否等である。各車両１０，１１，１２から発せられる当該車両の走行状態に関する情報とは、当該車両の実際の走行速度や加速度、右折や左折の実施の有無、車線変更の実施の有無、停止の実施の有無、直前を先行する車両との車間距離や、自動運転モードであるか通常運転モードであるか、当該車両における異常の有無及び異常の内容、当該車両の周辺環境に関する情報、目的地、隊列からの離脱の実施の有無等である。なお、各車両１０，１１，１２から発信される情報は、当該情報を発信する車両１０，１１，１２においては、当該車両の走行状態に関する自車両走行情報として扱われる一方、車両１０，１１，１２のうち当該情報が発信された車両以外の車両においては、他の車両の走行状態に関する他車両走行情報として扱われる。たとえば、車両１１から発信される車両１１の走行状態に関する情報は、車両１１においては自車両走行情報として扱われるが、車両１０，１２においては、他の車両１１の走行状態に関する他車両走行情報として扱われる。 Here, the control information necessary for controlling the automatic driving of the succeeding vehicles 11 and 12 includes the speed and acceleration that the succeeding vehicles 11 and 12 should take, and whether or not a right or left turn or lane change is necessary. Information on the running state of the vehicle issued from each of the vehicles 10, 11 and 12 includes the actual running speed and acceleration of the vehicle, whether or not a right or left turn is performed, whether or not a lane change is performed, and whether or not a stop is performed. , The distance between the preceding vehicle, the automatic operation mode or the normal operation mode, the presence or absence of abnormality in the vehicle and the content of the abnormality, information on the surrounding environment of the vehicle, the destination, from the platoon The presence or absence of the withdrawal. The information transmitted from each of the vehicles 10, 11, 12 is handled as own vehicle traveling information related to the traveling state of the vehicle in the vehicles 10, 11, 12 that transmit the information. Vehicles other than the vehicle from which the information is transmitted among 12 are treated as other vehicle travel information related to the travel state of other vehicles. For example, information relating to the running state of the vehicle 11 transmitted from the vehicle 11 is handled as own vehicle running information in the vehicle 11, but as other vehicle running information relating to the running state of the other vehicle 11 in the vehicles 10 and 12. Be treated.
　制御ＥＣＵ２４ａ，２４ｂは、当該制御ＥＣＵ２４ａ，２４ｂが設けられている車両１０，１１，１２の各部から信号を受け取って、当該車両１０，１１，１２の各部を制御するものである。特に、後続車両１１，１２の制御ＥＣＵ２４ｂは、当該後続車両１１，１２が運転モード切替ＳＷ（スイッチ）２６によって自動運転モードに設定されている場合には、ドライバ２０ｂに代わって上記各運転機能２１ｂ，２２ｂ，２３ｂを制御するようになっている。 The control ECUs 24a and 24b receive signals from the respective parts of the vehicles 10, 11, and 12 in which the control ECUs 24a and 24b are provided, and control the respective parts of the vehicles 10, 11, and 12. In particular, when the succeeding vehicles 11 and 12 are set to the automatic operation mode by the operation mode switching SW (switch) 26, the control ECU 24b of the following vehicles 11 and 12 replaces the driver 20b with each of the driving functions 21b. , 22b, and 23b are controlled.
　ところで、複数の車両が隊列を組んで１つの隊列走行車両群として走行中、当該車両群が隊列走行を行っていることを知らないで、他の車両等が当該車両群内に割り込んできてしまうことがある。隊列走行車両群において自動運転される後続車両は、急な加速や減速を繰り返すなど、人が操作して車両を運転する場合とは異なった挙動を取る。したがって、後続車両の挙動は他者にとって予測の付きにくいものであり、とりわけ当該後続車両の直前や直後において車両を運転する者に、大変なストレスを生じさせることがある。また、隊列走行中の車両群内に急に他の車両等が割り込むと、隊列が乱れてしまって、後続車両の挙動がさらに予測の付きにくいものとなり、交通が乱れる原因となってしまう虞がある。 By the way, while a plurality of vehicles form a convoy and travel as one convoy travel vehicle group, other vehicles or the like may interrupt the vehicle group without knowing that the vehicle group is traveling in convoy. Sometimes. Subsequent vehicles that are automatically driven in the platooning vehicle group behave differently from those operated by humans, such as repeated rapid acceleration and deceleration. Therefore, the behavior of the following vehicle is difficult for others to predict, and in particular, a person who drives the vehicle immediately before or after the following vehicle may cause great stress. Also, if another vehicle suddenly cuts into the group of vehicles that are running in the formation, the formation will be disturbed, and the behavior of the following vehicle will become more difficult to predict, which may cause traffic disruption. is there.
　このような事情を考慮して、本発明の隊列走行車両群１に含まれる先頭車両１０及び後続車両１１，１２は、それぞれ、隊列走行に関連した隊列走行情報を通知する通知手段３０ａ，３０ｂを有している。ここで、隊列走行に関連した隊列走行情報としては、典型的には隊列走行中である旨の情報となるが、その他の情報として、隊列走行車両群１に含まれる車両１０，１１，１２の数、並びに、隊列走行車両群１の全体の長さＬ、目的地、速度、車線変更の実施の有無、左折及び右折の実施の有無、停止の実施の有無、加速及び減速の実施の有無、異常の有無及び異常の内容等が挙げられる。また、隊列走行情報は、上述の自車両走行情報及び他車両走行情報を含んでいる。もちろん、隊列情報としては、これらの情報に限られない。例えば、上述の種々の情報に基づいて生成され、隊列走行車両群１の周辺に存在する車両１３や人１４等に、特定の行為（隊列走行車両群１内への割り込み等）をしないよう注意を促す注意喚起情報や、車両１３や人１４等によって当該行為がなされた場合に当該行為を速やかに中止するよう促す警報であってもよい。このような隊列走行情報は、上述の制御ＥＣＵ２４ａ，２４ｂによって生成される。 In consideration of such circumstances, the leading vehicle 10 and the following vehicles 11 and 12 included in the convoy travel vehicle group 1 of the present invention have notification means 30a and 30b for notifying convoy travel information related to the convoy travel, respectively. Have. Here, the row running information related to the row running is typically information indicating that the row running is being performed, but as other information, the information on the vehicles 10, 11, 12 included in the row running vehicle group 1 is provided. Number, total length L of platooning vehicle group 1, destination, speed, presence / absence of lane change, left / right turn, presence / absence of stop, acceleration / deceleration, The presence / absence of abnormality and the content of abnormality are listed. The row running information includes the above-mentioned own vehicle running information and other vehicle running information. Of course, the formation information is not limited to such information. For example, care should be taken not to perform specific actions (such as interruption into the convoy travel vehicle group 1) on the vehicle 13 or the person 14 etc. that are generated based on the various information described above and exist in the vicinity of the convoy travel vehicle group 1 May be warning information that prompts the user to stop the action immediately when the action is performed by the vehicle 13, the person 14, or the like. Such row running information is generated by the above-described control ECUs 24a and 24b.
　図１に示す実施の形態においては、通知手段３０ａ，３０ｂは、隊列走行に関連した隊列走行情報を表示するものであり、より詳細には、文字情報や図形情報、画像情報等を表示するディスプレイである。ディスプレイとしては、液晶ディスプレイや有機ＥＬディスプレイが採用可能である。もっとも、隊列走行情報を表示する手段としてはディスプレイに限られず種々のものが採用可能であり、例えば、路面に文字や図形を投影することによって路面上に所望の情報を表示するものであってもよい。 In the embodiment shown in FIG. 1, the notification means 30a and 30b display platooning information related to platooning. More specifically, the display means displays character information, graphic information, image information, and the like. It is. A liquid crystal display or an organic EL display can be used as the display. Of course, the means for displaying the platooning information is not limited to the display, and various means can be adopted. For example, even if the desired information is displayed on the road surface by projecting characters or figures on the road surface. Good.
　なお、通知手段３０ａ，３０ｂは、ディスプレイ等によって隊列走行情報を表示するものでなくてもよい。例えば、通知手段３０ａ，３０ｂは、回転灯や点滅灯等、通知すべき情報に応じた発光を行う発光手段であってもよい。この場合、発光手段は、通知すべき情報に応じて発光体の回転速度や点滅間隔、色、明るさ等を変更するものであってよい。さらに、通知手段３０ａ，３０ｂは、サイレンやスピーカ等、通知すべき情報に応じた音ないし音声を発生する音発生手段であってもよい。この場合、音発生手段は、通知すべき情報に応じて音量や音色等を変更するものであってよく、また、通知すべき情報を音声情報として通知する場合には、その内容を通知すべき情報に応じて変更するものであってよい。また、音発生手段は、指向性のスピーカを含み、特定の通知対象に向けて音を発生することができるようになっていてもよい。 Note that the notification means 30a, 30b may not display the convoy travel information on a display or the like. For example, the notification means 30a and 30b may be light emission means that emit light according to information to be notified, such as a revolving light or a flashing light. In this case, the light emitting means may change the rotation speed, blinking interval, color, brightness, etc. of the light emitter according to the information to be notified. Further, the notification means 30a and 30b may be sound generation means for generating sound or sound corresponding to information to be notified, such as sirens and speakers. In this case, the sound generating means may change the volume, tone, etc. according to the information to be notified, and when notifying the information to be notified as voice information, the contents should be notified. It may be changed according to information. Further, the sound generation means may include a directional speaker, and may generate a sound toward a specific notification target.
　なお、図１及び図２に示す例では、先頭車両１０及び後続車両１１，１２は、それぞれ、通知手段３０ａ，３０ｂを有しているが、通知手段３０ａ，３０ｂは、複数の車両１０，１１，１２のうち一以上に設けられていればよい。 In the example shown in FIGS. 1 and 2, the leading vehicle 10 and the following vehicles 11 and 12 have notification means 30 a and 30 b, respectively, but the notification means 30 a and 30 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
　判別手段４０ａ，４０ｂは、周辺環境を監視して、隊列走行に関連した隊列走行情報を通知すべき通知対象の周辺環境内における有無を判別するものである。隊列走行に関連した隊列走行情報を通知すべき通知対象としては、車両群１の周辺に存在する車両１３のドライバ１３１や歩行者１４、動物や物等が挙げられる。 The discriminating means 40a and 40b are for monitoring the surrounding environment and discriminating whether or not there is a notification target surrounding environment in which the row running information related to the row running should be notified. The notification target to be notified of the row running information related to the row running includes the driver 131 of the vehicle 13, the pedestrian 14, animals, objects, and the like existing around the vehicle group 1.
　図１及び図２に示す例では、判別手段４０ａ，４０ｂは、車両１０，１１，１２の外部に取り付けられて車両１０，１１，１２の周辺環境を撮影するカメラ４１ａ，４１ｂと、カメラ４１ａ，４１ｂによって撮影された画像や映像から車両１３や歩行者１４等を検出することによって、隊列走行情報を通知すべき通知対象の周辺環境内における有無を判別する判別部４２ａ，４２ｂを有している。 In the example shown in FIGS. 1 and 2, the discriminating means 40 a and 40 b are cameras 41 a and 41 b that are attached to the outside of the vehicles 10, 11, and 12 and photograph the surrounding environment of the vehicles 10, 11, and 12, It has discriminating units 42a and 42b for discriminating whether or not the notification target to be notified of the row running information in the surrounding environment by detecting the vehicle 13 or the pedestrian 14 or the like from the image or video taken by 41b. .
　ここで、判別手段４０ａ，４０ｂは、周辺環境内の車両や歩行者、動物、物の有無を判別可能なものであれば、いかなるものであってもよい。例えば、レーダや音波等を用いて周辺環境における車両等の有無を判別するものであってもよい。もちろん、カメラで撮像した画像や映像と、レーダや音波を発信することにより得られる情報と、の両方を組み合わせることによって、周辺環境内の車両等の有無を判別するものであってもよい。 Here, the discriminating means 40a, 40b may be any device as long as it can discriminate the presence or absence of vehicles, pedestrians, animals, and objects in the surrounding environment. For example, the presence or absence of a vehicle or the like in the surrounding environment may be determined using a radar or a sound wave. Of course, the presence or absence of a vehicle or the like in the surrounding environment may be determined by combining both images and video captured by the camera and information obtained by transmitting radar and sound waves.
　なお、図１及び図２に示す例では、先頭車両１０及び後続車両１１，１２は、それぞれ、判別手段４０ａ，４０ｂを有しているが、判別手段４０ａ，４０ｂは、複数の車両１０，１１，１２のうち一以上に設けられていればよい。 In the example shown in FIG. 1 and FIG. 2, the leading vehicle 10 and the following vehicles 11 and 12 have the discriminating means 40a and 40b, respectively, but the discriminating means 40a and 40b are a plurality of vehicles 10 and 11 respectively. , 12 may be provided at one or more of them.
　検出手段５０ａ，５０ｂは、当該検出手段５０ａ，５０ｂが備えられている車両の走行状態に関する自車両走行情報を検出するものである。検出手段５０ａ，５０ｂは、具体的には、当該車両の加速度を検出する加速度センサ５１ａ，５１ｂ、当該車両の速度を検出する速度センサ５２ａ，５２ｂ、当該車両の操舵の角度を検出する操舵角センサ５３ａ，５３ｂ、当該車両の直前に存在する車両との距離Ｄを検出する車間距離センサ５４ａ，５４ｂ、検出手段５０ａ，５０ｂが備えられている車両の異常を検出する異常検出部５５ａ，５５ｂ等を含んでいる。ここで、加速度センサ５１ａ，５１ｂ、速度センサ５２ａ，５２ｂ、操舵角センサ５３ａ，５３ｂ、車間距離センサ５４ａ，５４ｂ、異常検出部５５ａ，５５ｂとしては、公知のものが採用可能である。 The detecting means 50a and 50b detect the own vehicle traveling information relating to the traveling state of the vehicle provided with the detecting means 50a and 50b. Specifically, the detection means 50a and 50b are acceleration sensors 51a and 51b that detect the acceleration of the vehicle, speed sensors 52a and 52b that detect the speed of the vehicle, and a steering angle sensor that detects the steering angle of the vehicle. 53a, 53b, inter-vehicle distance sensors 54a, 54b for detecting the distance D to the vehicle existing immediately before the vehicle, abnormality detection units 55a, 55b for detecting abnormality of the vehicle provided with the detecting means 50a, 50b, etc. Contains. Here, as the acceleration sensors 51a and 51b, the speed sensors 52a and 52b, the steering angle sensors 53a and 53b, the inter-vehicle distance sensors 54a and 54b, and the abnormality detection units 55a and 55b, known ones can be employed.
　なお、図１及び図２に示す例では、先頭車両１０及び後続車両１１，１２は、それぞれ、検出手段５０ａ，５０ｂを有しているが、検出手段５０ａ，５０ｂは、複数の車両１０，１１，１２のうち一以上に設けられていればよい。 In the example shown in FIGS. 1 and 2, the leading vehicle 10 and the following vehicles 11 and 12 have detection means 50 a and 50 b, respectively, but the detection means 50 a and 50 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
　照度センサ６０ａ，６０ｂは、照度センサ６０ａ，６０ｂが備えられている車両１０，１１，１２の周辺環境の照度を検出するものである。ここで、照度センサ６０ａ，６０ｂとしては、公知のものが採用可能である。なお、図１及び図２に示す例では、先頭車両１０及び後続車両１１，１２は、それぞれ、照度センサ６０ａ，６０ｂを有しているが、照度センサ６０ａ，６０ｂは、複数の車両１０，１１，１２のうち一以上に設けられていればよい。 The illuminance sensors 60a and 60b detect the illuminance of the surrounding environment of the vehicles 10, 11, and 12 provided with the illuminance sensors 60a and 60b. Here, a well-known thing is employable as illumination sensor 60a, 60b. In the example shown in FIGS. 1 and 2, the leading vehicle 10 and the following vehicles 11 and 12 have illuminance sensors 60 a and 60 b, respectively. However, the illuminance sensors 60 a and 60 b include a plurality of vehicles 10 and 11. , 12 may be provided at one or more of them.
　運転モード切替ＳＷ（スイッチ）２６は、後続車両１１，１２の運転モードを自動運転モードまたは通常運転モードに設定するものである。 The operation mode switching SW (switch) 26 sets the operation mode of the following vehicles 11 and 12 to the automatic operation mode or the normal operation mode.
　カメラ７０は、カメラ７０が設けられた車両１０，１１，１２の周囲環境を撮影するものである。カメラ７０は、複数の車両１０，１１，１２のうち、隊列方向に並んだ二つの車両間を含む周囲環境を撮影する。このようなカメラ７０を用いて当該車両１０，１１，１２の周囲環境を記録することにより、各車両１０，１１，１２の周囲に存在する車両１３や人１４等の画像や動画を記録することができる。この結果、隊列走行車両群１の発する隊列走行情報の内容、特には周囲に存在する車両１３や人１４等に対する注意喚起情報や警報の内容にそぐわない行動を取った車両１３や人１４等、あるいは、隊列走行車両群１の中に入り込んだ車両１３や人１４等、を撮影し、得られた画像や動画を記録することができる。このような画像や動画は、車両１０，１１，１２と、その周囲環境に存在する車両１３や人１４等と、の間に何らかのトラブルが発生した場合に、トラブル発生の際の状況を示す資料として利用可能である。なお、車両１０，１１，１２は、カメラ７０の代わりに、あるいはカメラ７０とともに、周囲環境内の音を録音する録音装置を備えていてもよい。このような録音装置によって録音された音もまた、上述のトラブル発生の際の状況を示す資料として利用可能である。また、図１及び図２に示す例では、先頭車両１０及び後続車両１１，１２は、それぞれ、カメラ７０を有しているが、カメラ７０は、複数の車両１０，１１，１２のうち一以上に設けられていればよい。 The camera 70 photographs the surrounding environment of the vehicles 10, 11, and 12 provided with the camera 70. The camera 70 images the surrounding environment including the space between two vehicles 10, 11, and 12 that are arranged in the row direction. By recording the surrounding environment of the vehicles 10, 11, and 12 using such a camera 70, images and moving images of the vehicles 13 and people 14 existing around the vehicles 10, 11, and 12 are recorded. Can do. As a result, the content of the row running information issued by the row running vehicle group 1, particularly the vehicle 13 or the person 14, etc. that took an action that does not match the alert information or warning content for the surrounding vehicle 13 or the person 14, or the like, or The vehicle 13 or the person 14 entering the platooning vehicle group 1 can be photographed, and the obtained images and moving images can be recorded. Such images and videos are materials that show the situation at the time of trouble when some trouble occurs between the vehicle 10, 11, 12 and the vehicle 13, the person 14 or the like existing in the surrounding environment. Is available as The vehicles 10, 11, and 12 may include a recording device that records sounds in the surrounding environment instead of the camera 70 or together with the camera 70. The sound recorded by such a recording device can also be used as data indicating the situation at the time of occurrence of the above-mentioned trouble. In the example shown in FIGS. 1 and 2, the leading vehicle 10 and the following vehicles 11 and 12 each have a camera 70, but the camera 70 is one or more of the plurality of vehicles 10, 11, and 12. As long as it is provided.
　次に、本実施の形態の隊列走行車両群１の作用について説明する。 Next, the operation of the convoy travel vehicle group 1 of the present embodiment will be described.
　まず、隊列走行車両群１の先頭車両１０において、ドライバ２０ａによってステアリング２１ａ、ブレーキ２２ａ及びエンジン２３ａ等の運動機能が操作される。また、先頭車両１０の制御ＥＣＵ２４ａにおいて、先頭車両１０の各部から得られた情報に基づいて後続車両１１，１２の自動運転の制御に必要な情報が生成され、当該情報は、通信機２５ａを介して発信される。 First, in the leading vehicle 10 of the row running vehicle group 1, the driver 20a operates the motion functions such as the steering 21a, the brake 22a, and the engine 23a. Further, the control ECU 24a of the leading vehicle 10 generates information necessary for controlling the automatic driving of the following vehicles 11 and 12 based on information obtained from each part of the leading vehicle 10, and the information is transmitted via the communication device 25a. Sent.
　一方、先頭車両１０に追従する後続車両１１，１２において、先頭車両１０からの自動運転の制御に必要な情報が、通信機２５ｂを介して取得される。また、後続車両１１，１２の運転モードは、運転モード切替ＳＷ（スイッチ）２６を用いて自動運転モードに設定されており、後続車両１１，１２のステアリング２１ｂ、ブレーキ２２ｂ及びエンジン２３ｂ等の運動機能は、制御ＥＣＵ２４ｂによって操作されるようになっている。これによって、後続車両１１，１２のステアリング２１ｂ、ブレーキ２２ｂ及びエンジン２３ｂ等の運動機能は、先頭車両１０からの自動運転の制御に必要な情報に基づいて制御される。 On the other hand, in the following vehicles 11 and 12 following the leading vehicle 10, information necessary for controlling the automatic driving from the leading vehicle 10 is acquired via the communication device 25b. Further, the driving mode of the following vehicles 11 and 12 is set to the automatic driving mode using the driving mode switching SW (switch) 26, and the motion functions such as the steering 21b, the brake 22b, and the engine 23b of the following vehicles 11 and 12 are set. Is operated by the control ECU 24b. As a result, the motion functions such as the steering 21b, the brake 22b, and the engine 23b of the following vehicles 11 and 12 are controlled based on information necessary for controlling the automatic driving from the leading vehicle 10.
　例えば、図１に示すように、隊列走行車両群１内の車両１０，１１，１２間の車間距離が２０ｍに維持されるべきところ、後続車両１２から通信機２５ｂ，２５ａを介して得られた情報によって、後続車両１１，１２間の車間距離が５０ｍであることが検出された場合、先頭車両１０の制御ＥＣＵ２４ａから、通信機２５ａによって、後続車両１２は加速すべきとの情報が発信される。この情報が後続車両１２の通信機２５ｂによって取得されると、後続車両１２の制御ＥＣＵ２４ｂによって後続車両１２のエンジン２３ｂの開度が制御されて、後続車両１２が加速される。 For example, as shown in FIG. 1, the inter-vehicle distance between the vehicles 10, 11, and 12 in the platooning vehicle group 1 should be maintained at 20 m, which is obtained from the following vehicle 12 via the communication devices 25b and 25a. When it is detected from the information that the inter-vehicle distance between the following vehicles 11 and 12 is 50 m, information indicating that the following vehicle 12 should be accelerated is transmitted from the control ECU 24a of the leading vehicle 10 by the communication device 25a. . When this information is acquired by the communication device 25b of the following vehicle 12, the opening degree of the engine 23b of the following vehicle 12 is controlled by the control ECU 24b of the following vehicle 12, and the following vehicle 12 is accelerated.
　また、各車両１０，１１，１２に設けられたカメラ７０によって、各車両１０，１１，１２の周囲環境、特には車両１０，１１，１２のうち隊列方向に並んだ二つの車両間の撮影が開始される。 Further, the camera 70 provided in each of the vehicles 10, 11, 12 can capture images of the surrounding environment of each of the vehicles 10, 11, 12, in particular, between two vehicles arranged in the row direction of the vehicles 10, 11, 12. Be started.
　また、検出手段５０ａ，５０ｂによって、当該検出手段５０ａ，５０ｂが設けられた車両の走行状態に関する自車両走行情報が検出される。 Further, the own vehicle travel information relating to the travel state of the vehicle provided with the detection means 50a, 50b is detected by the detection means 50a, 50b.
　これらの情報またはこれらに基づいて、制御ＥＣＵ２４ａ，２４ｂにおいて各車両１０，１１，１２及び隊列走行車両群１に関する情報が生成され、通信機２５ａ，２５ｂを介して、他の車両に渡される。例えば、図１に示す例においては、先頭車両１０から、通信機２５ａ，２５ｂを介して、後続車両１１，１２に、隊列走行車両群１が３台で隊列走行中であるという隊列走行車両群１に関する情報が渡される。また、車両１１が右折をして隊列走行車両群１から抜ける場合、車両１１からは、通信機２５ａ，２５ｂを介して、車両１１が右折を実施するという情報が、車両１０，１２に渡される。通信機２５ａ，２５ｂを介して各車両１０，１１，１２に渡された他の車両の走行状態に関する他車両走行情報及び隊列走行車両群１に関する情報は、当該車両の制御ＥＣＵ２４ａ，２４ｂに渡される。 These information or information based on these information is generated in the control ECUs 24a, 24b regarding the vehicles 10, 11, 12 and the platooning vehicle group 1 and passed to other vehicles via the communication devices 25a, 25b. For example, in the example shown in FIG. 1, a convoy travel vehicle group in which three convoy travel vehicle groups 1 are in convoy travel from the leading vehicle 10 to subsequent vehicles 11 and 12 via communication devices 25a and 25b. Information about 1 is passed. Further, when the vehicle 11 makes a right turn and leaves the platooning vehicle group 1, information that the vehicle 11 makes a right turn is passed from the vehicle 11 to the vehicles 10 and 12 via the communication devices 25a and 25b. . The other vehicle traveling information related to the traveling state of the other vehicles and the information related to the platoon traveling vehicle group 1 passed to the vehicles 10, 11, 12 via the communication devices 25a, 25b are passed to the control ECUs 24a, 24b of the vehicles. .
　さらに、各車両１０，１１，１２において、判別手段４０ａ，４０ｂによって、隊列走行に関連した隊列走行情報を通知すべき通知対象の周辺環境内における有無が判別される。判別手段４０ａ，４０ｂによって隊列走行車両群１の周辺環境内に隊列走行車両群１に含まれない車両１３や歩行者１４が存在することが判別されると、当該判別手段４０ａ，４０ｂから、制御ＥＣＵ２４ａ，２４ｂに信号が送られる。 Further, in each of the vehicles 10, 11, and 12, the determination means 40 a and 40 b determine whether or not there is a notification target surrounding environment to be notified of the platooning information related to the platooning. When the discriminating means 40a and 40b discriminate that there are vehicles 13 and pedestrians 14 not included in the convoy travel vehicle group 1 in the surrounding environment of the convoy travel vehicle group 1, the discriminating means 40a and 40b control the Signals are sent to the ECUs 24a and 24b.
　判別手段４０ａ，４０ｂからの信号が制御ＥＣＵ２４ａ，２４ｂによって取得されると、制御ＥＣＵ２４ａ，２４ｂにおいて、検出手段５０ａ，５０ｂから取得された自車両走行情報や、通信機２５ａ，２５ｂから取得された他車両走行情報及び隊列走行車両群１に関する情報から、隊列走行情報が生成され、通知手段３０ａ，３０ｂに渡される。 When the signals from the discriminating means 40a, 40b are acquired by the control ECUs 24a, 24b, the control ECU 24a, 24b obtains the own vehicle travel information acquired from the detecting means 50a, 50b and the other information acquired from the communication devices 25a, 25b. From the vehicle travel information and information related to the convoy travel vehicle group 1, the convoy travel information is generated and passed to the notification means 30a, 30b.
　例えば、図１に示す例の車両１１においては、隊列走行車両群１が３台で隊列走行中である旨の情報と、車両１１がまもなく右折を実施する旨の自車両走行情報と、が制御ＥＣＵ２４ｂから通知手段３０ｂに渡される。また、車両１２においては、隊列走行車両群１が３台で隊列走行中である旨の情報と、車両１１がまもなく右折を実施する旨の他車両走行情報と、車両１２が加速中である旨の自車両走行情報と、が制御ＥＣＵ２４ｂから通知手段３０ｂに渡される。 For example, in the vehicle 11 in the example shown in FIG. 1, information indicating that the convoy travel vehicle group 1 is in convoy travel with three vehicles and the own vehicle travel information indicating that the vehicle 11 will soon turn right are controlled. Passed from the ECU 24b to the notification means 30b. Further, in the vehicle 12, information that the row running vehicle group 1 is running in a row with three vehicles, other vehicle running information that the vehicle 11 is about to make a right turn, and that the vehicle 12 is accelerating. Is transmitted from the control ECU 24b to the notification means 30b.
　さらに、照度センサ６０ａ，６０ｂによって検出された周辺環境の照度に関する情報が、通知手段３０ａ，３０ｂに渡される。 Furthermore, information relating to the illuminance of the surrounding environment detected by the illuminance sensors 60a and 60b is passed to the notification means 30a and 30b.
　これにより、通知手段３０ａ，３０ｂに、隊列走行に関連した隊列走行情報が、周辺環境の照度に応じた明るさで、すなわち周辺環境内を走行する車両１３のドライバ１３１や歩行者１４が当該隊列走行情報を視認しやすい明るさで、表示される。このようにして、隊列走行車両群１の周辺環境内にいるドライバ１３１や歩行者１４に、隊列走行に関する隊列走行情報が通知される。 Thereby, the notification means 30a and 30b indicate that the convoy travel information related to the convoy travel is bright according to the illuminance of the surrounding environment, that is, the driver 131 and the pedestrian 14 of the vehicle 13 traveling in the surrounding environment. The driving information is displayed with brightness that is easy to see. In this way, the convoy travel information related to the convoy travel is notified to the driver 131 and the pedestrian 14 in the surrounding environment of the convoy travel vehicle group 1.
　以上に説明した第１の実施の形態において、隊列走行車両群１は、隊列を編成して隊列走行する複数の車両１０，１１，１２と、複数の車両１０，１１，１２のうちの一以上に設けられ、隊列走行に関連した隊列走行情報を複数の車両１０，１１，１２以外の通知対象に通知する通知手段３０ａ，３０ｂと、を備えている。 In the first embodiment described above, the convoy travel vehicle group 1 includes a plurality of vehicles 10, 11, and 12 that form a convoy and travel in a convoy and one or more of the plurality of vehicles 10, 11, and 12. Provided, and notification means 30a, 30b for notifying a subject to be notified of the convoy travel information related to the convoy travel.
　第１の実施の形態の隊列走行車両群１によれば、通知手段３０ａ，３０ｂにより隊列走行に関連した隊列走行情報が通知される。これにより、隊列走行車両群１に誤って隊列走行車両群１に含まれない車両１３や歩行者１４等が入り込んでしまうことが防止される。この結果、自動運転されて予測の付きにくい挙動を取る後続車両１１，１２と、車両群１に含まれない車両１３と、が共に走ることによって、車両１３を運転するドライバ１３１にストレスを生じさせてしまう虞が低減される。また、隊列走行車両群１に車両群１に含まれない車両１３や歩行者１４等が割り込むことによって、隊列が乱れ、自動運転される後続車両１１，１２の挙動がさらに予測の付きにくいものとなってしまい、これが原因となって交通の乱れを引き起こしてしまう、という虞が低減される。 According to the row running vehicle group 1 of the first embodiment, row running information related to row running is notified by the notification means 30a and 30b. Accordingly, it is possible to prevent the vehicle 13 or the pedestrian 14 that is not included in the platooning vehicle group 1 from entering the platooning vehicle group 1 by mistake. As a result, the following vehicles 11 and 12 that are automatically driven and have a behavior that is difficult to predict and the vehicle 13 that is not included in the vehicle group 1 run together, causing stress to the driver 131 that drives the vehicle 13. The risk of being lost is reduced. In addition, when a vehicle 13 or a pedestrian 14 that is not included in the vehicle group 1 interrupts the platooning vehicle group 1, the platoon is disturbed, and the behavior of the following vehicles 11 and 12 that are automatically driven is more difficult to predict. This reduces the risk that this will cause traffic disruption.
　また、第１の実施の形態の隊列走行車両群１によれば、複数の車両１０，１１，１２のうちの少なくともいずれか一台の車両１０，１１，１２に設けられ、周辺環境を監視して、隊列走行情報を通知すべき通知対象１３１，１４の周辺環境内における有無を判別する判別手段４０ａ，４０ｂを、さらに備え、通知手段３０ａ，３０ｂは、判別手段４０ａ，４０ｂが周辺環境内に通知対象１３１，１４が存在すると判断した場合に、隊列走行情報を発信する。これにより、通知手段３０ａ，３０ｂは、周辺環境内に隊列走行に関連した隊列走行情報を通知すべき通知対象が存在する場合にのみ、当該隊列走行情報を通知することができる。この結果、とりわけ通知手段３０ａ，３０ｂが、サイレンやスピーカ等の場合、周辺環境内に隊列走行情報を通知すべき通知対象が存在しない場合にまで当該隊列走行情報の通知がされて、騒音公害等の原因となってしまう、という虞が低減される。 In addition, according to the convoy travel vehicle group 1 of the first embodiment, it is provided in at least one of the plurality of vehicles 10, 11, 12 to monitor the surrounding environment. Are further provided with discriminating means 40a and 40b for discriminating the presence or absence of the notification objects 131 and 14 to be notified of the row running information in the surrounding environment. The notifying means 30a and 30b include the discriminating means 40a and 40b in the surrounding environment. When it is determined that the notification targets 131 and 14 exist, the convoy travel information is transmitted. Thereby, the notification means 30a, 30b can notify the row running information only when there is a notification target to be notified of the row running information related to the row running in the surrounding environment. As a result, especially when the notification means 30a and 30b are sirens, speakers, etc., the row running information is notified until there is no notification target in the surrounding environment where the row running information should be notified, noise pollution, etc. The risk of becoming a cause of this is reduced.
　また、第１の実施の形態の隊列走行車両群１によれば、複数の車両１０，１１，１２のうちの少なくともいずれか一台の車両１０，１１，１２に設けられ、当該車両の走行状態に関する自車両走行情報を検出する検出手段５０ａ，５０ｂを、さらに備え、通知手段３０ａ，３０ｂは、検出手段５０ａ，５０ｂが検出した自車両走行情報を隊列走行情報として通知する。これにより、通知手段３０ａ，３０ｂは、隊列走行車両群１に含まれない車両１３を運転するドライバ１３１や歩行者１４等に、当該ドライバ１３１や歩行者１４等が隊列走行車両群１内の各車両の走行状態に応じた適切な対応を取るための情報を提供することが可能となる。この結果、隊列走行車両群１と車両群１に含まれない車両１３や歩行者１４等との間に交通の乱れが生じてしまうことが、より効果的に防止される。 Moreover, according to the convoy travel vehicle group 1 of 1st Embodiment, it is provided in at least any one vehicle 10, 11, 12 of the some vehicles 10, 11, 12, and the driving | running state of the said vehicle Further, detection means 50a and 50b for detecting the own vehicle travel information are provided, and the notification means 30a and 30b notify the own vehicle travel information detected by the detection means 50a and 50b as platoon travel information. As a result, the notification means 30a, 30b allows the driver 131, the pedestrian 14, etc. to drive the vehicle 13 not included in the convoy travel vehicle group 1, and the driver 131, the pedestrian 14, etc. It is possible to provide information for taking an appropriate response according to the traveling state of the vehicle. As a result, it is possible to more effectively prevent traffic disturbance between the platooning vehicle group 1 and the vehicles 13 and pedestrians 14 not included in the vehicle group 1.
　また、第１の実施の形態の隊列走行車両群１によれば、通知手段３０ａ，３０ｂは、複数の車両１０，１１，１２のうち通知手段３０ａ，３０ｂが設けられた車両以外の車両の走行状態に関する他車両走行情報を、隊列走行情報として通知する。これにより、隊列走行車両群１に含まれない車両１３を運転するドライバ１３１や歩行者１４等は、複数の車両１０，１１，１２のうち当該通知手段３０ａ，３０ｂが設けられた車両以外の車両の走行状態を把握することが可能となる。この結果、隊列走行車両群１と車両群１に含まれない車両１３や歩行者１４等との間に交通の乱れが生じてしまうことが、より効果的に防止される。 Moreover, according to the convoy travel vehicle group 1 of 1st Embodiment, notification means 30a, 30b is driving | running | working of vehicles other than the vehicle in which notification means 30a, 30b was provided among several vehicles 10,11,12. Other vehicle travel information related to the state is notified as platoon travel information. Thereby, the driver 131, the pedestrian 14 and the like driving the vehicle 13 not included in the platooning vehicle group 1 are vehicles other than the vehicles provided with the notification means 30a, 30b among the plurality of vehicles 10, 11, 12. It becomes possible to grasp the running state. As a result, it is possible to more effectively prevent traffic disturbance between the platooning vehicle group 1 and the vehicles 13 and pedestrians 14 not included in the vehicle group 1.
　また、第１の実施の形態の隊列走行車両群１によれば、通知手段３０ａ，３０ｂは、隊列走行に関連した隊列走行情報を表示する表示手段である。この場合、隊列走行に関連した隊列走行情報を隊列走行車両群１に含まれない車両１３を運転するドライバ１３１や歩行者１４等に通知することが容易である。なお、通知手段３０ａ，３０ｂが隊列走行に関連した隊列走行情報に応じた発光を行う発光手段、あるいは、当該隊列走行情報に応じた音を発生する音発生手段である場合も、同様の効果が得られる。 Further, according to the row running vehicle group 1 of the first embodiment, the notification means 30a and 30b are display means for displaying row running information related to row running. In this case, it is easy to notify the convoy travel information related to the convoy travel to the driver 131, the pedestrian 14 and the like who drive the vehicle 13 not included in the convoy travel vehicle group 1. The same effect can be obtained when the notification means 30a, 30b is a light emitting means for emitting light according to the row running information related to the row running or a sound generating means for generating a sound according to the row running information. can get.
　次に、図３を参照して、本発明による第２の実施の形態における隊列走行車両群について説明する。 Next, with reference to FIG. 3, a group running vehicle group according to the second embodiment of the present invention will be described.
　図３に示す第２の実施の形態においては、通知手段は、複数の車両のうちの隊列方向に並んだ二つの車両間を連結する連結手段である点が異なるが、他の構成は、図１及び図２に示す第１の実施の形態と略同一である。図３に示す第２の実施の形態において、図１及び図２に示す第１の実施の形態と同一部分には同一符号を付して詳細な説明は省略する。 In the second embodiment shown in FIG. 3, the notifying means is a connecting means for connecting two vehicles arranged in the row direction among a plurality of vehicles. 1 and substantially the same as the first embodiment shown in FIG. In the second embodiment shown in FIG. 3, the same parts as those in the first embodiment shown in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
　第２の実施の形態においては、通知手段２３０は、上述のように、複数の車両のうちの隊列方向に並んだ二つの車両間を連結する連結手段である。ここで、図３に示す例においては、二つの車両間を連結する連結手段は、当該二つの車両間を光線によって視覚的に連結するものである。 In the second embodiment, the notification unit 230 is a connection unit that connects two vehicles arranged in the row direction among a plurality of vehicles as described above. Here, in the example shown in FIG. 3, the connecting means for connecting two vehicles visually connects the two vehicles with light rays.
　具体的には、連結手段２３０は、隊列方向に並んだ二つの車両１０，１１または１１，１２間において、後ろ側の車両１１，１２の前面に取り付けられたレーザ発信器２３１と、前側の車両１０，１１の後面に取り付けられたレーザ受信器２３２と、を含み、当該レーザ受信器２３２は対応するレーザ発信器２３１から発信されたレーザ光Ｒを受光することができるようになっている。なお、車両１０，１２は、レーザ受信器２３２を有していなくてもよく、また、レーザ発信器２３１は、車間距離を測定する車間距離センサ５４ａ，５４ｂとして用いられるレーザ発信器であってもよい。 Specifically, the connecting means 230 includes a laser transmitter 231 attached to the front surface of the rear vehicles 11 and 12 between the two vehicles 10, 11 or 11, 12 arranged in the row direction, and a front vehicle. 10 and 11, and a laser receiver 232 attached to the rear surface of the laser beam receiver 232. The laser receiver 232 can receive the laser light R transmitted from the corresponding laser transmitter 231. The vehicles 10 and 12 may not have the laser receiver 232, and the laser transmitter 231 may be a laser transmitter used as the inter-vehicle distance sensors 54a and 54b for measuring the inter-vehicle distance. Good.
　もちろん、通知手段２３０は、複数の車両のうちの隊列方向に並んだ二つの車両１０，１１または車両１１，１２間を、物理的に連結する連結手段であってもよく、例えば紐であってもよい。この場合、紐は、車両間の距離に合わせて伸縮可能な材料で作られた紐であることが好ましく、あるいは、車両間の距離に合わせて自動的に巻き出され且つ巻き取られる自動巻取コードリールであることが好ましい。 Of course, the notification means 230 may be a connection means for physically connecting two vehicles 10, 11 or vehicles 11, 12 arranged in the row direction among a plurality of vehicles, for example, a string. Also good. In this case, the string is preferably a string made of a material that can be expanded and contracted according to the distance between the vehicles, or the automatic winding that is automatically unwound and wound according to the distance between the vehicles. A cord reel is preferred.
　次に、本実施の形態の隊列走行車両群２００の作用について説明する。 Next, the operation of the convoy travel vehicle group 200 of this embodiment will be described.
　隊列走行車両群１の周辺環境内に隊列走行車両群１に含まれない車両１３や歩行者１４が存在すると、当該車両１３や歩行者１４を検出した判別手段４０ａ，４０ｂから、制御ＥＣＵ２４ａ，２４ｂに信号が送られる。 If there is a vehicle 13 or a pedestrian 14 that is not included in the convoy travel vehicle group 1 in the surrounding environment of the convoy travel vehicle group 1, the control ECUs 24a and 24b are used from the discrimination means 40a and 40b that detect the vehicle 13 and the pedestrian 14. A signal is sent to.
　判別手段４０ａ，４０ｂからの信号が制御ＥＣＵ２４ａ，２４ｂによって取得されると、制御ＥＣＵ２４ａ，２４ｂは、レーザ発信器２３１に信号を送る。制御ＥＣＵ２４ａ，２４ｂからの信号がレーザ発信器２３１によって取得されると、レーザ発信器２３１は、レーザ光Ｒを発信する。レーザ光は、当該レーザ光を発信したレーザ発信器２３１に対向するレーザ受信器２３２、すなわち、車両１１，１２の直前を走行する車両１０，１１の後面に設けられたレーザ受信器２３２によって受信され、当該レーザ光Ｒの強度が検出される。レーザ受信器２３２によって検出されたレーザ光Ｒの強度に関する情報が、当該レーザ受信器２３２が設けられている車両１０，１１の制御ＥＣＵ２４ａ，２４ｂによって取得されると、制御ＥＣＵ２４ａ，２４ｂは、当該情報を通信機２５ａ，２５ｂから発信する。レーザ光Ｒの強度に関する情報が、当該レーザ光Ｒを発信したレーザ発信器２３１が設けられた車両１１，１２の通信機２５ｂによって取得されると、当該車両１１，１２の制御ＥＣＵ２４ｂは、当該情報に基づいて、レーザ発信器２３１から発信されるレーザ光Ｒの強度を、周辺環境内の車両１３を運転するドライバ１３１や歩行者１４等がレーザ光Ｒを視認可能な強度に調整する。このようにして、隊列方向に並んだ二つの車両１０，１１または１１，１２間が、レーザ光Ｒによって視覚的に連結され、隊列走行車両群２００の周辺環境内の車両１３を運転するドライバ１３１や歩行者１４等に、複数の車両１０，１１，１２が隊列走行をしていることが通知される。 When the signals from the discriminating means 40a and 40b are acquired by the control ECUs 24a and 24b, the control ECUs 24a and 24b send signals to the laser transmitter 231. When the signals from the control ECUs 24 a and 24 b are acquired by the laser transmitter 231, the laser transmitter 231 transmits the laser light R. The laser beam is received by the laser receiver 232 facing the laser transmitter 231 that has transmitted the laser beam, that is, the laser receiver 232 provided on the rear surface of the vehicles 10 and 11 traveling immediately before the vehicles 11 and 12. The intensity of the laser beam R is detected. When information on the intensity of the laser light R detected by the laser receiver 232 is acquired by the control ECUs 24a and 24b of the vehicles 10 and 11 provided with the laser receiver 232, the control ECUs 24a and 24b Is transmitted from the communication devices 25a and 25b. When the information on the intensity of the laser light R is acquired by the communication device 25b of the vehicles 11 and 12 provided with the laser transmitter 231 that transmits the laser light R, the control ECU 24b of the vehicles 11 and 12 Based on the above, the intensity of the laser beam R transmitted from the laser transmitter 231 is adjusted to an intensity at which the driver 131, the pedestrian 14 and the like who drive the vehicle 13 in the surrounding environment can visually recognize the laser beam R. In this way, the two vehicles 10, 11 or 11, 12 arranged in the row direction are visually connected by the laser light R, and the driver 131 driving the vehicle 13 in the surrounding environment of the row running vehicle group 200. Or the pedestrian 14 or the like is notified that the plurality of vehicles 10, 11, and 12 are running in a row.
　以上に説明した第２の実施の形態において、通知手段２３０は、複数の車両のうちの隊列方向に並んだ二つの車両１０，１１または１１，１２間を連結する連結手段である。この場合、複数の車両のうちの隊列方向に並んだ二つの車両１０，１１または１１，１２間は、連結されている。これにより、隊列走行車両群２００の周辺環境内の車両１３を運転するドライバ１３１や歩行者１４等に、複数の車両１０，１１，１２が隊列走行をしていることを通知することが可能である。とりわけ、レーザ発信器等の光源を用いて車両１０，１１，１２が視覚的に連結された場合、霧の中などの視界不良の環境下においても、車両１０，１１，１２が隊列走行を行っていることを周辺のドライバ１３１や歩行者１４等に通知することが可能である。 In the second embodiment described above, the notification unit 230 is a connection unit that connects two vehicles 10, 11 or 11, 12 arranged in the row direction among a plurality of vehicles. In this case, the two vehicles 10, 11 or 11, 12 arranged in the row direction among the plurality of vehicles are connected. As a result, it is possible to notify the driver 131, the pedestrian 14 and the like who drive the vehicle 13 in the surrounding environment of the platooning vehicle group 200 that the plurality of vehicles 10, 11, and 12 are traveling in platooning. is there. In particular, when the vehicles 10, 11, and 12 are visually connected using a light source such as a laser transmitter, the vehicles 10, 11, and 12 perform platooning even in a poor visibility environment such as in fog. It is possible to notify the surrounding driver 131, the pedestrian 14, and the like.
　次に、図４を参照して、本発明による第３の実施の形態における隊列走行車両群について説明する。 Next, with reference to FIG. 4, a platoon vehicle group according to the third embodiment of the present invention will be described.
　図４に示す第３の実施の形態においては、通知手段は、通知対象との間で情報を無線通信する通信手段である点、及び、隊列走行車両群内に隊列走行車両群に含まれない車両等が侵入したことを検知する侵入検知手段が設けられている点、が異なるが、他の構成は、図１及び図２に示す第１の実施の形態と略同一である。図４に示す第３の実施の形態において、図１及び図２に示す第１の実施の形態と同一部分には同一符号を付して詳細な説明は省略する。 In the third embodiment shown in FIG. 4, the notification means is a communication means for wirelessly communicating information with the notification target, and is not included in the convoy travel vehicle group. Although the intrusion detection means for detecting that a vehicle or the like has entered is different, other configurations are substantially the same as those of the first embodiment shown in FIGS. In the third embodiment shown in FIG. 4, the same parts as those in the first embodiment shown in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
　第３の実施の形態においては、通知手段３３０は、上述のように、通知対象１３１，１６との間で隊列走行情報を無線通信する通信手段である。具体的には、通知手段３３０は、通信機３２５ａ，３２５ｂを含んでいる。 In the third embodiment, the notification unit 330 is a communication unit that wirelessly communicates the row running information with the notification targets 131 and 16 as described above. Specifically, the notification unit 330 includes communication devices 325a and 325b.
　図４に示す通信機３２５ａ，３２５ｂは、図１に示す通信機２５ａ，２５ｂと同様に互いに無線通信を行う他、隊列走行車両群３００に含まれない車両１３に設けられた通信機１３５と無線通信を行ったり、道路に設置されて車両や歩行者等を感知して当該車両や歩行者等に情報を提供する路側機１６と無線通信を行うものである。 The communication devices 325a and 325b illustrated in FIG. 4 perform wireless communication with each other in the same manner as the communication devices 25a and 25b illustrated in FIG. 1 and also wirelessly communicate with the communication device 135 provided in the vehicle 13 that is not included in the convoy travel vehicle group 300. It communicates or wirelessly communicates with a roadside device 16 that is installed on a road and senses vehicles, pedestrians, etc. and provides information to the vehicles, pedestrians, etc.
　なお、図４に示す例においては、判別手段４０ａ，４０ｂは、通信機３２５ａ，３２５ｂを介して車両１３の通信機１３５や路側機１６等から得た隊列走行情報に基づいて、隊列走行情報を通知すべき通知対象の周辺環境内における有無の判別を行っている。 In the example shown in FIG. 4, the discriminating means 40a, 40b obtains the row running information based on the row running information obtained from the communication device 135, the roadside device 16, etc. of the vehicle 13 via the communication devices 325a, 325b. The presence / absence of the notification target surrounding environment to be notified is determined.
　また、侵入検知手段３４０は、複数の車両１０，１１，１２のうち隊列方向に並んだ二つの車両１０，１１または車両１１，１２間において、後ろ側の車両１１，１２の前面に取り付けられた超音波発信器３４１と、前側の車両１０，１１の後面に取り付けられた超音波受信器３４２と、を含み、当該超音波受信器３４２は対応する超音波発信器３４１から発信された超音波を受信することができるようになっている。このような超音波発信器３４１及び超音波受信器３４２によって、複数の車両１０，１１，１２のうち隊列方向に並んだ二つの車両間に侵入した車両や人等を検出することができるようになっている。なお、複数の車両１０，１１，１２のうち隊列方向に並んだ二つの車両間に侵入した車両や人等を検出する手段としては、超音波を利用したものに限られず、例えば無線通信を利用したものであってもよい。 Further, the intrusion detection means 340 is attached to the front surface of the rear vehicles 11 and 12 between the two vehicles 10 and 11 or the vehicles 11 and 12 arranged in the row direction among the plurality of vehicles 10, 11 and 12. An ultrasonic transmitter 341 and an ultrasonic receiver 342 attached to the rear surfaces of the front vehicles 10 and 11. The ultrasonic receiver 342 receives ultrasonic waves transmitted from the corresponding ultrasonic transmitter 341. It can be received. By such an ultrasonic transmitter 341 and an ultrasonic receiver 342, it is possible to detect a vehicle, a person, or the like that has entered between two vehicles arranged in the row direction among a plurality of vehicles 10, 11, and 12. It has become. The means for detecting a vehicle, a person, or the like that has entered between two vehicles arranged in the row direction among the plurality of vehicles 10, 11, and 12 is not limited to those using ultrasonic waves, for example, using wireless communication. It may be what you did.
　次に、本実施の形態の隊列走行車両群３００の作用について説明する。 Next, the operation of the convoy traveling vehicle group 300 of this embodiment will be described.
　隊列走行車両群３００が隊列走行中、車両１１，１２の超音波発信器３４１からは超音波が発信され、この超音波は、先行する車両１０，１１の対応する超音波受信器３４２によって受信されている。 While the row running vehicle group 300 is running in a row, ultrasonic waves are transmitted from the ultrasonic transmitters 341 of the vehicles 11 and 12, and the ultrasonic waves are received by the corresponding ultrasonic receivers 342 of the preceding vehicles 10 and 11. ing.
　隊列走行車両群３００の周辺環境内に車両群３００に含まれない車両１３や歩行者１４等が存在すると、路側機１６によって当該車両１３や歩行者１４等が感知されて、当該車両１３や歩行者１４等に関する情報が隊列走行車両群３００の通信機３２５ａ，３２５ｂに送られる。また、車両１３の通信機１３５から、当該車両１３に関する情報が、隊列走行車両群３００の通信機３２５ａ，３２５ｂに送られる。 If a vehicle 13 or a pedestrian 14 that is not included in the vehicle group 300 is present in the surrounding environment of the platooning vehicle group 300, the vehicle 13 or the pedestrian 14 is detected by the roadside device 16, and the vehicle 13 or the walker Information on the person 14 and the like is sent to the communication devices 325a and 325b of the convoy travel vehicle group 300. In addition, information related to the vehicle 13 is transmitted from the communication device 135 of the vehicle 13 to the communication devices 325 a and 325 b of the platoon traveling vehicle group 300.
　通信機３２５ａ，３２５ｂからの車両１３や歩行者１４等に関する情報が制御ＥＣＵ２４ａ，２４ｂによって取得されると、制御ＥＣＵ２４ａ，２４ｂにおいて、検出手段５０ａ，５０ｂから取得された情報や、通信機３２５ａ，３２５ｂから取得された情報から、隊列走行に関する隊列走行情報が生成され、通信機３２５ａ，３２５ｂに渡されて、発信される。この場合、通信機３２５ａ，３２５ｂからの隊列走行情報は、車両１３の通信機１３５によって取得され、車両１３に設けられたディスプレイ１３６に表示される等して、車両１３を運転するドライバ１３１に通知される。また、通信機３２５ａ，３２５ｂからの隊列走行情報は、路側機１６によって取得され、道路に設置されたディスプレイ１７に表示される等して、歩行者１４等に通知される。このようにして、隊列走行に関連した隊列走行情報は、通知対象１３５，１６との間で情報を無線通信する通信手段３３０によって通知される。 When information regarding the vehicle 13 and the pedestrian 14 from the communication devices 325a and 325b is acquired by the control ECUs 24a and 24b, the control ECUs 24a and 24b acquire information acquired from the detection means 50a and 50b, and the communication devices 325a and 325b. From the information acquired from the lane, platoon travel information relating to platoon travel is generated, passed to the communication devices 325a and 325b, and transmitted. In this case, the convoy travel information from the communication devices 325a and 325b is acquired by the communication device 135 of the vehicle 13 and displayed on the display 136 provided in the vehicle 13, for example, to be notified to the driver 131 that drives the vehicle 13. Is done. In addition, the platooning information from the communication devices 325a and 325b is acquired by the roadside device 16 and displayed on the display 17 installed on the road, and is notified to the pedestrian 14 and the like. In this way, the row running information related to the row running is notified by the communication means 330 that wirelessly communicates information with the notification targets 135 and 16.
　また、隊列走行車両群３００の車両１０，１１の間あるいは車両１１，１２の間に車両１３が侵入すると、超音波発信器３４１から発信された超音波が車両１３によって遮断される。この場合、制御ＥＣＵ２４ａ，２４ｂにおいて、隊列走行情報として警報が生成され、通信機３２５ａ，３２５ｂに渡されて、発信される。警報が車両１３の通信機１３５によって取得されると、車両１３に設けられた図示しない警報機が発動される。 Further, when the vehicle 13 enters between the vehicles 10 and 11 or between the vehicles 11 and 12 of the platoon traveling vehicle group 300, the ultrasonic waves transmitted from the ultrasonic transmitter 341 are blocked by the vehicle 13. In this case, in the control ECUs 24a and 24b, an alarm is generated as platooning information, and is passed to the communication devices 325a and 325b for transmission. When the alarm is acquired by the communication device 135 of the vehicle 13, an alarm device (not shown) provided in the vehicle 13 is activated.
　以上に説明した第３の実施の形態において、通知手段３３０は、通知対象１３５，１６との間で隊列走行情報を無線通信する通信手段３３０を含んでいる。この場合、隊列走行に関連した隊列走行情報を通知すべき通知対象１３５，１６に、より確実に通知することが可能である。 In the third embodiment described above, the notification unit 330 includes the communication unit 330 that wirelessly communicates the row running information with the notification targets 135 and 16. In this case, it is possible to more reliably notify the notification targets 135 and 16 to be notified of the row running information related to the row running.
　本発明のいくつかの実施の形態を説明したが、これらの実施の形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら新規な実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施の形態やその変形は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明とその均等の範囲に含まれる。また、当然のことながら、本発明の要旨の範囲内で、これらの実施の形態を、部分的に適宜組み合わせることも可能である。 Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof. Moreover, as a matter of course, these embodiments can be partially combined as appropriate within the scope of the present invention.

Claims (12)

  1. 　隊列を編成して隊列走行する複数の車両と、
    　前記複数の車両のうちの一以上に設けられ、隊列走行に関連した隊列走行情報を前記複数の車両以外の通知対象に通知する通知手段と、を備える、隊列走行車両群。     A plurality of vehicles that form a formation and travel in a formation;
    A convoy travel vehicle group, provided with one or more of the plurality of vehicles, and notifying means for notifying convoy travel information related to convoy travel to a notification target other than the plurality of vehicles.
  2. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、周辺環境を監視して、前記隊列走行情報を通知すべき通知対象の前記周辺環境内における有無を判別する判別手段を、さらに備え、
    　前記通知手段は、前記判別手段が前記周辺環境内に前記通知対象が存在すると判断した場合に、前記隊列走行情報を発信する、請求項１に記載の隊列走行車両群。     A determination unit that is provided in at least one of the plurality of vehicles, monitors the surrounding environment, and determines whether there is a notification target in the surrounding environment that should be notified of the row running information; Prepared,
    The convoy travel vehicle group according to claim 1, wherein the notification means transmits the convoy travel information when the determination means determines that the notification target exists in the surrounding environment.
  3. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、当該車両の走行状態に関する自車両走行情報を検出する検出手段を、さらに備え、
    　前記通知手段は、前記検出手段が検出した前記自車両走行情報を前記隊列走行情報として通知する、請求項１又は２に記載の隊列走行車両群。     A detecting unit provided on at least one of the plurality of vehicles, and detecting own vehicle traveling information related to a traveling state of the vehicle;
    The row running vehicle group according to claim 1 or 2, wherein the notifying unit notifies the vehicle running information detected by the detecting unit as the row running information.
  4. 　前記通知手段は、前記複数の車両のうち前記通知手段が設けられた車両以外の車両の走行状態に関する他車両走行情報を、前記隊列走行情報として通知する、請求項１～３のいずれか一項に記載の隊列走行車両群。 4. The notification unit according to claim 1, wherein the other vehicle traveling information relating to a traveling state of a vehicle other than the vehicle provided with the notification unit among the plurality of vehicles is notified as the platoon traveling information. The convoy travel vehicle group described in.
  5. 　前記通知手段は、前記隊列走行情報に応じた発光を行う発光手段、前記隊列走行情報を表示する表示手段、前記隊列走行情報に応じた音を発生する音発生手段、通知対象との間で前記隊列走行情報を無線通信する通信手段、及び、前記複数の車両のうちの隊列方向に並んだ二つの車両間を連結する連結手段の少なくとも一以上を含む、請求項１～４のいずれか一項に記載の隊列走行車両群。 The notification means includes: a light emitting means for emitting light according to the row running information; a display means for displaying the row running information; a sound generating means for generating a sound according to the row running information; 5. The apparatus according to claim 1, further comprising at least one of a communication unit that wirelessly communicates platooning information and a linking unit that connects two vehicles arranged in the tandem direction among the plurality of vehicles. The convoy travel vehicle group described in.
  6. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられ、周囲環境を撮影するカメラあるいは周囲環境内の音を録音する録音装置を、さらに備えている、請求項１～５のいずれか一項に記載の隊列走行車両群。 The system according to any one of claims 1 to 5, further comprising a camera that is provided in at least one of the plurality of vehicles and that records a sound in the surrounding environment or a camera that captures the surrounding environment. The convoy travel vehicle group according to one item.
  7. 　複数の車両が隊列を編成して走行する隊列走行方法であって、
    　前記複数の車両のうちの一以上に設けられた通知手段が、隊列走行に関連した隊列走行情報を前記複数の車両以外の通知対象に通知する、隊列走行方法。     A platooning method in which a plurality of vehicles organize and travel in a platoon,
    A platooning method in which notification means provided in one or more of the plurality of vehicles notifies platooning information related to platooning to a notification target other than the plurality of vehicles.
  8. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられた判別手段が、周辺環境を監視して、前記隊列走行情報を通知すべき通知対象の前記周辺環境内における有無を判別し、
    　前記通知手段は、前記判別手段が前記周辺環境に前記通知対象が存在すると判断した場合に、前記隊列走行情報を発信する、請求項７に記載の隊列走行方法。     The determination means provided in at least one of the plurality of vehicles monitors the surrounding environment, determines the presence or absence in the surrounding environment of the notification target to be notified of the row running information,
    The row running method according to claim 7, wherein the notifying unit transmits the row running information when the determining unit determines that the notification target exists in the surrounding environment.
  9. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられた検出手段が、当該車両の走行状態に関する自車両走行情報を検出し、
    　前記通知手段は、前記検出手段が検出した前記自車両走行情報を前記隊列走行情報として通知する、請求項７又は８に記載の隊列走行方法。     Detection means provided in at least one of the plurality of vehicles detects own vehicle traveling information related to the traveling state of the vehicle,
    The row running method according to claim 7 or 8, wherein the notification unit notifies the vehicle running information detected by the detection unit as the row running information.
  10. 　前記通知手段は、前記複数の車両のうち前記通知手段が設けられた車両以外の車両の走行に関する他車両走行情報を、通知する、請求項７～９のいずれか一項に記載の隊列走行方法。 The convoy travel method according to any one of claims 7 to 9, wherein the notifying means notifies other vehicle travel information related to travel of a vehicle other than the vehicle provided with the notifying means among the plurality of vehicles. .
  11. 　前記通知手段は、前記隊列走行情報に応じた発光、前記隊列走行情報の表示、前記隊列走行情報に応じた音の発生、通知対象との間での前記隊列走行情報の無線通信、及び、前記複数の車両のうちの隊列方向に並んだ二つの車両の連結の一以上を実施する、請求項７～１０のいずれか一項に記載の隊列走行方法。 The notifying means emits light according to the row running information, displays the row running information, generates a sound according to the row running information, wirelessly communicates the row running information with a notification target, and The row running method according to any one of claims 7 to 10, wherein one or more connections of two vehicles arranged in a row direction among a plurality of vehicles are performed.
  12. 　前記複数の車両のうちの少なくともいずれか一台の車両に設けられたカメラが周囲環境を撮影し、あるいは、前記複数の車両のうちの少なくともいずれか一台の車両に設けられた録音装置が周囲環境内の音を録音する、請求項７～１１のいずれか一項に記載の隊列走行方法。 A camera provided on at least one of the plurality of vehicles captures the surrounding environment, or a recording device provided on at least one of the plurality of vehicles The row running method according to any one of claims 7 to 11, wherein sound in the environment is recorded.
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