Platooning system

Abstract

The platooning system has a vehicle control system installed in each of a plurality of vehicles including a manually driven front vehicle. The vehicle control system controls the vehicle so that the vehicle follows the front vehicle through wireless communication between the vehicle equipped with the vehicle control system and the front vehicle. The vehicle control system includes: a sensor for detecting the state of the vehicle; an actuator for adjusting the behavior of the vehicle; and a control device for controlling the vehicle. When the control device of the front vehicle receives a state signal including information indicating the state of the following vehicle through the wireless communication, the control device of the front vehicle actuates the actuator of the vehicle to report the state of the following vehicle to the driver of the vehicle through physical sensation.

Description

Technical Field

[0001] The present disclosure relates to a platooning system. Background Art

[0002] Conventionally, as described in Patent Document 1, for example, there is known a technique for causing a plurality of vehicles to travel in a platoon by executing inter-vehicle distance control using inter-vehicle communication among the plurality of vehicles.

[0003] There is a case where the front vehicle of a platoon is manually driven by a driver. The front vehicle driven manually and the following unmanned vehicles cooperate through inter-vehicle communication to drive in a platoon.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2012-30666

[0005] When the front vehicle of a platoon is manually driven, the driver of the front vehicle needs to know the status of the following vehicles while driving. However, there is a possibility that the driver of the front vehicle cannot know the status of the following vehicles. Therefore, for example, when some abnormality occurs in the following vehicles, there is a possibility that the driver of the front vehicle does not notice the abnormality of the following vehicles and continues the operation of the platoon. Summary of the invention

[0006] An object of the present disclosure is to provide a platooning system capable of appropriately transmitting the status of a following vehicle to a front vehicle being manually driven.

[0007] A platooning system that can achieve the above-mentioned purpose has a vehicle control system, which is installed in each of the above-mentioned multiple vehicles including a manually driven front vehicle. The above-mentioned vehicle control system is configured to control the vehicle so that the vehicle follows the above-mentioned front vehicle through wireless communication between the vehicle equipped with the vehicle control system and the front vehicle. The above-mentioned vehicle control system includes: a sensor configured to detect the state of the vehicle; an actuator configured to adjust the behavior of the vehicle; and a control device configured to control the vehicle. When the above-mentioned control device of the above-mentioned front vehicle receives a state signal containing information indicating the state of the following vehicle through the above-mentioned wireless communication, it activates the above-mentioned actuator of the vehicle to report the state of the following vehicle to the driver of the vehicle through physical sensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a schematic block diagram showing an embodiment of a platoon travel system.

[0009] Figure 2 yes Figure 1 Block diagram of the vehicle control system in the platooning system. DETAILED DESCRIPTION

[0010] Hereinafter, an embodiment of the platooning system will be described.

[0011] like Figure 1 As shown, the platoon driving system 10 has a vehicle control system 11 installed in each of the plurality of vehicles CS1, CS2, and CS3 constituting the platoon. Figure 1 In the figure, three vehicles CS1, CS2, and CS3 form a queue.

[0012] like Figure 2 As shown, the vehicle control system 11 has an ECU (electronic control unit) 20, a front monitoring sensor 21, a rear monitoring sensor 22, a side monitoring sensor 23, a vehicle speed sensor 24, an acceleration sensor 25, a GPS receiver 26, a vehicle-to-vehicle communication device 27, and an abnormality detection sensor 28. In addition, the vehicle control system 11 has a throttle valve actuator 31, a brake actuator 32, a steering actuator 33, a suspension actuator 34, a speaker 35, and a display device 36.

[0013] The front monitoring sensor 21 is arranged at the front of the vehicle, monitors the front of the vehicle and detects the distance between the vehicle traveling in front of the vehicle and the vehicle. The rear monitoring sensor 22 is arranged at the rear of the vehicle, monitors the rear of the vehicle and detects the distance between the vehicle traveling immediately behind the vehicle and the vehicle. The side monitoring sensor 23 is arranged at the side of the vehicle, monitors the side of the vehicle and detects the distance between the vehicle traveling on the side of the vehicle and the vehicle. These monitoring sensors 21, 22, 23 include radars such as laser radars or millimeter wave radars, and cameras.

[0014] The vehicle speed sensor 24 detects the travel speed of the vehicle. The acceleration sensor 25 detects the acceleration of the vehicle in the front-rear direction. The GPS receiver 26 receives positioning signals from artificial satellites used for GPS (Global Positioning System), and detects the position (latitude, longitude) and the orientation of the vehicle based on the received positioning signals. The inter-vehicle communication device 27 performs wireless communication between vehicles. The abnormality detection sensor 28 detects abnormalities in various parts of the vehicle.

[0015] The throttle valve actuator 31 adjusts the amount of fuel supplied to the engine by adjusting the throttle valve opening. The brake actuator 32 adjusts the braking force for decelerating the vehicle through the brake device. The steering actuator 33 steers the left and right wheels by moving the steering rod in the axial direction. The suspension actuator 34 changes the vehicle height by driving the air suspension, for example. The speaker 35 generates sound. The display device 36 displays various information. The display device 36 includes various warning lights and a display.

[0016] ECU20 controls the entire vehicle in a unified manner. ECU20 can be configured as the following circuits: 1) one or more processors that perform various processes according to a computer program (software), 2) one or more dedicated hardware circuits such as integrated circuits (ASICs) for specific purposes that perform at least part of the various processes, or 3) a combination thereof. The processor includes a CPU, and memories such as RAM and ROM, which store program codes or instructions configured to enable the CPU to perform processes. The memory, i.e., computer-readable media, includes all available media that can be accessed by general or special computers.

[0017] ECU20 controls the output of the engine through the throttle valve actuator 31. When accelerating the vehicle, ECU20 increases the amount of fuel supplied to the engine through the throttle valve actuator 31. On the other hand, when decelerating the vehicle, ECU20 reduces the amount of fuel supplied to the engine through the throttle valve actuator 31. In addition, ECU20 controls the braking force of the vehicle through the brake actuator 32. ECU20 controls the speed of the vehicle and the distance between vehicles through the throttle valve actuator 31 and the brake actuator 32. In addition, ECU20 controls the steering angle of the wheels through the steering actuator 33. In addition, ECU20 controls the vehicle height through the suspension actuator 34.

[0018] The ECU 20 of each vehicle exchanges information such as vehicle driving data and identification information (ID) with other vehicles through the inter-vehicle communication device 27. Driving data is information related to the driving state of the vehicle, including, for example, the position, speed, acceleration, and direction of travel of the vehicle. The identification information includes vehicle identification information inherent to the vehicle and platoon identification information inherent to the platoon to which the vehicle belongs.

[0019] ECU20 performs ACC (Adaptive Cruise Control) control. The so-called ACC control refers to the control for measuring the distance between the host vehicle and the preceding vehicle in front by the front monitoring sensor 21, maintaining the preset inter-vehicle distance and speed, and following the acceleration, deceleration and stop of the preceding vehicle to make the host vehicle travel. In addition, the preceding vehicle in front includes general vehicles that do not belong to the queue. In the ACC control, the deviation of the preceding vehicle and the host vehicle in the vehicle width direction is detected by the front monitoring sensor 21, and the steering operation of the host vehicle is controlled to eliminate the detected deviation.

[0020] For example, when the leading vehicle is not detected during ACC control, ECU20 controls the vehicle to maintain the set speed. In addition, when a leading vehicle is detected traveling at a speed lower than the set speed, ECU20 performs following control to maintain the inter-vehicle distance with the leading vehicle at a preset inter-vehicle distance. ECU20 controls the acceleration of the vehicle so that the inter-vehicle distance with the leading vehicle is not less than the preset inter-vehicle distance. That is, when the speed of the leading vehicle is lower than the set speed, ECU20 reduces the speed of the vehicle to maintain the inter-vehicle distance.

[0021] The ECU 20 performs CACC (Cooperative Adaptive Cruise Control) control. CACC is a control for making multiple vehicles queuing in the same lane cooperate with each other through wireless communication to perform platoon driving. Platoon driving means that multiple vehicles equipped with the vehicle control system 11 travel in a longitudinal column to form a platoon without ordinary vehicles in between, maintaining a certain distance between vehicles and a certain speed without being sandwiched between them.

[0022] Under CACC control, the acceleration of the vehicle is controlled based on information about other vehicles in the platoon obtained through inter-vehicle communication. As a result, the vehicle follows to keep the inter-vehicle distance with the preceding vehicle in the platoon at the target inter-vehicle distance. The vehicles CS1 to CS3 constituting the platoon exchange information such as specifications and driving data of the vehicle with each other through the inter-vehicle communication device 27. That is, the vehicle control systems 11 of all the vehicles CS1 to CS3 constituting the platoon share information such as specifications and driving data of all the vehicles CS1 to CS3 constituting the platoon.

[0023] For example, when the brakes are activated in the front vehicle of the platoon, this information is transmitted to all vehicles in the platoon. All vehicles in the platoon maintain the distance between vehicles and automatically decelerate at appropriate times. When the front vehicle accelerates, the degree of acceleration of the front vehicle is transmitted to all vehicles in the platoon. All vehicles in the platoon automatically accelerate in order to maintain the distance between vehicles and speed for the entire platoon.

[0024] <Function of platooning system>

[0025] Next, the operation of the platooning system will be described.

[0026] like Figure 1As shown, for example, when three vehicles CS1, CS2, and CS3 are traveling in a platoon by executing CACC control, the driving states of the two following vehicles CS2 and CS3 are controlled according to the driving state of the leading vehicle CS1. The leading vehicle CS1 can be driven manually by the driver, or it can maintain a set vehicle speed and travel by executing ACC control. The ECU 20 of the following vehicles CS2 and CS3 controls the driving states of the vehicles CS2 and CS3 to follow the leading vehicle CS1.

[0027] Incidentally, vehicles CS2 and CS3 other than the front vehicle CS1 of the platoon may also follow the front vehicle based on the driving state of the vehicle that is running before the vehicle. In this case, the second vehicle CS2 of the platoon controls its driving state based on the driving state of the front vehicle CS1. The third vehicle CS3 of the platoon controls its driving state based on the driving state of the vehicle CS2 that is running before it.

[0028] Here, when the front vehicle CS1 of the platoon is driven manually by the driver, the following situation is a concern. That is, when the front vehicle CS1 is driven manually, the driver of the vehicle CS1 needs to understand the conditions of the following vehicles CS2 and CS3 while driving. However, there is a possibility that the driver of the front vehicle CS1 cannot understand the conditions of the following vehicles CS2 and CS3. The more the number of vehicles constituting the platoon increases, the more significant this problem becomes.

[0029] Therefore, the platooning system 10 transmits the states of the following vehicles CS2 and CS3 to the driver of the leading vehicle CS1 in the following manner.

[0030] For example, when some abnormality occurs in the following vehicle, the abnormality is detected by the abnormality detection sensor 28 of the following vehicle. The ECU 20 of the following vehicle wirelessly transmits a status signal Sw indicating that an abnormality has occurred in the own vehicle through the inter-vehicle communication device 27. The status signal Sw includes information indicating the content of the abnormality, the location where the abnormality has occurred, and identification information of the vehicle where the abnormality has occurred.

[0031] Here, an example of abnormality detected by the abnormality detection sensor 28 is as follows.

[0032] (a1) Engine abnormality

[0033] (a2) Steering device abnormality

[0034] (a3) Abnormality of the braking system

[0035] (a4) Tire abnormality

[0036] (a5) Abnormal vehicle behavior

[0037] When the ECU 20 of the front vehicle receives the status signal Sw through the inter-vehicle communication, it grasps the abnormal subsequent vehicle and the content of the abnormality based on the information contained in the status signal Sw. In addition, in order to report the abnormality of the subsequent vehicle to the driver of the front vehicle through physical sensation, the ECU 20 of the front vehicle performs at least one of the first physical sensation reporting control and the second physical sensation reporting control.

[0038] The first somatosensory reporting control is a control for causing the front vehicle to simulate the same abnormal state as the following vehicle through various actuators of the front vehicle. In the first somatosensory reporting control, by causing the driver of the front vehicle to virtually sense the same abnormal state as the following vehicle, the abnormality of the following vehicle can be more reliably transmitted.

[0039] However, it is preferable to suppress the degree of the abnormal state simulated in the leading vehicle to a degree that does not interfere with driving, depending on the content or degree of the abnormality occurring in the following vehicle.

[0040] A specific example of the first somatosensory report control is as follows.

[0041] (b1) When an abnormality such as a decrease in engine output occurs in the following vehicle.

[0042] In this case, the ECU 20 of the leading vehicle limits the engine output through the throttle actuator 31 to simulate the state of the following vehicle. The driver of the leading vehicle can virtually sense the vehicle behavior of the following vehicle with an engine abnormality and thus notice the abnormality of the following vehicle.

[0043] (b2) The following vehicle has a single tire blowout.

[0044] In this case, the ECU 20 of the leading vehicle applies torque to the steering wheel through the steering actuator 33, thereby simulating the steering feel when a single tire blowout occurs. The driver of the leading vehicle can virtually sense the vehicle behavior of the following vehicle with a single tire blowout and notice the abnormality of the following vehicle.

[0045] (b3) The situation where the following vehicle produces an impact.

[0046] In this case, the ECU 20 of the leading vehicle simulates the impact generated in the following vehicle through the brake actuator 32 and the suspension actuator 34. The driver of the leading vehicle can virtually sense the impact generated in the following vehicle and notice the abnormality of the following vehicle.

[0047] (b4) When the following vehicle experiences abnormal vehicle behavior such as a sudden change in acceleration.

[0048] In this case, the ECU 20 of the leading vehicle simulates the change in acceleration occurring in the following vehicle through the brake actuator 32. The driver of the leading vehicle can virtually sense the change in acceleration occurring in the following vehicle and notice the abnormality of the following vehicle.

[0049] The second body-sensation reporting control is a control for reporting a location where an abnormality has occurred in the following vehicle to the driver of the preceding vehicle through body-sensation.

[0050] A specific example of the second somatosensory report control is as follows.

[0051] (c1) A case where a malfunction occurs in a part of the following vehicle such as an engine for driving the vehicle.

[0052] In this case, the ECU 20 of the leading vehicle vibrates the accelerator pedal via the throttle valve actuator 31. The driver of the leading vehicle can notice that an abnormality has occurred in the engine or the like of the following vehicle by feeling the vibration of the accelerator pedal.

[0053] (c2) A case where a following vehicle has an abnormality in a part such as a steering device for changing the traveling direction of the vehicle.

[0054] In this case, the ECU 20 of the leading vehicle vibrates the steering wheel via the steering actuator 33. The driver of the leading vehicle can notice that an abnormality has occurred in the steering device or the like of the following vehicle by feeling the vibration of the steering wheel.

[0055] (c3) A situation in which a malfunction occurs in a braking device or other part of the following vehicle that is used to brake the vehicle.

[0056] In this case, the ECU 20 of the leading vehicle vibrates the brake pedal via the brake actuator 32. The driver of the leading vehicle can notice that an abnormality has occurred in the brake device or the like of the following vehicle by feeling the vibration of the brake pedal.

[0057] (c4) The following vehicle has an abnormal situation such as a tire blowout on its axle.

[0058] In this case, the ECU 20 of the leading vehicle vibrates the suspension via the suspension actuator 34. The driver of the leading vehicle can notice that an abnormality has occurred in the wheel axle of the following vehicle by feeling the vibration of the suspension.

[0059] Furthermore, when an abnormality is detected in a following vehicle, the ECU 20 of the leading vehicle may execute control for ensuring the safety of the operation of the platoon or the traffic safety around the platoon.

[0060] For example, the ECU 20 of the front vehicle sets an upper limit speed for the entire running speed of the queue according to the content of the abnormality occurring in the following vehicle. In addition, the ECU 20 of the front vehicle may also make the front vehicle run at a slower speed than the running speed before the abnormality of the following vehicle is detected in order to decelerate the entire queue. In addition, the ECU 20 of the front vehicle may also perform automatic avoidance control according to the content or degree of the abnormality occurring in the following vehicle. The ECU 20 of the front vehicle performs automatic avoidance control, and cooperates with the following vehicle through inter-vehicle communication regardless of the driving state of the driver of the vehicle, so that the queue automatically stops at a safe place such as a road shoulder.

[0061] <Effects of implementation>

[0062] Therefore, according to this embodiment, the following effects can be obtained.

[0063] (1) The platooning system 10 can appropriately convey the abnormality of the following vehicle to the driver of the leading vehicle by notifying the driver of the leading vehicle of the abnormality of the following vehicle through physical sensation.

[0064] (2) The abnormality of the following vehicle is immediately transmitted to the leading vehicle through inter-vehicle communication. Therefore, the driver of the leading vehicle can quickly respond to the abnormality occurring in the following vehicle. For example, the driver of the leading vehicle can quickly slow down or stop the vehicle. Therefore, safer platoon operation can be achieved. It also contributes to traffic safety around the platoon.

[0065] (3) The ECU 20 of the front vehicle of the platoon cooperates with the following vehicles through inter-vehicle communication based on the information indicating the abnormality occurring in the following vehicles included in the state signal Sw, thereby limiting the operation of the entire platoon, thereby ensuring the safety of the operation of the platoon or the traffic safety around the platoon.

[0066] <Other embodiments>

[0067] In addition, this embodiment can also be implemented by being modified as follows.

[0068] When an abnormality of a following vehicle is detected, the ECU 20 of the leading vehicle may report the status of the following vehicle to the driver of the own vehicle through the sense of body, and may also report the abnormality of the following vehicle to the driver of the own vehicle through the sense of sight or hearing of the driver of the own vehicle. For example, the ECU 20 of the leading vehicle may sound an alarm through the speaker 35 of the own vehicle, or may display a warning on the display device 36.

[0069] When detecting an abnormality in a following vehicle, the ECU 20 of the leading vehicle may also generate the same abnormal state as the abnormality that occurred in the following vehicle without simulation. For example, the ECU 20 of the leading vehicle may transmit the abnormality of the following vehicle to the driver of the own vehicle by vibrating a part that is irrelevant to the part where the abnormality occurred in the following vehicle, such as a seat. At least the driver of the leading vehicle may notice that some abnormality has occurred in the following vehicle through physical sensation.

[0070] The ECU 20 of the leading vehicle may not only report the abnormality that occurs in the following vehicle, but also report the status of the following vehicle that has not experienced any abnormality to the driver of the leading vehicle through body sensation. For example, the ECU 20 of the leading vehicle may simulate the deceleration degree of the following vehicle, or the increase in the running resistance, etc. through the brake actuator 32. The driver of the leading vehicle can always understand the status of the following vehicle and operate the queue.

Claims

1. A platoon driving system that enables multiple vehicles to drive in a platoon. The platooning system includes a vehicle control system mounted on each of the plurality of vehicles including the manually driven front vehicle. The vehicle control system is configured to control the host vehicle so that the host vehicle follows the preceding vehicle through wireless communication between the host vehicle equipped with the vehicle control system and the preceding vehicle. The vehicle control system comprises: a sensor configured to detect a state of the vehicle; an actuator configured to adjust the behavior of the vehicle; and a control device configured to control the vehicle. The control device of the leading vehicle is configured to, upon receiving a status signal including information indicating a status of a following vehicle through the wireless communication, actuate the actuator of the vehicle to report the status of the following vehicle to the driver of the vehicle through physical sensation. The state signal includes information indicating an abnormality occurring in the following vehicle. The control device of the leading vehicle is configured to cause the abnormal state occurring in the following vehicle to be simulated in the own vehicle by the actuator of the own vehicle.

2. The platoon driving system according to claim 1, wherein: The control device of the leading vehicle is configured to notify the driver of the own vehicle of the abnormal portion of the following vehicle through the actuator of the own vehicle by physical sensation.

3. The platoon driving system according to claim 1, wherein: The control device of the leading vehicle restricts the operation of the entire platoon by cooperating with the following vehicle using the wireless communication based on the information indicating the abnormality occurring in the following vehicle included in the status signal.

4. The platoon driving system according to claim 2, wherein: The control device of the leading vehicle restricts the operation of the entire platoon by cooperating with the following vehicle using the wireless communication based on the information indicating the abnormality occurring in the following vehicle included in the status signal.

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